feat: Torque mapping based on battery charge

[Avdieienko]

Description

When the battery is getting close to nearly empty, pulling 80kW would result in a voltage drop so big that it would shut down the inverter (it has a 300V min voltage). Need to implement some throttle pedal mapping that decreases the maximum allowed torque request as the SoC(State of Charge) signal decreases. Until tests (to get proper formulas and limits) we can just linearly limit torque after 60%.

Requirements

• [ ] Read BMS_Pack_SOC reading
• [ ] Implement additional mapping in both config.c and torque_map.c

Additional Notes

BMS_Pack_SOC signal is in MSGID_0x201 message in CAN-S

[r-kirkbride]

suggestion: add function to subscribe passing a pointer in

[Avdieienko]

@r-kirkbride we did some battery simulations and we might limit torque based on the temperature of the battery instead of SoC (or with both SoC and temperature) to reduce current sent and stop the battery from heating up(BMS fault and shutdown closed after it is overheated).

[r-kirkbride]

Max temp before fault? 60

Max temp before limting torque? Temp for max limting? Max torque limit?

[r-kirkbride]

Reading BMS_High_Temperature from MSGID_0X202

[Avdieienko]

@r-kirkbride Max torque - 220 Min torque - 50 Start from 50 degrees Linear

[r-kirkbride]

What temperature should it reach the min torque? The temperature fault threshold? Yes 60 degree