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38 lines
1.1 KiB
38 lines
1.1 KiB
#!/usr/bin/env python3
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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 PIDController
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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 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 = PIDController(k_p=0, k_i=4e-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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error = 70 - max_cpu_temp
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fan_pwr_out = -int(self.controller.update(
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error=error,
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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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