Index: firmware/App/Controllers/DialInFlow.c =================================================================== diff -u -r054fa08b67ed2a31f7848b179fbcd1b4da501b0f -r8e7158d8231435496fcf1d5649e51babf859ccc7 --- firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision 054fa08b67ed2a31f7848b179fbcd1b4da501b0f) +++ firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision 8e7158d8231435496fcf1d5649e51babf859ccc7) @@ -1,136 +1,189 @@ -/************************************************************************** - * - * Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved. - * - * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN - * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. - * - * @file DialInFlow.c - * - * @date 16-Dec-2019 - * @author S. Nash - * - * @brief Monitor/Controller for dialysate inlet pump and flow sensor. - * - **************************************************************************/ +/************************************************************************** +* +* Copyright (c) 2019-2021 Diality Inc. - All Rights Reserved. +* +* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN +* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. +* +* @file DialInFlow.c +* +* @author (last) Sean Nash +* @date (last) 01-Dec-2020 +* +* @author (original) Sean +* @date (original) 16-Dec-2019 +* +***************************************************************************/ -#ifndef _VECTORCAST_ - #include -#endif +#include #include "etpwm.h" #include "gio.h" #include "mibspi.h" +#include "DialInFlow.h" #include "FPGA.h" #include "InternalADC.h" +#include "NVDataMgmt.h" #include "OperationModes.h" +#include "PersistentAlarm.h" #include "PIControllers.h" +#include "SafetyShutdown.h" #include "SystemCommMessages.h" #include "TaskGeneral.h" #include "TaskPriority.h" #include "Timers.h" -#include "DialInFlow.h" +/** + * @addtogroup DialysateInletFlow + * @{ + */ + // ********** private definitions ********** -#define DIAL_IN_FLOW_DATA_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) // interval (ms/task time) at which the dialIn flow data is published on the CAN bus +/// interval (ms/task time) at which the dialIn flow data is published on the CAN bus. +#define DIAL_IN_FLOW_DATA_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) -#define MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE 0.01 // duty cycle TODO - fixed or parameterized or set in motor controller? -#define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.88 // controller will error if PWM duty cycle > 90%, so set max to 88% -#define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.12 // controller will error if PWM duty cycle < 10%, so set min to 12% +#define MAX_DIAL_IN_PUMP_PWM_STEP_UP_CHANGE 0.0133 ///< max duty cycle change when ramping up ~ 200 mL/min/s. +#define MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE 0.02 ///< max duty cycle change when ramping down ~ 300 mL/min/s. +#define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.88 ///< controller will error if PWM duty cycle > 90%, so set max to 88%. +#define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.12 ///< controller will error if PWM duty cycle < 10%, so set min to 12%. -#define DIP_CONTROL_INTERVAL ( 1000 / TASK_GENERAL_INTERVAL ) // interval (ms/task time) at which the dialIn pump is controlled -#define DIP_P_COEFFICIENT 0.00005 // P term for dialIn pump control -#define DIP_I_COEFFICIENT 0.00015 // I term for dialIn pump control +#define DIP_CONTROL_INTERVAL ( 10000 / TASK_GENERAL_INTERVAL ) ///< interval (ms/task time) at which the dialIn pump is controlled +#define DIP_P_COEFFICIENT 0.00035 ///< P term for dialIn pump control. +#define DIP_I_COEFFICIENT 0.00035 ///< I term for dialIn pump control. -#define DIP_MAX_CURR_WHEN_STOPPED_MA 150.0 // motor controller current should not exceed this when pump should be stopped -#define DIP_MIN_CURR_WHEN_RUNNING_MA 150.0 // motor controller current should always exceed this when pump should be running -#define DIP_MAX_CURR_WHEN_RUNNING_MA 1000.0 // motor controller current should not exceed this when pump should be running -#define DIP_MAX_CURR_ERROR_DURATION_MS 2000 // motor controller current errors persisting beyond this duration will trigger an alarm +#define DIP_HOME_RATE 100 ///< target pump speed (in estimate mL/min) for homing. +#define DIP_HOME_TIMEOUT_MS 10000 ///< maximum time allowed for homing to complete (in ms). +/// interval (ms/task time) at which the blood pump speed is calculated (every 40 ms). +#define DIP_SPEED_CALC_INTERVAL ( 40 / TASK_PRIORITY_INTERVAL ) +/// number of hall sensor counts kept in buffer to hold last 1 second of count data. +#define DIP_SPEED_CALC_BUFFER_LEN ( 1000 / DIP_SPEED_CALC_INTERVAL / TASK_PRIORITY_INTERVAL ) +#define DIP_HALL_EDGE_COUNTS_PER_REV 48 ///< number of hall sensor edge counts per motor revolution. -#define DIP_SPEED_ADC_TO_RPM_FACTOR 1.280938 // conversion factor from ADC counts to RPM for dialIn pump motor -#define DIP_CURRENT_ADC_TO_MA_FACTOR 3.002 // conversion factor from ADC counts to mA for dialIn pump motor +#define DIP_MAX_FLOW_VS_SPEED_DIFF_RPM 200.0 ///< maximum difference between measured motor speed and speed implied by measured flow. +#define DIP_MAX_MOTOR_SPEED_WHILE_OFF_RPM 100.0 ///< maximum motor speed (RPM) while motor is commanded