Steam Deck Stock Fan Control Script 2023-05-25

README.md

These can be found on a Steam Deck at: /usr/share/jupiter-fan-control

fancontrol.py

#!/usr/bin/python -u
"""jupiter-fan-controller"""
import signal
import os
import sys
import subprocess
import time
import math
import yaml
from PID import PID

# quadratic function RPM = AT^2 + BT + C
class Quadratic():
    '''quadratic function controller'''
    def __init__(self, A, B, C, T_threshold = 0) -> None:
        '''constructor'''
        self.A = A
        self.B = B
        self.C = C
        self.T_threshold = T_threshold
        self.output = 0
    
    def update(self, temp_input, _) -> int:
        '''update output'''
        if temp_input < self.T_threshold:
            self.output = 0
        else:
            self.output = int(self.A * math.pow(temp_input, 2) + self.B * temp_input + self.C)
        return self.output

class FeedForward():
    '''RPM predicted by APU power is fed forward + PID output stage'''
    def __init__(self, Kp, Ki, Kd, windup, winddown, a_ff, b_ff, temp_setpoint) -> None:
        '''constructor'''
        self.a_ff = a_ff
        self.b_ff = b_ff
        self.temp_setpoint = temp_setpoint
        self.pid = PID(Kp, Ki, Kd)
        self.pid.SetPoint = temp_setpoint
        self.pid.setWindup(windup)
        self.pid.setWinddown(winddown)
        self.output = 0

    def print_ff_state(self, ff_output, pid_output) -> str:
        '''prints state variables of FF and PID, helpful for debug'''
        print(f"FeedForward Controller - FF:{ff_output:.0f}    PID: {-1 * self.pid.PTerm:.0f}  {-1 * self.pid.Ki * self.pid.ITerm:.0f}  {-1 * self.pid.Kd * self.pid.DTerm:.0f} = {pid_output:.0f}")

    def get_ff_setpoint(self, power_input) -> int:
        '''returns the feed forward portion of the controller output'''
        rpm_setpoint = int(self.a_ff * power_input + self.b_ff)
        return rpm_setpoint

    def update(self, temp_input, power_input) -> int:
        '''run controller to update output'''
        pid_output = self.pid.update(temp_input)
        ff_output = self.get_ff_setpoint(power_input)
        self.output = int(pid_output + ff_output)
        # self.print_ff_state(ff_output, pid_output)
        return self.output

class FeedForwardMin():
    '''FF with an additional min curve'''
    def __init__(self, Kp, Ki, Kd, windup, winddown, a_ff, b_ff, temp_setpoint, a_min, b_min) -> None:
        '''constructor'''
        self.a_ff = a_ff
        self.b_ff = b_ff
        self.a_min = a_min
        self.b_min = b_min
        self.temp_setpoint = temp_setpoint
        self.pid = PID(Kp, Ki, Kd)
        self.pid.SetPoint = temp_setpoint
        self.pid.setWindup(windup)
        self.pid.setWinddown(winddown)
        self.output = 0

    def print_ff_state(self, ff_output, pid_output, min_setpoint) -> str:
        '''prints state variables of FF and PID, helpful for debug'''
        print(f"FeedForward Controller - Min:{min_setpoint}    FF:{ff_output:.0f}    PID:{-1 * self.pid.PTerm:.0f}/{-1 * self.pid.Ki * self.pid.ITerm:.0f}/{-1 * self.pid.Kd * self.pid.DTerm:.0f} = {ff_output + pid_output:.0f}")

    def get_ff_setpoint(self, power_input) -> int:
        '''returns the feed forward portion of the controller output'''
        rpm_setpoint = int(self.a_ff * power_input + self.b_ff)
        return rpm_setpoint

    def get_min_setpoint(self, temp_input) -> int:
        '''returns a minimum rpm speed for the given temperature'''
        rpm_setpoint =  int(self.a_min * temp_input + self.b_min)
        return rpm_setpoint

    def update(self, temp_input, power_input) -> int:
        '''run controller to update output'''
        pid_output = int(self.pid.update(temp_input))
        ff_output = self.get_ff_setpoint(power_input)
        min_setpoint = self.get_min_setpoint(temp_input)
        self.output = max(min_setpoint,(pid_output + ff_output))
        self.print_ff_state(ff_output, pid_output, min_setpoint)
        return self.output

