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68 lines
2.0 KiB
68 lines
2.0 KiB
import time
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import pytest
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from panda import Panda
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pytestmark = [
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pytest.mark.skip_panda_types(Panda.HW_TYPE_UNO),
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pytest.mark.test_panda_types(Panda.INTERNAL_DEVICES)
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]
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@pytest.mark.timeout(2*60)
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def test_fan_controller(p):
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start_health = p.health()
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for power in (30, 50, 80, 100):
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p.set_fan_power(0)
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while p.get_fan_rpm() > 0:
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time.sleep(0.1)
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# wait until fan spins up (and recovers if needed),
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# then wait a bit more for the RPM to converge
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p.set_fan_power(power)
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for _ in range(20):
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time.sleep(1)
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if p.get_fan_rpm() > 1000:
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break
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time.sleep(5)
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expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * power / 100
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assert 0.9 * expected_rpm <= p.get_fan_rpm() <= 1.1 * expected_rpm
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# Ensure the stall detection is tested on dos
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if p.get_type() == Panda.HW_TYPE_DOS:
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stalls = p.health()['fan_stall_count'] - start_health['fan_stall_count']
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assert stalls >= 2
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print("stall count", stalls)
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else:
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assert p.health()['fan_stall_count'] == 0
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def test_fan_cooldown(p):
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# if the fan cooldown doesn't work, we get high frequency noise on the tach line
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# while the rotor spins down. this makes sure it never goes beyond the expected max RPM
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p.set_fan_power(100)
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time.sleep(3)
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p.set_fan_power(0)
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for _ in range(5):
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assert p.get_fan_rpm() <= 7000
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time.sleep(0.5)
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def test_fan_overshoot(p):
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if p.get_type() == Panda.HW_TYPE_DOS:
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pytest.skip("panda's fan controller overshoots on the comma three fans that need stall recovery")
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# make sure it's stopped completely
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p.set_fan_power(0)
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while p.get_fan_rpm() > 0:
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time.sleep(0.1)
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# set it to 30% power to mimic going onroad
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p.set_fan_power(30)
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max_rpm = 0
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for _ in range(50):
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max_rpm = max(max_rpm, p.get_fan_rpm())
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time.sleep(0.1)
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# tolerate 10% overshoot
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expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * 30 / 100
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assert max_rpm <= 1.1 * expected_rpm, f"Fan overshoot: {(max_rpm / expected_rpm * 100) - 100:.1f}%"
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