off. +#define DIP_MAX_ROTOR_VS_MOTOR_DIFF_RPM 5.0 ///< maximum difference in speed between motor and rotor (in rotor RPM). +#define DIP_MAX_MOTOR_SPEED_ERROR_RPM 300.0 ///< maximum difference in speed between measured and commanded RPM. +#define DIP_FLOW_VS_SPEED_PERSIST ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL) ///< persist time (task intervals) for flow vs. motor speed error condition. +#define DIP_OFF_ERROR_PERSIST ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL) ///< persist time (task intervals) for motor off error condition. +#define DIP_MOTOR_SPEED_ERROR_PERSIST ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL) ///< persist time (task intervals) motor speed error condition. +#define DIP_ROTOR_SPEED_ERROR_PERSIST ((12 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL) ///< persist time (task intervals) rotor speed error condition. +#define DIP_DIRECTION_ERROR_PERSIST (250 / TASK_PRIORITY_INTERVAL) ///< persist time (task intervals) pump direction error condition. -#define DIP_REV_PER_LITER 150.24 // rotor revolutions per liter + +#define DIP_MAX_CURR_WHEN_STOPPED_MA 150.0 ///< motor controller current should not exceed this when pump should be stopped. +#define DIP_MIN_CURR_WHEN_RUNNING_MA 150.0 ///< motor controller current should always exceed this when pump should be running. +#define DIP_MAX_CURR_WHEN_RUNNING_MA 2000.0 ///< motor controller current should not exceed this when pump should be running. +#define DIP_MAX_CURR_ERROR_DURATION_MS 2000 ///< motor controller current errors persisting beyond this duration will trigger an alarm. + +#define DIP_SPEED_ADC_TO_RPM_FACTOR 1.280938 ///< conversion factor from ADC counts to RPM for dialIn pump motor. +#define DIP_CURRENT_ADC_TO_MA_FACTOR 3.002 ///< conversion factor from ADC counts to mA for dialIn pump motor. + +#define DIP_REV_PER_LITER 150.0 ///< rotor revolutions per liter. +/// Macro converts flow rate to motor RPM. #define DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR ( DIP_REV_PER_LITER / ML_PER_LITER ) -#define DIP_GEAR_RATIO 32.0 // dialIn pump motor to dialIn pump gear ratio -#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.00035 // ~28 BP motor RPM = 1% PWM duty cycle -#define DIP_PWM_ZERO_OFFSET 0.1 // 10% PWM duty cycle = zero speed +#define DIP_GEAR_RATIO 32.0 ///< dialIn pump motor to dialIn pump gear ratio. +#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.00028 ///< ~28 BP motor RPM = 1% PWM duty cycle. +#define DIP_PWM_ZERO_OFFSET 0.1 ///< 10% PWM duty cycle = zero speed. +/// Macro converts flow rate to estimate PWM needed to achieve it. #define DIP_PWM_FROM_ML_PER_MIN(rate) ( (rate) * DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * DIP_GEAR_RATIO * DIP_MOTOR_RPM_TO_PWM_DC_FACTOR + DIP_PWM_ZERO_OFFSET ) -#define DIAL_IN_PUMP_ADC_FULL_SCALE_V 3.0 // BP analog signals are 0-3V (while int. ADC ref V may be different) -#define DIAL_IN_PUMP_ADC_ZERO ( (F32)( INT_ADC_ZERO ) * ( DIAL_IN_PUMP_ADC_FULL_SCALE_V / INT_ADC_REF_V ) ) +#define DIAL_IN_PUMP_ADC_FULL_SCALE_V 3.0 ///< BP analog signals are 0-3V (while int. ADC ref V may be different). +#define DIAL_IN_PUMP_ADC_ZERO 1998 ///< Mid-point (zero) for ADC readings. +///< Macro converts a 12-bit ADC reading to a signed 16-bit value. #define SIGN_FROM_12_BIT_VALUE(v) ( (S16)(v) - (S16)DIAL_IN_PUMP_ADC_ZERO ) - -#define DIAL_IN_FLOW_SAMPLE_FREQ ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) -#define SIZE_OF_ROLLING_AVG ( DIAL_IN_FLOW_SAMPLE_FREQ * 2 ) // measured dialIn flow is filtered w/ moving average -#define MAX_FLOW_FILTER_INTERVAL 5 // slowest sample interval for filter is every 5th sample - + +/// measured dialIn flow is filtered w/ moving average. +#define SIZE_OF_ROLLING_AVG ( ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) * 10 ) + +/// dialysate flow sensor signal strength low alarm persistence. +#define FLOW_SIG_STRGTH_ALARM_PERSIST ( 5 * MS_PER_SECOND ) +#define MIN_FLOW_SIG_STRENGTH 0.9 ///< Minimum flow sensor signal strength (90%). + +/// Enumeration of dialysate inlet pump states. typedef enum DialInPump_States { - DIAL_IN_PUMP_OFF_STATE = 0, - DIAL_IN_PUMP_RAMPING_UP_STATE, - DIAL_IN_PUMP_RAMPING_DOWN_STATE, - DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE, - NUM_OF_DIAL_IN_PUMP_STATES + DIAL_IN_PUMP_OFF_STATE = 0, ///< Off state for the dialysate inlet pump. + DIAL_IN_PUMP_RAMPING_UP_STATE, ///< Ramping up state for the dialysate inlet pump. + DIAL_IN_PUMP_RAMPING_DOWN_STATE, ///< Ramping down state for the dialysate inlet pump. + DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE, ///< Control to target state for the dialysate inlet pump. + NUM_OF_DIAL_IN_PUMP_STATES ///< Number of dialysate inlet pump states. } DIAL_IN_PUMP_STATE_T; +/// Enumeration of dialysate inlet self-test states. typedef enum DialInFlow_Self_Test_States { - DIAL_IN_FLOW_SELF_TEST_STATE_START = 0, - DIAL_IN_FLOW_TEST_STATE_IN_PROGRESS, - DIAL_IN_FLOW_TEST_STATE_COMPLETE, - NUM_OF_DIAL_IN_FLOW_SELF_TEST_STATES + DIAL_IN_FLOW_SELF_TEST_STATE_START = 0, ///< Start state for the dialysate inlet pump self-test. + DIAL_IN_FLOW_TEST_STATE_IN_PROGRESS, ///< Test in progress state for the dialysate inlet pump self-test. + DIAL_IN_FLOW_TEST_STATE_COMPLETE, ///< Test completed state for the dialysate inlet pump self-test. + NUM_OF_DIAL_IN_FLOW_SELF_TEST_STATES ///< Number of dialysate inlet pump self-test states. } DIAL_IN_FLOW_SELF_TEST_STATE_T; // pin assignments for pump stop and direction outputs -#define STOP_DI_PUMP_GIO_PORT_PIN 2U -#define DIR_DI_PUMP_SPI5_PORT_MASK 0x00000100 // (ENA - re-purposed as output GPIO) +#define STOP_DI_PUMP_GIO_PORT_PIN 2U ///< Pin # on GIO A for stopping the dialysate inlet pump. +#define DIR_DI_PUMP_SPI5_PORT_MASK 0x00000100 ///< Pin on unused SPI5 peripheral (ENA) - re-purposed as output GPIO to set dialysate inlet pump direction. // dialIn pump stop and direction macros -#define SET_DIP_DIR() {mibspiREG5->PC3 |= DIR_DI_PUMP_SPI5_PORT_MASK;} -#define CLR_DIP_DIR() {mibspiREG5->PC3 &= ~DIR_DI_PUMP_SPI5_PORT_MASK;} +#define SET_DIP_DIR() {mibspiREG5->PC3 |= DIR_DI_PUMP_SPI5_PORT_MASK;} ///< Macro for setting the dialysate inlet pump direction pin high. +#define CLR_DIP_DIR() {mibspiREG5->PC3 &= ~DIR_DI_PUMP_SPI5_PORT_MASK;} ///< Macro for setting the dialysate inlet pump direction pin low. #ifndef BREADBOARD_TARGET - #define SET_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_LOW ) - #define CLR_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_HIGH ) + #define SET_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_LOW ) ///< Macro for setting the dialysate inlet pump stop pin low. + #define CLR_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_HIGH ) ///< Macro for setting the dialysate inlet pump stop pin high. #else #define SET_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_HIGH ) #define CLR_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_LOW ) #endif // ********** private data ********** -static DIAL_IN_PUMP_STATE_T dialInPumpState = DIAL_IN_PUMP_OFF_STATE; // current state of dialIn flow controller state machine -static U32 dialInFlowDataPublicationTimerCounter = 5; // used to schedule dialIn flow data publication to CAN bus -static BOOL isDialInPumpOn = FALSE; // dialIn pump is currently running -static F32 dialInPumpPWMDutyCyclePct = 0.0; // initial dialIn pump PWM duty cycle -static F32 dialInPumpPWMDutyCyclePctSet = 0.0; // currently set dialIn pump PWM duty cycle -static MOTOR_DIR_T dialInPumpDirection = MOTOR_DIR_FORWARD; // requested dialIn flow direction -static MOTOR_DIR_T dialInPumpDirectionSet = MOTOR_DIR_FORWARD; // currently set dialIn flow direction +static DIAL_IN_PUMP_STATE_T dialInPumpState = DIAL_IN_PUMP_OFF_STATE; ///< current state of dialIn flow controller state machine +static U32 dialInFlowDataPublicationTimerCounter = 5; ///< used to schedule dialIn flow data publication to CAN bus +static BOOL isDialInPumpOn = FALSE; ///< dialIn pump is currently running +static F32 dialInPumpPWMDutyCyclePct = 0.0; ///< initial dialIn pump PWM duty cycle +static F32 dialInPumpPWMDutyCyclePctSet = 0.0; ///< currently set dialIn pump PWM duty cycle +static MOTOR_DIR_T dialInPumpDirection = MOTOR_DIR_FORWARD; ///< requested dialysate flow direction +static MOTOR_DIR_T dialInPumpDirectionSet = MOTOR_DIR_FORWARD; ///< currently set dialysate flow direction static PUMP_CONTROL_MODE_T dialInPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< requested dialIn pump control mode. static PUMP_CONTROL_MODE_T dialInPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP;///< currently set dialIn pump control mode. +static F32 dialInFlowCalGain = 1.0; ///< dialysate flow calibration gain. +static F32 dialInFlowCalOffset = 0.0; ///< dialysate flow calibration offset. -DATA_DECL( U32, DialInFlowDataPub, dialInFlowDataPublishInterval, DIAL_IN_FLOW_DATA_PUB_INTERVAL, DIAL_IN_FLOW_DATA_PUB_INTERVAL ); // interval (in ms) at which to publish dialIn flow data to CAN bus -DATA_DECL( S32, TargetDialInFlowRate, targetDialInFlowRate, 0, 0 ); // requested dialIn flow rate -DATA_DECL( F32, MeasuredDialInFlowRate, measuredDialInFlowRate, 0.0, 0.0 ); // measured dialIn flow rate -DATA_DECL( F32, MeasuredDialInPumpRotorSpeed, dialInPumpRotorSpeedRPM, 0.0, 0.0 );// measured dialIn pump rotor speed -DATA_DECL( F32, MeasuredDialInPumpSpeed, dialInPumpSpeedRPM, 0.0, 0.0 ); // measured dialIn pump motor speed -DATA_DECL( F32, MeasuredDialInPumpMCSpeed, adcDialInPumpMCSpeedRPM, 0.0, 0.0 ); // measured dialIn pump motor controller speed -DATA_DECL( F32, MeasuredDialInPumpMCCurrent, adcDialInPumpMCCurrentmA, 0.0, 0.0 );// measured dialIn pump motor controller current +/// interval (in ms) at which to publish dialIn flow data to CAN bus +static OVERRIDE_U32_T dialInFlowDataPublishInterval = { DIAL_IN_FLOW_DATA_PUB_INTERVAL, DIAL_IN_FLOW_DATA_PUB_INTERVAL, DIAL_IN_FLOW_DATA_PUB_INTERVAL, 0 }; +static S32 targetDialInFlowRate = 0; ///< requested dialIn flow rate +static OVERRIDE_F32_T measuredDialInFlowRate = { 0.0, 0.0, 0.0, 0 }; ///< measured dialysate inlet flow rate +static OVERRIDE_F32_T dialInPumpRotorSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< measured dialysate inlet pump rotor speed +static OVERRIDE_F32_T dialInPumpSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< measured dialysate inlet pump motor speed +static OVERRIDE_F32_T adcDialInPumpMCSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< measured dialysate inlet pump motor controller speed +static OVERRIDE_F32_T adcDialInPumpMCCurrentmA = { 0.0, 0.0, 0.0, 0 }; ///< measured dialysate inlet pump motor controller current +static OVERRIDE_F32_T dialInFlowSignalStrength = { 0.0, 0.0, 0.0, 0 }; ///< measured dialysate flow signal strength (%) -static U32 dipControlTimerCounter = 0; // determines when to perform control on dialIn flow +static U32 dipControlTimerCounter = 0; ///< determines when to perform control on dialIn flow -static F32 flowReadings[ SIZE_OF_ROLLING_AVG ]; // holds flow samples for a rolling average -static U32 flowReadingsIdx = 0; // index for next sample in rolling average array -static F32 flowReadingsTotal = 0.0; // rolling total - used to calc average -static U32 flowReadingsCount = 0; // # of samples in flow rolling average buffer -static U32 flowReadingsTmrCtr = 0; // determines when to add samples to filter +static U32 dipRotorRevStartTime = 0; ///< dialysate inlet pump rotor rotation start time (in ms) +static BOOL dipStopAtHomePosition = FALSE; ///< stop dialysate inlet pump at next home position +static U32 dipHomeStartTime = 0; ///< when did dialysate inlet pump home command begin? (in ms) -static U32 dipCurrErrorDurationCtr = 0; // used for tracking persistence of dip current errors +static U16 dipLastMotorHallSensorCounts[ DIP_SPEED_CALC_BUFFER_LEN ]; ///< last hall sensor count for the dialysate inlet pump motor +static U32 dipMotorSpeedCalcIdx = 0; ///< index into 1 second buffer of motor speed hall sensor counts +static U32 dipMotorSpeedCalcTimerCtr = 0; ///< counter determines interval for calculating dialysate inlet pump motor speed from hall sensor count. -static DIAL_IN_FLOW_SELF_TEST_STATE_T dialInPumpSelfTestState = DIAL_IN_FLOW_SELF_TEST_STATE_START; // current dialIn pump self test state -static U32 dialInPumpSelfTestTimerCount = 0; // timer counter for dialIn pump self test +static U32 errorDialInFlowVsMotorSpeedPersistTimerCtr = 0; ///< persistence timer counter for flow vs. motor speed error condition. +static U32 errorDialInMotorOffPersistTimerCtr = 0; ///< persistence timer counter for motor off check error condition. +static U32 errorDialInMotorSpeedPersistTimerCtr = 0; ///< persistence timer counter for motor speed error condition. +static U32 errorDialInRotorSpeedPersistTimerCtr = 0; ///< persistence timer counter for rotor speed error condition. +static U32 errorDialInPumpDirectionPersistTimerCtr = 0; ///< persistence timer counter for pump direction error condition. +static F32 flowReadings[ SIZE_OF_ROLLING_AVG ]; ///< holds flow samples for a rolling average +static U32 flowReadingsIdx = 0; ///< index for next sample in rolling average array +static F32 flowReadingsTotal = 0.0; ///< rolling total - used to calc average +static U32 flowReadingsCount = 0; ///< number of samples in flow rolling average buffer + +static U32 dipCurrErrorDurationCtr = 0; ///< used for tracking persistence of dip current errors + +static DIAL_IN_FLOW_SELF_TEST_STATE_T dialInPumpSelfTestState = DIAL_IN_FLOW_SELF_TEST_STATE_START; ///< current dialIn pump self-test state +static U32 dialInPumpSelfTestTimerCount = 0; ///< timer counter for dialIn pump self-test + // ********** private function prototypes ********** static DIAL_IN_PUMP_STATE_T handleDialInPumpOffState( void ); @@ -144,43 +197,59 @@ static void publishDialInFlowData( void ); static void resetDialInFlowMovingAverage( void ); static void filterDialInFlowReadings( F32 flow ); +static void updateDialInPumpSpeedAndDirectionFromHallSensors( void ); +static void checkDialInPumpRotor( void ); static void checkDialInPumpDirection( void ); +static void checkDialInPumpSpeeds( void ); +static void checkDialInPumpFlowAgainstSpeed( void ); static void checkDialInPumpMCCurrent( void ); +static void checkDialInFlowSensorSignalStrength( void ); static DATA_GET_PROTOTYPE( U32, getPublishDialInFlowDataInterval ); -/************************************************************************* - * @brief initDialInFlow +/*********************************************************************//** + * @brief * The initDialInFlow function initializes the DialInFlow module. - * @details - * Inputs : none - * Outputs : DialInFlow module initialized. - * @param none + * @details Inputs: none + * @details Outputs: DialInFlow module initialized. * @return none *************************************************************************/ void initDialInFlow( void ) -{ +{ + U32 i; + stopDialInPump(); setDialInPumpDirection( MOTOR_DIR_FORWARD ); // zero rolling flow average buffer resetDialInFlowMovingAverage(); + // zero motor hall sensors counts buffer + dipMotorSpeedCalcIdx = 0; + for ( i = 0; i < DIP_SPEED_CALC_BUFFER_LEN; i++ ) + { + dipLastMotorHallSensorCounts[ i ] = 0; + } + // initialize dialysate inlet flow PI controller initializePIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE, DIP_P_COEFFICIENT, DIP_I_COEFFICIENT, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE, MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE ); + + // initialize persistent alarm for flow sensor signal strength too low + initPersistentAlarm( PERSISTENT_ALARM_DIALYSATE_FLOW_SIGNAL_STRENGTH, + ALARM_ID_DIALYSATE_FLOW_SIGNAL_STRENGTH_TOO_LOW, + FALSE, FLOW_SIG_STRGTH_ALARM_PERSIST, FLOW_SIG_STRGTH_ALARM_PERSIST ); } -/************************************************************************* - * @brief setDialInPumpTargetFlowRate +/*********************************************************************//** + * @brief * The setDialInPumpTargetFlowRate function