class FeedForwardQuad():
    '''FF with an additional min curve'''
    def __init__(self, a_quad, b_quad, c_quad, a_ff, b_ff) -> None:
        '''constructor'''
        self.a_ff = a_ff
        self.b_ff = b_ff
        # self.temp_setpoint = temp_setpoint
        self.ff_deadzone = 300
        self.ff_last_setpoint = 0
        self.quad = Quadratic(a_quad, b_quad, c_quad)
        self.output = 0

    def print_ff_state(self, ff_output, quad_output):
        '''prints state variables of FF and PID, helpful for debug'''
        print(f"FeedForward Controller - Quad:{quad_output}    FF:{ff_output:.0f}")

    def get_ff_setpoint(self, power_input) -> int:
        '''returns the feed forward portion of the controller output'''
        rpm_setpoint = int(self.a_ff * power_input + self.b_ff)
        if abs(rpm_setpoint - self.ff_last_setpoint) > self.ff_deadzone:
            self.ff_last_setpoint = rpm_setpoint
            return rpm_setpoint
        return self.ff_last_setpoint

    def update(self, temp_input, power_input) -> int:
        '''run controller to update output'''
        quad_output = int(self.quad.update(temp_input, None))
        ff_output = self.get_ff_setpoint(power_input)
        # min_setpoint = self.get_min_setpoint(temp_input)
        self.output = quad_output + ff_output
        self.print_ff_state(ff_output, quad_output)
        return self.output

class Fan():
    '''fan object controls all jupiter hwmon parameters'''
    def __init__(self, fan_path, config) -> None:
        '''constructor'''
        self.fan_path = fan_path
        self.charge_state_path = config["charge_state_path"]
        self.min_speed = config["fan_min_speed"]
        self.threshold_speed = config["fan_threshold_speed"]
        self.max_speed = config["fan_max_speed"]
        self.gain = config["fan_gain"]
        self.ec_ramp_rate = config["ec_ramp_rate"]
        self.fc_speed = 0
        self.measured_speed = 0
        self.charge_state = False
        self.charge_min_speed = 2000
        self.has_std_bios = self.bios_compatibility_check()
        self.take_control_from_ec()
        self.set_speed(3000)

    @staticmethod
    def bios_compatibility_check() -> bool:
        """returns True for bios versions >= 106, false for earlier versions"""
        version = subprocess.check_output(["dmidecode", "-s", "bios-version"]) # b'F7A0104T06\n'
        version = int(version[3:7])

        if version >= 106:
            return True
        else:
            return False

    def take_control_from_ec(self) -> None:
        '''take over fan control from ec mcu'''
        if self.has_std_bios:
            return
        else:
            with open(self.fan_path + "gain", 'w', encoding="utf8") as f:
                f.write(str(self.gain))
            with open(self.fan_path + "ramp_rate", 'w', encoding="utf8") as f:
                f.write(str(self.ec_ramp_rate))
            with open(self.fan_path + "recalculate", 'w', encoding="utf8") as f:
                f.write(str(1))

    def return_to_ec_control(self) -> None:
        '''reset EC to generate fan values internally'''
        if self.has_std_bios:
            with open(self.fan_path + "fan1_target", 'w', encoding="utf8") as f:
                f.write(str(int(0)))
        else:
            with open(self.fan_path + "gain", 'w', encoding="utf8") as f:
                f.write(str(10))
            with open(self.fan_path + "ramp_rate", 'w', encoding="utf8") as f:
                f.write(str(20))
            with open(self.fan_path + "recalculate", 'w', encoding="utf8") as f:
                f.write(str(0))

    def get_speed(self) -> int:
        '''returns the measured (real) fan speed'''
        with open(self.fan_path + "fan1_input", 'r', encoding="utf8") as f:
            self.measured_speed = int(f.read().strip())
        return self.measured_speed

    def get_charge_state(self) -> bool:
        '''updates min rpm depending on charge state'''
        with open(self.charge_state_path, 'r', encoding="utf8") as f:
            state = f.read().strip()
        if state == "Charging":
            self.charge_state = True
        else:
            self.charge_state = False
        return self.charge_state

    def set_speed(self, speed) -> None:
        '''sets a new target speed'''
        if speed > self.max_speed:
            speed = self.max_speed
        elif self.charge_state:
            if speed < self.charge_min_speed:
                speed = self.charge_min_speed
        elif speed < self.threshold_speed:
            speed = self.min_speed
            
        self.fc_speed = speed
        with open(self.fan_path + "fan1_target", 'w', encoding="utf8") as f:
            f.write(str(int(self.fc_speed)))

