BSP 4: asking for more than the board gives

The controller and the board each limit the voltage. Do they agree? The board gives each phase at most ±0.45 of the bus (the 90 % and 0 % rails); the controller's vector limit is bus × pwm_duty_cycle_max × 2/3, which after min-max is 0.577 per phase. At 48 V, 6000 rpm needs only 0.377 and nothing shows; patched copies lower the bus to 24 V: the plain SIL asks for 0.577 and reaches 4564 rpm, with the board's limit only 3777 rpm, 17 % slower, and the controller never knows. Patched runs are labelled on screen. To close: what a new board changes: servo_system_cfg.h, the driver header, board.h, the 59 functions of bsp_api.c, and the four checks of 5b–5d.