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29 lines
979 B
Python
Executable File
29 lines
979 B
Python
Executable File
#!/usr/bin/env python3
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import numpy as np
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from openpilot.common.pid import PIDController
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from openpilot.system.hardware import HARDWARE
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# raise fan setpoint on tici/tizi to reduce noise
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# after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling
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OFFSET = 0 if HARDWARE.get_device_type() == "mici" else 5
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class FanController:
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def __init__(self, rate: int) -> None:
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self.last_ignition = False
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self.controller = PIDController(k_p=0, k_i=4e-3, rate=rate)
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def update(self, cur_temp: float, ignition: bool) -> int:
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self.controller.pos_limit = 100 if ignition else 30
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self.controller.neg_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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self.last_ignition = ignition
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return int(self.controller.update(
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error=(cur_temp - (75 + OFFSET)), # temperature setpoint in C
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feedforward=np.interp(cur_temp, [60.0 + OFFSET, 100.0 + OFFSET], [0, 100])
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))
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