class Device():
    '''devices are sources of heat - CPU, GPU, etc.'''
    def __init__(self, base_path, config, fan_max_speed, n_sample_avg) -> None:
        '''constructor'''
        self.sensor_path = get_full_path(base_path, config["hwmon_name"]) + config["sensor_name"]
        self.sensor_path_input = self.sensor_path + "_input"
        self.fan_max_speed = fan_max_speed
        self.n_sample_avg = n_sample_avg
        self.nice_name = config["nice_name"]
        self.max_temp = config["max_temp"]
        self.poll_reduction_multiple = config["poll_mult"]

        self.n_poll_requests = 0

        # try to pull critical temperature from the hwmon
        try:
            crit_temp = self.get_critical_temp()
            if not 60 <= crit_temp <= 100:
                raise Exception("critical temperature out of range")
            self.max_temp = crit_temp
            print(f'loaded critical temp from {self.nice_name} hwmon: {self.max_temp}')
        except:
            print(f'failed to load critical temp from {self.nice_name} hwmon, falling back to config')
            
        self.temp_deadzone = config["temp_deadzone"]
        self.temp = 0
        self.control_temp = 0 # deadzone temp
        self.control_output = 0 # controller output if > 0, max fan speed if max temp reached
        self.buffer_full = False
        self.control_temps = []
        self.avg_control_temp = 0

        # instantiate controller depending on type
        self.type = config["type"]
        if self.type == "pid":
            self.controller = PID(float(config["Kp"]), float(config["Ki"]), float(config["Kd"]))  
            self.controller.SetPoint = config["T_setpoint"]
            self.controller.setWindup(config["windup_limit"]) # windup limits the I term of the output
        elif self.type ==  "quadratic":
            self.controller = Quadratic(float(config["A"]), float(config["B"]), float(config["C"]), float(config["T_threshold"]))
        elif self.type == "feedforward":
            self.controller = FeedForward(float(config["Kp"]), float(config["Ki"]), float(config["Kd"]), int(config["windup"]), int(config["winddown"]), float(config["A_ff"]), float(config["B_ff"]), float(config["T_setpoint"]))
        elif self.type == "ffmin":
            self.controller = FeedForwardMin(float(config["Kp"]), float(config["Ki"]), float(config["Kd"]), int(config["windup"]), int(config["winddown"]), float(config["A_ff"]), float(config["B_ff"]), float(config["T_setpoint"]), float(config["A_min"]), float(config["B_min"]))
        elif self.type == "ffquad":
            self.controller = FeedForwardQuad(float(config["A_quad"]), float(config["B_quad"]), float(config["C_quad"]), float(config["A_ff"]), float(config["B_ff"]))
        else:
            print("error loading device controller \n")
            exit(1)

    def get_critical_temp(self) -> float:
        '''returns the critical temperature of the device'''
        with open(self.sensor_path + '_crit', 'r', encoding="utf8") as f:
            return int(f.read().strip()) / 1000

    def get_temp(self) -> float:
        '''updates temperatures'''
        self.n_poll_requests += 1
        if self.n_poll_requests >= self.poll_reduction_multiple:
            with open(self.sensor_path_input, 'r', encoding="utf8") as f:
                self.temp = int(f.read().strip()) / 1000
            # only update the control temp if it's outside temp_deadzone
            if math.fabs(self.temp - self.control_temp) >= self.temp_deadzone:
                self.control_temp = self.temp
            self.n_poll_requests = 0
        return self.control_temp

    def get_avg_temp(self) -> float:
        '''updates temperature list + generates average value'''
        self.control_temps.append(self.get_temp())
        if self.buffer_full:
            self.control_temps.pop(0)
        elif len(self.control_temps) >= self.n_sample_avg:
            self.buffer_full = True
        self.avg_control_temp = math.fsum(self.control_temps) / len(self.control_temps)
        return self.avg_control_temp

    def get_output(self, temp_input, power_input) -> int:
        '''updates the device controller and returns bounded output'''
        self.controller.update(temp_input, power_input)
        self.control_output = max(self.controller.output, 0)
        if(temp_input > self.max_temp):
            self.control_output = self.fan_max_speed
        return self.control_output

class Sensor():
    '''sensor for measuring non-temperature values'''
    def __init__(self, base_path, config) -> None:
        self.sensor_path = get_full_path(base_path, config["hwmon_name"]) + config["sensor_name"]
        self.nice_name = config["nice_name"]
        self.n_sample_avg = config["n_sample_avg"]
        self.value = 0
        self.avg_value = 0
        self.buffer_full = False
        self.values = []

    def get_value(self) -> float:
        '''returns instantaneous value'''
        with open(self.sensor_path, 'r', encoding='utf-8') as f:
            self.value = int(f.read().strip()) / 1000000
        return self.value
    
