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James Feistce6a3f32019-03-12 11:20:16 -07001/**
2 * Copyright 2017 Google Inc.
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17#include "pidloop.hpp"
18
19#include "pid/pidcontroller.hpp"
20#include "pid/tuning.hpp"
Patrick Venture7a98c192020-08-12 08:35:16 -070021#include "pid/zone_interface.hpp"
James Feistce6a3f32019-03-12 11:20:16 -070022#include "sensors/sensor.hpp"
23
24#include <boost/asio/steady_timer.hpp>
Patrick Venturea83a3ec2020-08-04 09:52:05 -070025
James Feistce6a3f32019-03-12 11:20:16 -070026#include <chrono>
27#include <map>
28#include <memory>
Patrick Venture7a98c192020-08-12 08:35:16 -070029#include <sstream>
James Feistce6a3f32019-03-12 11:20:16 -070030#include <thread>
31#include <vector>
32
Patrick Venturea0764872020-08-08 07:48:43 -070033namespace pid_control
34{
35
Johnathan Mantey5301aae2020-09-28 11:06:58 -070036static void processThermals(std::shared_ptr<ZoneInterface> zone)
James Feistce6a3f32019-03-12 11:20:16 -070037{
38 // Get the latest margins.
39 zone->updateSensors();
Patrick Venture9bbf3332019-07-16 10:50:37 -070040 // Zero out the set point goals.
41 zone->clearSetPoints();
James Feistce6a3f32019-03-12 11:20:16 -070042 zone->clearRPMCeilings();
43 // Run the margin PIDs.
44 zone->processThermals();
45 // Get the maximum RPM setpoint.
Patrick Venturef7a2dd52019-07-16 14:31:13 -070046 zone->determineMaxSetPointRequest();
James Feistce6a3f32019-03-12 11:20:16 -070047}
48
Johnathan Mantey5301aae2020-09-28 11:06:58 -070049void pidControlLoop(std::shared_ptr<ZoneInterface> zone,
50 std::shared_ptr<boost::asio::steady_timer> timer,
Hao Jiangb6a0b892021-02-21 18:00:45 -080051 const bool* isCanceling, bool first, int ms100cnt)
James Feistce6a3f32019-03-12 11:20:16 -070052{
Hao Jiangb6a0b892021-02-21 18:00:45 -080053 if (*isCanceling)
54 return;
55
James Feistce6a3f32019-03-12 11:20:16 -070056 if (first)
57 {
Patrick Venturede79ee02019-05-08 14:50:00 -070058 if (loggingEnabled)
James Feistce6a3f32019-03-12 11:20:16 -070059 {
60 zone->initializeLog();
61 }
62
63 zone->initializeCache();
64 processThermals(zone);
65 }
66
Johnathan Mantey5301aae2020-09-28 11:06:58 -070067 timer->expires_after(std::chrono::milliseconds(100));
Hao Jiangb6a0b892021-02-21 18:00:45 -080068 timer->async_wait([zone, timer, ms100cnt, isCanceling](
69 const boost::system::error_code& ec) mutable {
70 if (ec == boost::asio::error::operation_aborted)
71 {
72 return; // timer being canceled, stop loop
73 }
James Feist1fe08952019-05-07 09:17:16 -070074
Hao Jiangb6a0b892021-02-21 18:00:45 -080075 /*
76 * This should sleep on the conditional wait for the listen thread
77 * to tell us it's in sync. But then we also need a timeout option
78 * in case phosphor-hwmon is down, we can go into some weird failure
79 * more.
80 *
81 * Another approach would be to start all sensors in worst-case
82 * values, and fail-safe mode and then clear out of fail-safe mode
83 * once we start getting values. Which I think it is a solid
84 * approach.
85 *
86 * For now this runs before it necessarily has any sensor values.
87 * For the host sensors they start out in fail-safe mode. For the
88 * fans, they start out as 0 as input and then are adjusted once
89 * they have values.
90 *
91 * If a fan has failed, it's value will be whatever we're told or
92 * however we retrieve it. This program disregards fan values of 0,
93 * so any code providing a fan speed can set to 0 on failure and
94 * that fan value will be effectively ignored. The PID algorithm
95 * will be unhappy but nothing bad will happen.
96 *
97 * TODO(venture): If the fan value is 0 should that loop just be
98 * skipped? Right now, a 0 value is ignored in
99 * FanController::inputProc()
100 */
James Feistce6a3f32019-03-12 11:20:16 -0700101
Hao Jiangb6a0b892021-02-21 18:00:45 -0800102 // Check if we should just go back to sleep.
103 if (zone->getManualMode())
104 {
105 pidControlLoop(zone, timer, isCanceling, false, ms100cnt);
106 return;
107 }
James Feistce6a3f32019-03-12 11:20:16 -0700108
Hao Jiangb6a0b892021-02-21 18:00:45 -0800109 // Get the latest fan speeds.
110 zone->updateFanTelemetry();
James Feistce6a3f32019-03-12 11:20:16 -0700111
Hao Jiangb6a0b892021-02-21 18:00:45 -0800112 if (10 <= ms100cnt)
113 {
114 ms100cnt = 0;
James Feistce6a3f32019-03-12 11:20:16 -0700115
Hao Jiangb6a0b892021-02-21 18:00:45 -0800116 processThermals(zone);
117 }
James Feistce6a3f32019-03-12 11:20:16 -0700118
Hao Jiangb6a0b892021-02-21 18:00:45 -0800119 // Run the fan PIDs every iteration.
120 zone->processFans();
James Feistce6a3f32019-03-12 11:20:16 -0700121
Hao Jiangb6a0b892021-02-21 18:00:45 -0800122 if (loggingEnabled)
123 {
124 std::ostringstream out;
125 out << "," << zone->getFailSafeMode() << std::endl;
126 zone->writeLog(out.str());
127 }
James Feistce6a3f32019-03-12 11:20:16 -0700128
Hao Jiangb6a0b892021-02-21 18:00:45 -0800129 ms100cnt += 1;
James Feistce6a3f32019-03-12 11:20:16 -0700130
Hao Jiangb6a0b892021-02-21 18:00:45 -0800131 pidControlLoop(zone, timer, isCanceling, false, ms100cnt);
132 });
James Feistce6a3f32019-03-12 11:20:16 -0700133}
Patrick Venturea0764872020-08-08 07:48:43 -0700134
135} // namespace pid_control