mirror of https://github.com/commaai/panda.git
87 lines
2.8 KiB
C
87 lines
2.8 KiB
C
#include "fan_declarations.h"
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struct fan_state_t fan_state;
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static const uint8_t FAN_TICK_FREQ = 8U;
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static const uint8_t FAN_STALL_THRESHOLD_MIN = 3U;
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void fan_set_power(uint8_t percentage) {
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fan_state.target_rpm = ((current_board->fan_max_rpm * CLAMP(percentage, 0U, 100U)) / 100U);
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}
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void llfan_init(void);
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void fan_init(void) {
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fan_state.stall_threshold = FAN_STALL_THRESHOLD_MIN;
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fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ;
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llfan_init();
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}
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// Call this at FAN_TICK_FREQ
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void fan_tick(void) {
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const float FAN_I = 0.001f;
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const uint8_t FAN_STALL_THRESHOLD_MAX = 8U;
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if (current_board->fan_max_rpm > 0U) {
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// Measure fan RPM
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uint16_t fan_rpm_fast = fan_state.tach_counter * (60U * FAN_TICK_FREQ / 4U); // 4 interrupts per rotation
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fan_state.tach_counter = 0U;
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fan_state.rpm = (fan_rpm_fast + (3U * fan_state.rpm)) / 4U;
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// Stall detection
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bool fan_stalled = false;
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if (current_board->fan_stall_recovery) {
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if (fan_state.target_rpm > 0U) {
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if (fan_rpm_fast == 0U) {
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fan_state.stall_counter = MIN(fan_state.stall_counter + 1U, 255U);
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} else {
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fan_state.stall_counter = 0U;
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}
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if (fan_state.stall_counter > (fan_state.stall_threshold*FAN_TICK_FREQ)) {
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fan_stalled = true;
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fan_state.stall_counter = 0U;
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fan_state.stall_threshold = CLAMP(fan_state.stall_threshold + 2U, FAN_STALL_THRESHOLD_MIN, FAN_STALL_THRESHOLD_MAX);
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fan_state.total_stall_count += 1U;
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// datasheet gives this range as the minimum startup duty
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fan_state.error_integral = CLAMP(fan_state.error_integral, 20.0f, 45.0f);
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}
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} else {
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fan_state.stall_counter = 0U;
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fan_state.stall_threshold = FAN_STALL_THRESHOLD_MIN;
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}
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}
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#ifdef DEBUG_FAN
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puth(fan_state.target_rpm);
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print(" "); puth(fan_rpm_fast);
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print(" "); puth(fan_state.power);
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print(" "); puth(fan_state.stall_counter);
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print("\n");
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#endif
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// Cooldown counter
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if (fan_state.target_rpm > 0U) {
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fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ;
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} else {
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if (fan_state.cooldown_counter > 0U) {
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fan_state.cooldown_counter--;
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}
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}
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// Update controller
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if (fan_state.target_rpm == 0U) {
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fan_state.error_integral = 0.0f;
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} else {
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float error = fan_state.target_rpm - fan_rpm_fast;
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fan_state.error_integral += FAN_I * error;
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}
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fan_state.power = CLAMP(fan_state.error_integral, 0U, current_board->fan_max_pwm);
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// Set PWM and enable line
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pwm_set(TIM3, 3, fan_state.power);
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current_board->set_fan_enabled(!fan_stalled && ((fan_state.target_rpm > 0U) || (fan_state.cooldown_counter > 0U)));
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}
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}
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