gistfile1.txt

void update_bms_discharge_motor_torque_req_limit()
{
    // Limit torque request according to bms_status.max_discharge_current_Ax10
    if(bms_status.max_discharge_current_Ax10 < 2000){
        // Calculate rough motor current limit based on motor speed, rail
        // voltage and rail current limit
        float speed_rpm = abs(inverter_status.speed / INVERTER_BITS_PER_RPM);
        float rail_voltage = inverter_status.voltage / INVERTER_BITS_PER_VOLT;
        float rail_current_per_motor_current = speed_rpm / 3000.0f;
        float rail_current_limit = (float)bms_status.max_discharge_current_Ax10 / 10.0f;
        if(rail_current_per_motor_current < 0.1)
            rail_current_per_motor_current = 0.1;
        float motor_current_limit = rail_current_limit / rail_current_per_motor_current;
        if(motor_current_limit < MOTOR_A_AT_MAX_TORQUE_REQUEST)
            bms_discharge_motor_torque_req_limit = motor_current_limit / MOTOR_A_PER_TORQUE_REQUEST;
        else
            bms_discharge_motor_torque_req_limit = MAX_TORQUE_REQUEST;
    } else {
        bms_discharge_motor_torque_req_limit = MAX_TORQUE_REQUEST;
    }
}