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