    def get_avg_value(self) -> float:
        '''returns average value'''
        self.values.append(self.get_value())
        if self.buffer_full:
            self.values.pop(0)
        elif len(self.values) >= self.n_sample_avg:
            self.buffer_full = True
        self.avg_value = math.fsum(self.values) / len(self.values)
        return self.avg_value

def get_full_path(base_path, name) -> str:
    '''helper function to find correct hwmon* path for a given device name'''
    for directory in os.listdir(base_path):
        full_path = base_path + directory + '/'
        test_name = open(full_path + "name", encoding="utf8").read().strip()
        if test_name == name:
            return full_path
    print(f"failed to find device {name}")

class FanController():
    '''main FanController class'''
    def __init__(self, config_file):
        '''constructor'''
        # read in config yaml file
        with open(config_file, "r", encoding="utf8") as f:
            try:
                self.config = yaml.safe_load(f)
            except yaml.YAMLError as exc:
                print("error loading config file \n", exc)
                exit(1)

        # store global parameters
        self.base_hwmon_path = self.config["base_hwmon_path"]
        self.loop_interval = self.config["loop_interval"]
        self.control_loop_ratio = self.config["control_loop_ratio"]

        # initialize fan
        fan_path = get_full_path(self.base_hwmon_path, self.config["fan_hwmon_name"])
        self.fan = Fan(fan_path, self.config) 

        # initialize list of devices
        self.devices = [ Device(self.base_hwmon_path, device_config, self.fan.max_speed, self.control_loop_ratio) for device_config in self.config["devices"] ]

        # initialize APU power sensor
        self.power_sensor = Sensor(self.base_hwmon_path, self.config["sensors"][0])

        # exit handler
        signal.signal(signal.SIGTERM, self.on_exit)

    def print_single(self, source_name):
        '''pretty print all device values, temp source, and output'''
        for device in self.devices:
            print(f"{device.nice_name}: {device.temp:.1f}/{device.control_output:.0f}  ", end = '')
            #print("{}: {}  ".format(device.nice_name, device.temp), end = '')
        print(f"{self.power_sensor.nice_name}: {self.power_sensor.value:.1f}/{self.power_sensor.avg_value:.1f}  ", end = '')
        print(f"Fan[{source_name}]: {int(self.fan.fc_speed)}/{self.fan.measured_speed}")

    def loop_read_sensors(self):
        '''internal loop to measure device temps and sensor value'''
        start_time = time.time()
        self.power_sensor.get_avg_value()
        for device in self.devices:
            device.get_avg_temp()
        sleep_time = self.loop_interval - (time.time() - start_time)
        if sleep_time > 0:
            time.sleep(sleep_time)

    def loop_control(self):
        '''main control loop'''
        print("jupiter-fan-control starting up ...")
        while True:
            fan_error = abs(self.fan.fc_speed - self.fan.get_speed())
            if fan_error > 500:
                self.fan.take_control_from_ec()
            # read device temps and power sensor
            for _ in range(self.control_loop_ratio):
                self.loop_read_sensors()
            # read charge state
            self.fan.get_charge_state()
            for device in self.devices:
                device.get_output(device.avg_control_temp, self.power_sensor.avg_value)
            max_output = max(device.control_output for device in self.devices)
            self.fan.set_speed(max_output)
            # find source name for the max control output
            source_name = next(device for device in self.devices if device.control_output == max_output).nice_name
            # print all values
            self.print_single(source_name)

    def on_exit(self, signum, frame):
        '''exit handler'''
        self.fan.return_to_ec_control()
        print("returning fan to EC control loop")
        exit()

# main
if __name__ == '__main__':
    # specify config file path
    CONFIG_FILE_PATH = "/usr/share/jupiter-fan-control/jupiter-fan-control-config.yaml"
    controller = FanController(config_file = CONFIG_FILE_PATH)

    args = sys.argv
    if len(args) == 2:
        command = args[1]
        if command == "--run":
            controller.loop_control()
            
    # otherwise, exit cleanly
    controller.on_exit(None, None)

jupiter-fan-control-config.yaml

# config file for juputer-fan-control.service

loop_interval: 0.2
control_loop_ratio: 5
base_hwmon_path: /sys/class/hwmon/
charge_state_path: /sys/class/power_supply/BAT1/status

fan_hwmon_name: jupiter
fan_min_speed: 10
fan_threshold_speed: 1500
fan_max_speed: 7300
fan_gain: 10
ec_ramp_rate: 10

sensors:
  - hwmon_name: amdgpu
    nice_name: P_APU
    sensor_name: power1_average
    n_sample_avg: 120

devices:
  - hwmon_name: acpitz
    nice_name: CPU
    poll_mult: 1
    max_temp: 90
    temp_deadzone: 2
    sensor_name: temp1
    type: quadratic
    A: 2.286
    B: -188.6
    C: 5457
    T_threshold: 55
    # quadratic fit {{55, 2000}, {80, 5000}, {90, 7000}}

