104 lines
3.1 KiB
Python
104 lines
3.1 KiB
Python
#!/usr/bin/env python3
|
|
|
|
import os
|
|
from smbus2 import SMBus
|
|
from abc import ABC, abstractmethod
|
|
from common.realtime import DT_TRML
|
|
from common.numpy_fast import interp
|
|
from selfdrive.swaglog import cloudlog
|
|
from selfdrive.controls.lib.pid import PIController
|
|
|
|
class BaseFanController(ABC):
|
|
@abstractmethod
|
|
def update(self, max_cpu_temp: float, ignition: bool) -> int:
|
|
pass
|
|
|
|
|
|
class EonFanController(BaseFanController):
|
|
# Temp thresholds to control fan speed - high hysteresis
|
|
TEMP_THRS_H = [50., 65., 80., 10000]
|
|
# Temp thresholds to control fan speed - low hysteresis
|
|
TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
|
|
# Fan speed options
|
|
FAN_SPEEDS = [0, 16384, 32768, 65535]
|
|
|
|
def __init__(self) -> None:
|
|
super().__init__()
|
|
cloudlog.info("Setting up EON fan handler")
|
|
|
|
self.fan_speed = -1
|
|
self.setup_eon_fan()
|
|
|
|
def setup_eon_fan(self) -> None:
|
|
os.system("echo 2 > /sys/module/dwc3_msm/parameters/otg_switch")
|
|
|
|
def set_eon_fan(self, speed: int) -> None:
|
|
if self.fan_speed != speed:
|
|
# FIXME: this is such an ugly hack to get the right index
|
|
val = speed // 16384
|
|
|
|
bus = SMBus(7, force=True)
|
|
try:
|
|
i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
|
|
bus.write_i2c_block_data(0x3d, 0, [i])
|
|
except OSError:
|
|
# tusb320
|
|
if val == 0:
|
|
bus.write_i2c_block_data(0x67, 0xa, [0])
|
|
else:
|
|
bus.write_i2c_block_data(0x67, 0xa, [0x20])
|
|
bus.write_i2c_block_data(0x67, 0x8, [(val - 1) << 6])
|
|
bus.close()
|
|
self.fan_speed = speed
|
|
|
|
def update(self, max_cpu_temp: float, ignition: bool) -> int:
|
|
new_speed_h = next(speed for speed, temp_h in zip(self.FAN_SPEEDS, self.TEMP_THRS_H) if temp_h > max_cpu_temp)
|
|
new_speed_l = next(speed for speed, temp_l in zip(self.FAN_SPEEDS, self.TEMP_THRS_L) if temp_l > max_cpu_temp)
|
|
|
|
if new_speed_h > self.fan_speed:
|
|
self.set_eon_fan(new_speed_h)
|
|
elif new_speed_l < self.fan_speed:
|
|
self.set_eon_fan(new_speed_l)
|
|
|
|
return self.fan_speed
|
|
|
|
|
|
class UnoFanController(BaseFanController):
|
|
def __init__(self) -> None:
|
|
super().__init__()
|
|
cloudlog.info("Setting up UNO fan handler")
|
|
|
|
def update(self, max_cpu_temp: float, ignition: bool) -> int:
|
|
new_speed = int(interp(max_cpu_temp, [40.0, 80.0], [0, 80]))
|
|
|
|
if not ignition:
|
|
new_speed = min(30, new_speed)
|
|
|
|
return new_speed
|
|
|
|
|
|
class TiciFanController(BaseFanController):
|
|
def __init__(self) -> None:
|
|
super().__init__()
|
|
cloudlog.info("Setting up TICI fan handler")
|
|
|
|
self.last_ignition = False
|
|
self.controller = PIController(k_p=0, k_i=2e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
|
|
|
|
def update(self, max_cpu_temp: float, ignition: bool) -> int:
|
|
self.controller.neg_limit = -(80 if ignition else 30)
|
|
self.controller.pos_limit = -(30 if ignition else 0)
|
|
|
|
if ignition != self.last_ignition:
|
|
self.controller.reset()
|
|
|
|
fan_pwr_out = -int(self.controller.update(
|
|
setpoint=75,
|
|
measurement=max_cpu_temp,
|
|
feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
|
|
))
|
|
|
|
self.last_ignition = ignition
|
|
return fan_pwr_out
|
|
|