diff options
Diffstat (limited to 'control/zone.cpp')
| -rw-r--r-- | control/zone.cpp | 92 |
1 files changed, 92 insertions, 0 deletions
diff --git a/control/zone.cpp b/control/zone.cpp index 8e665f0..4ce62ea 100644 --- a/control/zone.cpp +++ b/control/zone.cpp @@ -13,6 +13,9 @@ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. + * + * PID controls (c) 2018 Raptor Engineering, LLC + * Licensed for use with Raptor Computing Systems machines only */ #include <chrono> #include <phosphor-logging/log.hpp> @@ -49,6 +52,7 @@ Zone::Zone(Mode mode, _decInterval(std::get<decIntervalPos>(def)), _incTimer(events, [this](){ this->incTimerExpired(); }), _decTimer(events, [this](){ this->decTimerExpired(); }), + _pidTimer(events, [this](){ this->pidTimerExpired(); }), _sdEvents(events) { auto& fanDefs = std::get<fanListPos>(def); @@ -77,6 +81,12 @@ Zone::Zone(Mode mode, _decTimer.start(_decInterval, util::Timer::TimerType::repeating); } + // Start timer for PID loops + if (!_pidTimer.running()) + { + _pidTimer.start(std::chrono::seconds(1), + util::Timer::TimerType::repeating); + } } } @@ -102,6 +112,9 @@ void Zone::setFullSpeed() fan->setSpeed(_targetSpeed); } } + + _pidIntegrator = 0; + _pidPrevError = 0; } void Zone::disableRotors() @@ -110,6 +123,9 @@ void Zone::disableRotors() { fan->disableRotor(); } + + _pidIntegrator = 0; + _pidPrevError = 0; } void Zone::setActiveAllow(const Group* group, bool isActiveAllow) @@ -127,6 +143,9 @@ void Zone::setActiveAllow(const Group* group, bool isActiveAllow) _active.end(), actPred); } + + _pidIntegrator = 0; + _pidPrevError = 0; } void Zone::removeService(const Group* group, @@ -275,6 +294,16 @@ void Zone::requestSpeedDecrease(uint64_t targetDelta) } } +void Zone::runPidLoop(int64_t error, uint64_t integrator_timestep, int64_t kp, int64_t ki, int64_t kd) +{ + _pidLastError = error; + _pidLastIntegratorTimestep = integrator_timestep; + _pidLastKp = kp; + _pidLastKi = ki; + _pidLastKd = kd; + _pidActive = true; +} + void Zone::decTimerExpired() { // Check all entries are set to allow a decrease @@ -312,6 +341,67 @@ void Zone::decTimerExpired() // Decrease timer is restarted since its repeating } +void Zone::pidTimerExpired() +{ + if (!_pidActive) + { + return; + } + + /* If error is positive on startup, set fans to full by forcing integrator to maximum value */ + if (!_pidActivePrev) { + if (_pidLastError > 0) { + _pidIntegrator = ((_ceilingSpeed - _floorSpeed) * 100000) / _pidLastKi; + } + } + + auto pidIntegrator_orig = _pidIntegrator; + _pidIntegrator += _pidLastError * _pidLastIntegratorTimestep; + int64_t derivative = (_pidLastError - _pidPrevError) / _pidLastIntegratorTimestep; + int64_t pid_output = ((_pidLastError * _pidLastKp) + (_pidIntegrator * _pidLastKi) + (derivative * _pidLastKd)) / 100000; + _pidPrevError = _pidLastError; + + uint64_t requestTarget = _floorSpeed; + if (pid_output > 0) + { + requestTarget = _floorSpeed + pid_output; + } + else { + _pidIntegrator = pidIntegrator_orig; + } + // Target speed can not go above a defined ceiling speed + if (requestTarget > _ceilingSpeed) + { + requestTarget = _ceilingSpeed; + _pidIntegrator = pidIntegrator_orig; + } + // Target speed can not go below a defined floor speed + if (requestTarget < _floorSpeed) + { + requestTarget = _floorSpeed; + _pidIntegrator = pidIntegrator_orig; + } + + /* Cap integrator wind-up */ + if (_pidLastKi != 0) { + if (_pidIntegrator > (int64_t)(((_ceilingSpeed - _floorSpeed) * 100000) / _pidLastKi)) + { + _pidIntegrator = ((_ceilingSpeed - _floorSpeed) * 100000) / _pidLastKi; + } + if (_pidIntegrator < ((int64_t)((_ceilingSpeed - _floorSpeed) * -100000) / _pidLastKi)) + { + _pidIntegrator = ((_ceilingSpeed - _floorSpeed) * -100000) / _pidLastKi; + } + } + else { + _pidIntegrator = 0; + } + + setRequestSpeedBase(requestTarget); + + _pidActivePrev = true; +} + void Zone::initEvent(const SetSpeedEvent& event) { sdbusplus::message::message nullMsg{nullptr}; @@ -319,6 +409,8 @@ void Zone::initEvent(const SetSpeedEvent& event) for (auto& sig : std::get<signalsPos>(event)) { // Initialize the event signal using handler + // FIXME + // This next line is very slow, delaying fan control startup significantly std::get<sigHandlerPos>(sig)(_bus, nullMsg, *this); // Setup signal matches of the property for event std::unique_ptr<EventData> eventData = |