sets a new target flow rate and * pump direction. - * @details - * Inputs : isDialInPumpOn, dialInPumpDirectionSet - * Outputs : targetDialInFlowRate, dialInPumpdirection, dialInPumpPWMDutyCyclePct - * @param flowRate : new target dialIn flow rate - * @param dir : new dialIn flow direction - * @param mode : new control mode + * @details Inputs: isDialInPumpOn, dialInPumpDirectionSet + * @details Outputs: targetDialInFlowRate, dialInPumpdirection, dialInPumpPWMDutyCyclePct + * @param flowRate new target dialIn flow rate + * @param dir new dialIn flow direction + * @param mode new control mode * @return TRUE if new flow rate & dir are set, FALSE if not *************************************************************************/ BOOL setDialInPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode ) @@ -194,7 +263,7 @@ if ( flowRate <= MAX_DIAL_IN_FLOW_RATE ) { resetDialInFlowMovingAverage(); - targetDialInFlowRate.data = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 ); + targetDialInFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 ); dialInPumpDirection = dir; dialInPumpControlMode = mode; // set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we'll control to flow when ramp completed @@ -232,70 +301,138 @@ } else // requested flow rate too high { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_SET_TOO_HIGH, flowRate ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_SET_TOO_HIGH, flowRate ) } } return result; } -/************************************************************************* - * @brief signalDialInPumpHardStop +/*********************************************************************//** + * @brief * The signalDialInPumpHardStop function stops the dialIn pump immediately. - * @details - * Inputs : none - * Outputs : DialIn pump stopped, set point reset, state changed to off - * @param none + * @details Inputs: none + * @details Outputs: DialIn pump stopped, set point reset, state changed to off * @return none *************************************************************************/ void signalDialInPumpHardStop( void ) { - targetDialInFlowRate.data = 0; + targetDialInFlowRate = 0; stopDialInPump(); dialInPumpState = DIAL_IN_PUMP_OFF_STATE; dialInPumpPWMDutyCyclePct = 0.0; dipControlTimerCounter = 0; resetPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE ); } -/************************************************************************* - * @brief execDialInFlowMonitor +/*********************************************************************//** + * @brief + * The signalDialInPumpRotorHallSensor function handles the dialysate inlet pump rotor + * hall sensor detection. Calculates rotor speed (in RPM). Stops pump if + * there is a pending request to home the pump. + * @details Inputs: dipRotorRevStartTime, dipStopAtHomePosition + * @details Outputs: dipRotorRevStartTime, dialInPumpRotorSpeedRPM + * @return none + *************************************************************************/ +void signalDialInPumpRotorHallSensor( void ) +{ + U32 rotTime = getMSTimerCount(); + U32 deltaTime = calcTimeBetween( dipRotorRevStartTime, rotTime ); + + // calculate rotor speed (in RPM) + dialInPumpRotorSpeedRPM.data = ( 1.0 / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN; + dipRotorRevStartTime = rotTime; + + // if we're supposed to stop pump at home position, stop pump now. + if ( TRUE == dipStopAtHomePosition ) + { + signalDialInPumpHardStop(); + dipStopAtHomePosition = FALSE; + } +} + +/*********************************************************************//** + * @brief + * The homeDialInPump function initiates a dialysate inlet pump home operation. + * @details Inputs: dialInPumpState + * @details Outputs: dipStopAtHomePosition, dipHomeStartTime, dialysate inlet pump started (slow) + * @return none + *************************************************************************/ +BOOL homeDialInPump( void ) +{ + BOOL result = FALSE; + + if ( DIAL_IN_PUMP_OFF_STATE == dialInPumpState ) + { + dipStopAtHomePosition = TRUE; + dipHomeStartTime = getMSTimerCount(); + result = setDialInPumpTargetFlowRate( DIP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + } + + return result; +} + +/*********************************************************************//** + * @brief + * The isDialInPumpRunning function returns whether the dialysate inlet pump + * is currently running or not. + * @details Inputs: isDialInPumpOn + * @details Outputs: none + * @return isDialInPumpOn + *************************************************************************/ +BOOL isDialInPumpRunning( void ) +{ + return isDialInPumpOn; +} + +/*********************************************************************//** + * @brief * The execDialInFlowMonitor function executes the dialIn flow monitor. - * @details - * Inputs : none - * Outputs : measuredDialInFlowRate, adcDialInPumpMCSpeedRPM, adcDialInPumpMCCurrentmA - * @param none + * @details Inputs: none + * @details Outputs: measuredDialInFlowRate, adcDialInPumpMCSpeedRPM, adcDialInPumpMCCurrentmA * @return none *************************************************************************/ void execDialInFlowMonitor( void ) { + HD_OP_MODE_T opMode = getCurrentOperationMode(); U16 dipRPM = getIntADCReading( INT_ADC_DIAL_IN_PUMP_SPEED ); U16 dipmA = getIntADCReading( INT_ADC_DIAL_IN_PUMP_MOTOR_CURRENT ); - F32 