- 答辩PPT.pdf (3.2MB) added to docs/, linked in README
- README/PINOUT_GUESS/competition doc aligned with repo code:
  * SSI multi-turn absolute encoder (14-bit, 16384/turn) instead of TIM3
  * FDCAN1 PA11/PA12 instead of PB8/PB9
  * factory param table (0x0801F000) documented
- firmware size corrected to 73.7KB (text 73,816 B), unit tests 14/14