Thermald thermal state cleanup (#21959)
* dumb controller 'tuned' on a desk * reduce Ki * fix prev_time bug * reset integral on going onroad * cleanup thermal detection logic * more minor tuning * use controls' PI controller * get rid of bat_temp * change if once more * cleanup * cleanup import order * add back bat temp in this PR * cleanup thermal status logic * use offroad danger temp * revert that * use ordered dict for prev/next bands Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/22124/head
Robbe Derks
GitHub
parent
2b62b5a117
commit
86bceed57d
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@ -4,6 +4,7 @@ import os
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import time
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from pathlib import Path
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from typing import Dict, Optional, Tuple
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from collections import namedtuple, OrderedDict
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import psutil
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from smbus2 import SMBus
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@ -11,7 +12,7 @@ from smbus2 import SMBus
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import cereal.messaging as messaging
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from cereal import log
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from common.filter_simple import FirstOrderFilter
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from common.numpy_fast import clip, interp
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from common.numpy_fast import interp
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from common.params import Params, ParamKeyType
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from common.realtime import DT_TRML, sec_since_boot
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from common.dict_helpers import strip_deprecated_keys
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@ -30,16 +31,27 @@ ThermalStatus = log.DeviceState.ThermalStatus
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NetworkType = log.DeviceState.NetworkType
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NetworkStrength = log.DeviceState.NetworkStrength
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CURRENT_TAU = 15. # 15s time constant
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CPU_TEMP_TAU = 5. # 5s time constant
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TEMP_TAU = 5. # 5s time constant
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DAYS_NO_CONNECTIVITY_MAX = 7 # do not allow to engage after a week without internet
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DAYS_NO_CONNECTIVITY_PROMPT = 4 # send an offroad prompt after 4 days with no internet
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DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect so you get an alert
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ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
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# List of thermal bands. We will stay within this region as long as we are within the bounds.
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# When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
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THERMAL_BANDS = OrderedDict({
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ThermalStatus.green: ThermalBand(None, 80.0),
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ThermalStatus.yellow: ThermalBand(75.0, 96.0),
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ThermalStatus.red: ThermalBand(80.0, 107.),
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ThermalStatus.danger: ThermalBand(94.0, None),
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})
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# Override to highest thermal band when offroad and above this temp
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OFFROAD_DANGER_TEMP = 70.0
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prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
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last_eon_fan_val = None
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def read_tz(x):
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if x is None:
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return 0
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@ -65,6 +77,7 @@ def setup_eon_fan():
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os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
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last_eon_fan_val = None
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def set_eon_fan(val):
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global last_eon_fan_val
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@ -122,7 +135,7 @@ def handle_fan_tici(controller, max_cpu_temp, fan_speed, ignition):
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controller.pos_limit = -(30 if ignition else 0)
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fan_pwr_out = -int(controller.update(
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setpoint=(75 if ignition else 68),
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setpoint=(75 if ignition else (OFFROAD_DANGER_TEMP - 2)),
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measurement=max_cpu_temp,
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feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
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))
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@ -167,7 +180,7 @@ def thermald_thread():
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registered_count = 0
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current_filter = FirstOrderFilter(0., CURRENT_TAU, DT_TRML)
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cpu_temp_filter = FirstOrderFilter(0., CPU_TEMP_TAU, DT_TRML)
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temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
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pandaState_prev = None
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should_start_prev = False
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handle_fan = None
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@ -294,36 +307,26 @@ def thermald_thread():
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current_filter.update(msg.deviceState.batteryCurrent / 1e6)
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# TODO: add car battery voltage check
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max_cpu_temp = cpu_temp_filter.update(max(msg.deviceState.cpuTempC))
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max_comp_temp = max(max_cpu_temp, msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC))
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bat_temp = msg.deviceState.batteryTempC
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max_comp_temp = temp_filter.update(
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max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC))
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)
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if handle_fan is not None:
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fan_speed = handle_fan(controller, max_cpu_temp, fan_speed, startup_conditions["ignition"])
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fan_speed = handle_fan(controller, max_comp_temp, fan_speed, startup_conditions["ignition"])
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msg.deviceState.fanSpeedPercentDesired = fan_speed
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# If device is offroad we want to cool down before going onroad
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# since going onroad increases load and can make temps go over 107
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# We only do this if there is a relay that prevents the car from faulting
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is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
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if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min and max_cpu_temp > 70.0):
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# onroad not allowed
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if is_offroad_for_5_min and max_comp_temp > OFFROAD_DANGER_TEMP:
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# If device is offroad we want to cool down before going onroad
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# since going onroad increases load and can make temps go over 107
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thermal_status = ThermalStatus.danger
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elif max_comp_temp > 96.0 or bat_temp > 60.:
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# hysteresis between onroad not allowed and engage not allowed
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thermal_status = clip(thermal_status, ThermalStatus.red, ThermalStatus.danger)
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elif max_cpu_temp > 94.0:
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# hysteresis between engage not allowed and uploader not allowed
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thermal_status = clip(thermal_status, ThermalStatus.yellow, ThermalStatus.red)
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elif max_cpu_temp > 80.0:
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# uploader not allowed
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thermal_status = ThermalStatus.yellow
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elif max_cpu_temp > 75.0:
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# hysteresis between uploader not allowed and all good
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thermal_status = clip(thermal_status, ThermalStatus.green, ThermalStatus.yellow)
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else:
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thermal_status = ThermalStatus.green # default to good condition
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current_band = THERMAL_BANDS[thermal_status]
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band_idx = list(THERMAL_BANDS.keys()).index(thermal_status)
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if current_band.min_temp is not None and max_comp_temp < current_band.min_temp:
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thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1]
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elif current_band.max_temp is not None and max_comp_temp > current_band.max_temp:
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thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
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# **** starting logic ****
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