openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/thermald/fan_controller.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+from abc import ABC, abstractmethod
+
+from openpilot.common.realtime import DT_TRML
+from openpilot.common.numpy_fast import interp
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.pid import PIDController
+
+class BaseFanController(ABC):
+  @abstractmethod
+  def update(self, cur_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=4e-3, k_f=1, rate=(1 / DT_TRML))
+
+  def update(self, cur_temp: float, ignition: bool) -> int:
+    self.controller.neg_limit = -(100 if ignition else 30)
+    self.controller.pos_limit = -(30 if ignition else 0)
+
+    if ignition != self.last_ignition:
+      self.controller.reset()
+
+    error = 70 - cur_temp
+    fan_pwr_out = -int(self.controller.update(
+                      error=error,
+                      feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
+                    ))
+
+    self.last_ignition = ignition
+    return fan_pwr_out
+