Current Sensor Calibration (#1387)

### Changelist 
Calibrated the current sensor Error based on the data collected for both
channels of the current sensor and for directions of current (charging &
discharging)

### Testing Done
Tested on the car and works amazing

Here's the data and how the calibration works (done in excel)
[50A Calibration Forward
Current.xlsx](https://github.com/user-attachments/files/17836984/50A.Calibration.Forward.Current.xlsx)
[50A Calibration Reverse
Current.xlsx](https://github.com/user-attachments/files/17836986/50A.Calibration.Reverse.Current.xlsx)
[400A Calibration Forward
Current.xlsx](https://github.com/user-attachments/files/17836987/400A.Calibration.Forward.Current.xlsx)
[400A Calibration Reverse
Current.xlsx](https://github.com/user-attachments/files/17836988/400A.Calibration.Reverse.Current.xlsx)


### Resolved Tickets
<!-- Link any tickets that this PR resolves. -->

firmware/quadruna/BMS/src/app/app_tractiveSystem.h

@@ -6,7 +6,7 @@
 #include "app_canTx.h"
 #include "app_utils.h"
 
-#define HIGH_RES_MAX_CURRENT_READING (75.0f)
+#define HIGH_RES_MAX_CURRENT_READING (50.0f)
 
 // Taken from our cell's datasheet on Confluence:
 // https://ubcformulaelectric.atlassian.net/wiki/pages/viewpageattachments.action?pageId=55214081&preview=%2F55214081%2F55214090%2FSLPB9742126-3.7V-5900mAh-10C-V2018.pdf

firmware/quadruna/BMS/src/io/io_tractiveSystem.c

@@ -10,20 +10,31 @@
 // Voltage divider for the TS+ voltage sensing
 #define TS_VOLTAGE_DIV (20e+3f / (6 * 1e+6f + 30e3f + 20e3f))
 
-// Offset voltage of output 1. Found through testing
-#define OUTPUT_1_OFFSET (2.5052f)
-// Sensitivity of output 1: 26.7mV/A
-#define OUTPUT_1_SENSITIVITY (1.0f / 26.7e-3f)
+// Offset voltage of output 1.
+#define OUTPUT_1_OFFSET (2.5f)
+// Sensitivity of output 1: 40mV/A
+#define OUTPUT_1_SENSITIVITY (1.0f / 40.0e-3f)
 // Voltage divider from adc --> current sensor output
 #define OUTPUT_1_DIV ((33.0f + 60.4f) / (60.4f))
 
-// Offset voltage of output 2. Found through testing
-#define OUTPUT_2_OFFSET (2.492f)
-// Sensitivity of output 2: 4.0mV/A
-#define OUTPUT_2_SENSITIVITY (1.0f / 4.0e-3f)
+// Offset voltage of output 2.
+#define OUTPUT_2_OFFSET (2.5f)
+// Sensitivity of output 2: 5.2mV/A
+#define OUTPUT_2_SENSITIVITY (1.0f / 5.2e-3f)
 // Voltage divider from adc --> current sensor output
 #define OUTPUT_2_DIV ((33.0f + 60.4f) / (60.4f))
 
+// Current Sensor error calibration parameters (based on experimental data)
+#define OUTPUT1_DISCHARGING_ERROR_SLOPE (0.5028f)
+#define OUTPUT1_DISCHARGING_ERROR_OFFSET (-0.0894f)
+#define OUTPUT1_CHARGING_ERROR_SLOPE (0.5045f)
+#define OUTPUT1_CHARGING_ERROR_OFFSET (-0.2677f)
+
+#define OUTPUT2_DISCHARGING_ERROR_SLOPE (0.2417f)
+#define OUTPUT2_DISCHARGING_ERROR_OFFSET (2.3634f)
+#define OUTPUT2_CHARGING_ERROR_SLOPE (0.2324f)
+#define OUTPUT2_CHARGING_ERROR_OFFSET (2.4038f)
+
 static const TractiveSystemConfig *config = NULL;
 
 void io_tractiveSystem_init(const TractiveSystemConfig *ts_config)
@@ -105,13 +116,27 @@ float io_tractiveSystem_getCurrentHighResolution()
     //                                                 60.4k
     // Offset Voltage = 2.5V (Datasheet)
     //
-    // Sensitivity = 26.7mV/A
+    // Sensitivity = 40mV/A
 
     // Output from current sensor:
     const float hsnbv_d06_output_1 = adc_voltage * OUTPUT_1_DIV;
 
-    // Return the current which corresponds to the output voltage
-    return -((hsnbv_d06_output_1 - OUTPUT_1_OFFSET) * OUTPUT_1_SENSITIVITY);
+    // Calculate the current which corresponds to the output voltage (baed on sensor datasheet)
+    const float high_res_current = ((hsnbv_d06_output_1 - OUTPUT_1_OFFSET) * OUTPUT_1_SENSITIVITY);
+
+    // Error Calibration for High Resolution Current Sensor (based on calibration data)
+    float high_res_curr_calibration = 0.0f;
+    if (high_res_current > -0.2f)
+    {
+        high_res_curr_calibration =
+            high_res_current * OUTPUT1_DISCHARGING_ERROR_SLOPE + OUTPUT1_DISCHARGING_ERROR_OFFSET;
+    }
+    else
+    {
+        high_res_curr_calibration = high_res_current * OUTPUT1_CHARGING_ERROR_SLOPE + OUTPUT1_CHARGING_ERROR_OFFSET;
+    }
+
+    return -(high_res_current + high_res_curr_calibration);
 }
 
 float io_tractiveSystem_getCurrentLowResolution()
@@ -142,11 +167,24 @@ float io_tractiveSystem_getCurrentLowResolution()
     //                                                 60.4k
     // Offset Voltage = 2.5V (Datasheet)
     //
-    // Sensitivity = 4.0mV/A
+    // Sensitivity = 5.2mV/A
 
     // Output from current sensor:
     const float hsnbv_d06_output_2 = adc_voltage * OUTPUT_2_DIV;
 
-    // Return the current which corresponds to the output voltage
-    return -((hsnbv_d06_output_2 - OUTPUT_2_OFFSET) * OUTPUT_2_SENSITIVITY);
+    // Calculate the current which corresponds to the output voltage (baed on sensor datasheet)
+    const float low_res_current = ((hsnbv_d06_output_2 - OUTPUT_2_OFFSET) * OUTPUT_2_SENSITIVITY);
+
+    // Error Calibration for Low Resolution Current Sensor (based on calibration data)
+    float low_res_curr_calibration = 0.0f;
+    if (low_res_current > -0.2f)
+    {
+        low_res_curr_calibration = low_res_current * OUTPUT2_DISCHARGING_ERROR_SLOPE + OUTPUT2_DISCHARGING_ERROR_OFFSET;
+    }
+    else
+    {
+        low_res_curr_calibration = low_res_current * OUTPUT2_CHARGING_ERROR_SLOPE + OUTPUT2_CHARGING_ERROR_OFFSET;
+    }
+
+    return -(low_res_current + low_res_curr_calibration);
 }