dipFlow = getFPGADialysateFlow(); + F32 dipFlow = ( getFPGADialysateFlow() * dialInFlowCalGain ) + dialInFlowCalOffset; adcDialInPumpMCSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(dipRPM)) * DIP_SPEED_ADC_TO_RPM_FACTOR; adcDialInPumpMCCurrentmA.data = (F32)(SIGN_FROM_12_BIT_VALUE(dipmA)) * DIP_CURRENT_ADC_TO_MA_FACTOR; + dialInFlowSignalStrength.data = getFPGADialysateFlowSignalStrength(); filterDialInFlowReadings( dipFlow ); + // calculate dialysate inlet pump motor speed/direction from hall sensor count + updateDialInPumpSpeedAndDirectionFromHallSensors(); + // don't start enforcing checks until out of init/POST mode - if ( getCurrentOperationMode() != MODE_INIT ) + if ( opMode != MODE_INIT ) { + // check pump direction checkDialInPumpDirection(); + // check pump controller current checkDialInPumpMCCurrent(); + // check pump speeds and flow + checkDialInPumpSpeeds(); + checkDialInPumpFlowAgainstSpeed(); + // check for home position, zero/low speed + checkDialInPumpRotor(); + // check flow sensor signal strength + checkDialInFlowSensorSignalStrength(); } // publish dialIn flow data on interval publishDialInFlowData(); } -/************************************************************************* - * @brief execDialInFlowController +/*********************************************************************//** + * @brief * The execDialInFlowController function executes the dialIn flow controller. - * @details - * Inputs : dialInPumpState - * Outputs : dialInPumpState - * @param none + * @details Inputs: dialInPumpState + * @details Outputs: dialInPumpState * @return none *************************************************************************/ void execDialInFlowController( void ) @@ -319,30 +456,28 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_STATE, dialInPumpState ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_STATE, dialInPumpState ) break; } } -/************************************************************************* - * @brief handleDialInPumpOffState - * The handleDialInPumpOffState function handles the dialIn pump off state \n +/*********************************************************************//** + * @brief + * The handleDialInPumpOffState function handles the dialIn pump off state * of the dialIn pump controller state machine. - * @details - * Inputs : targetDialInFlowRate, dialInPumpDirection - * Outputs : dialInPumpPWMDutyCyclePctSet, dialInPumpDirectionSet, isDialInPumpOn - * @param none + * @details Inputs: targetDialInFlowRate, dialInPumpDirection + * @details Outputs: dialInPumpPWMDutyCyclePctSet, dialInPumpDirectionSet, isDialInPumpOn * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpOffState( void ) { DIAL_IN_PUMP_STATE_T result = DIAL_IN_PUMP_OFF_STATE; // if we've been given a flow rate, setup ramp up and transition to ramp up state - if ( getTargetDialInFlowRate() != 0 ) + if ( targetDialInFlowRate != 0 ) { // set initial PWM duty cycle - dialInPumpPWMDutyCyclePctSet = DIP_PWM_ZERO_OFFSET + MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE; + dialInPumpPWMDutyCyclePctSet = DIP_PWM_ZERO_OFFSET + MAX_DIAL_IN_PUMP_PWM_STEP_UP_CHANGE; setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet ); // allow dialIn pump to run in requested direction setDialInPumpDirection( dialInPumpDirection ); @@ -354,25 +489,23 @@ return result; } -/************************************************************************* - * @brief handleDialInPumpRampingUpState - * The handleDialInPumpRampingUpState function handles the ramp up state \n +/*********************************************************************//** + * @brief + * The handleDialInPumpRampingUpState function handles the ramp up state * of the dialIn pump controller state machine. - * @details - * Inputs : dialInPumpPWMDutyCyclePctSet - * Outputs : dialInPumpPWMDutyCyclePctSet - * @param none + * @details Inputs: dialInPumpPWMDutyCyclePctSet + * @details Outputs: dialInPumpPWMDutyCyclePctSet * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpRampingUpState( void ) { DIAL_IN_PUMP_STATE_T result = DIAL_IN_PUMP_RAMPING_UP_STATE; // have we been asked to stop the dialIn pump? - if ( 0 == getTargetDialInFlowRate() ) + if ( 0 == targetDialInFlowRate ) { // start ramp down to stop - dialInPumpPWMDutyCyclePctSet -= MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE; + dialInPumpPWMDutyCyclePctSet -= MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE; setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet ); result = DIAL_IN_PUMP_RAMPING_DOWN_STATE; } @@ -393,29 +526,27 @@ // continue ramp up else { - dialInPumpPWMDutyCyclePctSet += MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE; + dialInPumpPWMDutyCyclePctSet += MAX_DIAL_IN_PUMP_PWM_STEP_UP_CHANGE; setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet ); } return result; } -/************************************************************************* - * @brief handleDialInPumpRampingDownState - * The handleDialInPumpRampingDownState function handles the ramp down state \n +/*********************************************************************//** + * @brief + * The handleDialInPumpRampingDownState function handles the ramp down state * of the dialIn pump controller state machine. - * @details - * Inputs : dialInPumpPWMDutyCyclePctSet - * Outputs : dialInPumpPWMDutyCyclePctSet - * @param none + * @details Inputs: dialInPumpPWMDutyCyclePctSet + * @details Outputs: dialInPumpPWMDutyCyclePctSet * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpRampingDownState( void ) { DIAL_IN_PUMP_STATE_T result = DIAL_IN_PUMP_RAMPING_DOWN_STATE; // have we essentially reached zero speed - if ( dialInPumpPWMDutyCyclePctSet < (MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE + DIP_PWM_ZERO_OFFSET) ) + if ( dialInPumpPWMDutyCyclePctSet < (MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE + DIP_PWM_ZERO_OFFSET) ) { stopDialInPump(); result = DIAL_IN_PUMP_OFF_STATE; @@ -437,21 +568,19 @@ // continue ramp down else { - dialInPumpPWMDutyCyclePctSet -= MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE; + dialInPumpPWMDutyCyclePctSet -= MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE; setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet ); } return result; } -/************************************************************************* - * @brief handleDialInPumpControlToTargetState - * The handleDialInPumpControlToTargetState function handles the "control to \n +/*********************************************************************//** + * @brief + * The handleDialInPumpControlToTargetState function handles the "control to * target" state of the dialIn pump controller state machine. - * @details - * Inputs : none - * Outputs : dialInPumpState - * @param none + * @details Inputs: none + * @details Outputs: dialInPumpState * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpControlToTargetState( void ) @@ -463,7 +592,7 @@ { if ( dialInPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP ) { - F32 tgtFlow = (F32)getTargetDialInFlowRate(); + F32 tgtFlow = (F32)targetDialInFlowRate; F32 actFlow = getMeasuredDialInFlowRate(); F32 newPWM; @@ -477,28 +606,25 @@ return result; } -/************************************************************************* - * @brief setDialInPumpControlSignalPWM - * The setDialInPumpControlSignalPWM function sets the PWM duty cycle for \n +/*********************************************************************//** + * @brief + * The setDialInPumpControlSignalPWM function sets the PWM duty cycle for * the dialysate inlet pump to a given %. - * @details - * Inputs : none - * Outputs : dialIn pump stop signal activated, PWM duty cycle zeroed - * @param newPWM : new duty cycle % to apply to PWM + * @details Inputs: none + * @details Outputs: dialIn pump stop signal activated, PWM duty cycle zeroed + * @param newPWM new duty cycle % to apply to PWM * @return none *************************************************************************/ static void setDialInPumpControlSignalPWM( F32 newPWM ) { etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( newPWM * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) ); } -/************************************************************************* - * @brief stopDialInPump +/*********************************************************************//** + * @brief * The stopDialInPump function sets the dialIn pump stop signal. - * @details - * Inputs : none - * Outputs : dialIn pump stop signal activated, PWM duty cycle zeroed - * @param none + * @details Inputs: none + * @details Outputs: dialIn pump stop signal activated, PWM duty cycle zeroed * @return none *************************************************************************/ static void stopDialInPump( void ) @@ -509,28 +635,25 @@ SET_DIP_STOP(); } -/************************************************************************* - * @brief releaseDialInPumpStop +/*********************************************************************//** + * @brief * The releaseDialInPumpStop function clears the dialIn pump stop signal. - * @details - * Inputs : none - * Outputs : dialIn pump stop signal - * @param none + * @details Inputs: none + * @details Outputs: dialIn pump stop signal * @return none *************************************************************************/ static void releaseDialInPumpStop( void ) { CLR_DIP_STOP(); } -/************************************************************************* - * @brief setDialInPumpDirection - * The setDialInPumpDirection function sets the set dialIn pump direction to \n +/*********************************************************************//** + * @brief + * The setDialInPumpDirection function sets the set dialIn pump direction to * the given direction. - * @details - * Inputs : dialInPumpState - * Outputs : dialInPumpState - * @param dir : dialIn pump direction to set + * @details Inputs: dialInPumpState + * @details Outputs: dialInPumpState + * @param dir dialIn pump direction to set * @return none *************************************************************************/ static void setDialInPumpDirection( MOTOR_DIR_T dir ) @@ -548,259 +671,479 @@ break; default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_DIRECTION, dir ) + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_DIAL_IN_PUMP_DIRECTION, dir ) break; } } -/************************************************************************* - * @brief getPublishDialInFlowDataInterval - * The getPublishDialInFlowDataInterval function gets the dialIn flow data \n +/*********************************************************************//** + * @brief + * The getPublishDialInFlowDataInterval