  - hwmon_name: amdgpu
    nice_name: GPU
    poll_mult: 1
    max_temp: 90
    temp_deadzone: 2
    sensor_name: temp1
    type: quadratic
    A: 2.286
    B: -188.6
    C: 5457
    T_threshold: 55
    # quadratic fit {{55, 2000}, {80, 5000}, {90, 7000}}

  - hwmon_name: nvme
    nice_name: SSD
    poll_mult: 20
    max_temp: 90.0
    temp_deadzone: 3
    sensor_name: temp1
    type: pid
    T_setpoint: 80
    Kp: 0
    Ki: 20 
    Kd: 0
    windup_limit: 3000

PID.py

#!/usr/bin/python
#
# This file is part of IvPID.
# Copyright (C) 2015 Ivmech Mechatronics Ltd. <bilgi@ivmech.com>
#
# IvPID is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# IvPID is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.

# title           :PID.py
# description     :python pid controller
# author          :Caner Durmusoglu
# date            :20151218
# version         :0.1
# notes           :
# python_version  :2.7
# ==============================================================================

"""Ivmech PID Controller is simple implementation of a Proportional-Integral-Derivative (PID) Controller in the Python Programming Language.
More information about PID Controller: http://en.wikipedia.org/wiki/PID_controller
"""
import time

class PID:
    """PID Controller
    """

    def __init__(self, P=0.2, I=0.0, D=0.0, current_time=None):

        self.Kp = P
        self.Ki = I
        self.Kd = D

        self.current_time = current_time if current_time is not None else time.time()
        self.last_time = self.current_time

        self.clear()

    def clear(self):
        """Clears PID computations and coefficients"""
        self.SetPoint = 0.0

        self.PTerm = 0.0
        self.ITerm = 0.0
        self.DTerm = 0.0
        self.last_error = 0.0

        # Windup Guard
        self.int_error = 0.0
        self.windup_guard = 20.0
        self.winddown_guard = 20.0

        self.output = 0.0

    def update(self, temp_input, _=None, current_time=None):
        """Calculates PID value for given reference feedback

        .. math::
            u(t) = K_p e(t) + K_i \int_{0}^{t} e(t)dt + K_d {de}/{dt}

        .. figure:: images/pid_1.png
           :align:   center

           Test PID with Kp=1.2, Ki=1, Kd=0.001 (test_pid.py)

        """
        error = self.SetPoint - temp_input

        self.current_time = current_time if current_time is not None else time.time()
        delta_time = self.current_time - self.last_time
        delta_error = error - self.last_error

        self.PTerm = self.Kp * error
        self.ITerm += error * delta_time

        if (self.ITerm < -self.windup_guard):
            self.ITerm = -self.windup_guard
        elif (self.ITerm > self.winddown_guard):
            self.ITerm = self.winddown_guard

        self.DTerm = 0.0
        if(delta_time > 0):
            self.DTerm = delta_error / delta_time

        # Remember last time and last error for next calculation
        self.last_time = self.current_time
        self.last_error = error

        self.output = -1 * (self.PTerm + (self.Ki * self.ITerm) + (self.Kd * self.DTerm))

        return self.output

    def setKp(self, proportional_gain):
        """Determines how aggressively the PID reacts to the current error with setting Proportional Gain"""
        self.Kp = proportional_gain

    def setKi(self, integral_gain):
        """Determines how aggressively the PID reacts to the current error with setting Integral Gain"""
        self.Ki = integral_gain

    def setKd(self, derivative_gain):
        """Determines how aggressively the PID reacts to the current error with setting Derivative Gain"""
        self.Kd = derivative_gain

    def setWindup(self, windup):
        """Integral windup, also known as integrator windup or reset windup,
        refers to the situation in a PID feedback controller where
        a large change in setpoint occurs (say a positive change)
        and the integral terms accumulates a significant error
        during the rise (windup), thus overshooting and continuing
        to increase as this accumulated error is unwound
        (offset by errors in the other direction).
        The specific problem is the excess overshooting.
        """
        self.windup_guard = windup

    def setWinddown(self, winddown):
        self.winddown_guard = winddown