Check out this similar DIY on e46fanatics. It covers both ZCS (pre-09/2001) and FA (09/2001+) coding styles.
https://www.e46fanatics.com/threads/diy-code-used-mk60-abs-dsc-using-ncs-expert.1294944/
This DIY shows how to reset steering angle using Tool32.
https://www.e46fanatics.com/threads/how-to-calibrate-steering-angle-using-tool32.1282261/