You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
38 lines
1.1 KiB
38 lines
1.1 KiB
#!/usr/bin/env python3
|
|
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 PIDController
|
|
|
|
class BaseFanController(ABC):
|
|
@abstractmethod
|
|
def update(self, max_cpu_temp: float, ignition: bool) -> int:
|
|
pass
|
|
|
|
|
|
class TiciFanController(BaseFanController):
|
|
def __init__(self) -> None:
|
|
super().__init__()
|
|
cloudlog.info("Setting up TICI fan handler")
|
|
|
|
self.last_ignition = False
|
|
self.controller = PIDController(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()
|
|
|
|
error = 75 - max_cpu_temp
|
|
fan_pwr_out = -int(self.controller.update(
|
|
error=error,
|
|
feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
|
|
))
|
|
|
|
self.last_ignition = ignition
|
|
return fan_pwr_out
|
|
|
|
|