web: drop the thermometer flags for the i2t winding estimate

src/lib/table-model.test.ts

@@ -115,7 +115,6 @@ describe("buildTable", () => {
     expect(placement("pos_error_counts")).toEqual(["Settings", "Safety"]);
     expect(placement("sensor_bad_count")).toEqual(["Settings", "Safety"]);
     expect(placement("cutoff_cc")).toEqual(["Settings", "Thermal"]);
-    expect(placement("rtherm_i_min_counts")).toEqual(["Settings", "Thermal"]);
   });
 
   test("id and baud are read-only with links; the deadline is editable", () => {
@@ -147,6 +146,7 @@ describe("buildTable", () => {
     expect(placement("shunt_r_mohm")).toEqual(["Board", "Board constants"]);
     expect(placement("v_window_min_ticks")).toEqual(["Board", "Board constants"]);
     expect(placement("ntc_beta")).toEqual(["Board", "Board constants"]);
+    expect(placement("th_rise_q016")).toEqual(["Board", "Board constants"]);
     expect(placement("vmotor_bias_nom_counts")).toEqual(["Board", "Board constants"]);
     expect(rowOf("shunt_r_mohm").editable).toBe(false);
     expect(rowOf("vdd_mv").editable).toBe(true);

src/lib/table-model.ts

@@ -74,7 +74,6 @@ const LOOP_VELOCITY = 0x038;
 const LOOP_POSITION = 0x040;
 const LIMITS = 0x048;
 const THERMAL = 0x060;
-const THERMAL_EXT = 0x06a;
 const FUSION = 0x06e;
 const FAULT_CFG = 0x074;
 const MOTOR = 0x080;
@@ -119,7 +118,7 @@ const TABS: readonly TabSpec[] = [
       },
       // Fault thresholds are the other half of the stall and trip policy.
       { label: "Safety", help: true, blocks: [LIMITS, FAULT_CFG] },
-      { label: "Thermal", help: true, collapsed: true, blocks: [THERMAL, THERMAL_EXT] },
+      { label: "Thermal", help: true, collapsed: true, blocks: [THERMAL] },
     ],
   },
   {

src/lib/thermal.test.ts

@@ -41,13 +41,12 @@ describe("therm_flags", () => {
     [0, []],
     [1 << 0, ["off"]],
     [1 << 1, []],
-    [1 << 2, ["check cold R"]],
+    [1 << 2, []],
     [1 << 3, []],
     [1 << 4, []],
     [1 << 5, []],
     [1 << 6, []],
     [1 << 7, []],
-    [(1 << 2) | (1 << 3), ["check cold R"]],
     [0xff, ["off"]],
   ])("flags %i states %j", (flags, words) => {
     expect(thermStates({ ...warm, flags }).map((s) => s.word)).toEqual(words);
@@ -65,10 +64,7 @@ describe("therm_flags", () => {
     expect(thermStates({ ...hot, iLimCounts: 280 })).toEqual([]);
     expect(thermStates({ ...hot, windingCc: 8000 })).toEqual([]);
     expect(thermStates({ ...warm, iLimCounts: 60 })).toEqual([]);
-    expect(thermStates({ ...hot, flags: 1 << 2 }).map((s) => s.word)).toEqual([
-      "derating",
-      "check cold R",
-    ]);
+    expect(thermStates({ ...hot, flags: 0xfe }).map((s) => s.word)).toEqual(["derating"]);
   });
 });
 

src/lib/thermal.ts

@@ -1,18 +1,14 @@
-// The winding thermometer's telemetry (firmware core estimator/thermal.rs)
+// The winding estimate's telemetry (firmware core estimator/thermal.rs)
 // and the CONFIG thresholds the current limit derates against
 // (kernel/limits.rs).
 
 import type { ReadRegister } from "./units";
 
-/** `t_winding_cc` while the thermometer is off (thermal.rs `UNSET_CC`). */
+/** `t_winding_cc` while the estimate is unset (thermal.rs `UNSET_CC`). */
 export const UNSET_CC = -32768;
 
-/**
- * `therm_flags` bits (thermal.rs `flag`); bit 1, TRACK (a same-seat reference
- * is live), names no state, and bits 3-7 are reserved.
- */
+/** `therm_flags` bit 0 (thermal.rs `flag`); bits 1-7 are reserved. */
 const UNSET = 1 << 0;
-const COLD_RECAL = 1 << 2;
 
 export const THERMAL_REGISTERS: readonly string[] = [
   "current_limit_counts",
@@ -53,7 +49,7 @@ export function celsius(cc: number): number {
   return cc / 100;
 }
 
-/** The winding in C, NaN while the thermometer reads its sentinel. */
+/** The winding in C, NaN while the estimate reads its sentinel. */
 export function windingC(cc: number): number {
   return cc === UNSET_CC ? NaN : celsius(cc);
 }
@@ -70,7 +66,7 @@ export function thermOff(t: Thermal): boolean {
 }
 
 /**
- * Off stands alone: an unset thermometer clears every other bit. Derating is
+ * Off stands alone: an unset estimate clears every other bit. Derating is
  * the winding past derate_start with the limit actually folded under the
  * configured one, so a stall yield alone never reads as heat.
  */
@@ -80,6 +76,5 @@ export function thermStates(t: Thermal): ThermState[] {
   if (t.windingCc > t.derateStartCc && t.iLimCounts < t.currentLimitCounts) {
     out.push({ word: "derating", level: "warn" });
   }
-  if ((t.flags & COLD_RECAL) !== 0) out.push({ word: "check cold R", level: "notice" });
   return out;
 }

src/lib/units.test.ts

@@ -153,8 +153,8 @@ test("degenerate calibration gives zero scale instead of infinity", () => {
   expect(degToCounts(10, flat)).toBe(flat.rawMin);
 });
 
-// No firmware math to mirror: t_winding_cc comes from the winding-resistance
-// thermometer, not from ntc_raw, so the divider plus beta lives only here.
+// No firmware math to mirror: the firmware reads ntc_raw through the
+// host-written quadratic in CALIB, so the divider plus beta lives only here.
 test("temperatureC reads 25 C when the NTC equals its R25", () => {
   expect(temperatureC(ADC_FULL_SCALE / 2, sense)).toBeCloseTo(25, 9);
 });

src/routes/table.tsx

@@ -51,7 +51,7 @@ const HELP: ReadonlyMap<string, string> = new Map([
     "Gains of the current, velocity and position loops and the observer behind them.",
   ],
   ["Safety", "Trip thresholds and what the servo does when one is crossed."],
-  ["Thermal", "The winding temperature model and its cutoff."],
+  ["Thermal", "Derate and cutoff on the winding estimate."],
   ["Motor model", "Electrical and mechanical constants of the motor the estimators rely on."],
   ["Profile/capture", "Read profiles and the telemetry burst window."],
 ]);

tests/e2e/winding.spec.ts

@@ -1,8 +1,8 @@
 import { expect, test, type Page } from "@playwright/test";
 import { gotoSim, openTable, tableRow } from "./helpers";
 
-// The fake servo has no kernel: its thermometer registers hold what the
-// table boots with, and CONFIG carries the firmware's default thresholds.
+// The fake servo publishes the winding estimate as the kernel would, and
+// CONFIG carries the firmware's default thresholds.
 const THRESHOLDS = "Derate at 80.0 C, cutoff at 100.0 C, recover at 90.0 C";
 
 function winding(page: Page) {