function gets the dialIn flow data * publication interval. - * @details - * Inputs : dialInFlowDataPublishInterval - * Outputs : none - * @param none - * @return the current dialIn flow data publication interval (in ms). + * @details Inputs: dialInFlowDataPublishInterval + * @details Outputs: none + * @return the current dialIn flow data publication interval (in task intervals). *************************************************************************/ -DATA_GET( U32, getPublishDialInFlowDataInterval, dialInFlowDataPublishInterval ) +U32 getPublishDialInFlowDataInterval( void ) +{ + U32 result = dialInFlowDataPublishInterval.data; + + if ( OVERRIDE_KEY == dialInFlowDataPublishInterval.override ) + { + result = dialInFlowDataPublishInterval.ovData; + } + + return result; +} -/************************************************************************* - * @brief getTargetDialInFlowRate - * The getTargetDialInFlowRate function gets the current target dialIn flow \n +/*********************************************************************//** + * @brief + * The getTargetDialInFlowRate function gets the current target dialIn flow * rate. - * @details - * Inputs : targetDialInFlowRate - * Outputs : none - * @param none + * @details Inputs: targetDialInFlowRate + * @details Outputs: none * @return the current target dialIn flow rate (in mL/min). *************************************************************************/ -DATA_GET( S32, getTargetDialInFlowRate, targetDialInFlowRate ) +S32 getTargetDialInFlowRate( void ) +{ + return targetDialInFlowRate; +} -/************************************************************************* - * @brief getMeasuredDialInFlowRate - * The getMeasuredDialInFlowRate function gets the measured dialIn flow \n +/*********************************************************************//** + * @brief + * The getMeasuredDialInFlowRate function gets the measured dialIn flow * rate. - * @details - * Inputs : measuredDialInFlowRate - * Outputs : none - * @param none + * @details Inputs: measuredDialInFlowRate + * @details Outputs: none * @return the current dialIn flow rate (in mL/min). *************************************************************************/ -DATA_GET( F32, getMeasuredDialInFlowRate, measuredDialInFlowRate ) +F32 getMeasuredDialInFlowRate( void ) +{ + F32 result = measuredDialInFlowRate.data; + + if ( OVERRIDE_KEY == measuredDialInFlowRate.override ) + { + result = measuredDialInFlowRate.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getMeasuredDialInFlowSignalStrength function gets the measured dialIn flow + * signal strength. + * @details Inputs: dialInFlowSignalStrength + * @details Outputs: none + * @return the current dialIn flow signal strength (in %). + *************************************************************************/ +F32 getMeasuredDialInFlowSignalStrength( void ) +{ + F32 result = dialInFlowSignalStrength.data; + + if ( OVERRIDE_KEY == dialInFlowSignalStrength.override ) + { + result = dialInFlowSignalStrength.ovData; + } + + return result; +} -/************************************************************************* - * @brief getMeasuredDialInPumpRotorSpeed - * The getMeasuredDialInPumpRotorSpeed function gets the measured dialIn flow \n +/*********************************************************************//** + * @brief + * The getMeasuredDialInPumpRotorSpeed function gets the measured dialIn flow * rate. - * @details - * Inputs : dialInPumpRotorSpeedRPM - * Outputs : none - * @param none + * @details Inputs: dialInPumpRotorSpeedRPM + * @details Outputs: none * @return the current dialIn flow rate (in mL/min). *************************************************************************/ -DATA_GET( F32, getMeasuredDialInPumpRotorSpeed, dialInPumpRotorSpeedRPM ) +F32 getMeasuredDialInPumpRotorSpeed( void ) +{ + F32 result = dialInPumpRotorSpeedRPM.data; + + if ( OVERRIDE_KEY == dialInPumpRotorSpeedRPM.override ) + { + result = dialInPumpRotorSpeedRPM.ovData; + } + + return result; +} -/************************************************************************* - * @brief getMeasuredDialInPumpSpeed - * The getMeasuredDialInPumpSpeed function gets the measured dialIn flow \n +/*********************************************************************//** + * @brief + * The getMeasuredDialInPumpSpeed function gets the measured dialIn flow * rate. - * @details - * Inputs : dialInPumpSpeedRPM - * Outputs : none - * @param none + * @details Inputs: dialInPumpSpeedRPM + * @details Outputs: none * @return the current dialIn flow rate (in mL/min). *************************************************************************/ -DATA_GET( F32, getMeasuredDialInPumpSpeed, dialInPumpSpeedRPM ) +F32 getMeasuredDialInPumpSpeed( void ) +{ + F32 result = dialInPumpSpeedRPM.data; + + if ( OVERRIDE_KEY == dialInPumpSpeedRPM.override ) + { + result = dialInPumpSpeedRPM.ovData; + } + + return result; +} -/************************************************************************* - * @brief getMeasuredDialInPumpMCSpeed - * The getMeasuredDialInPumpMCSpeed function gets the measured dialIn pump \n +/*********************************************************************//** + * @brief + * The getMeasuredDialInPumpMCSpeed function gets the measured dialIn pump * speed. - * @details - * Inputs : adcDialInPumpMCSpeedRPM - * Outputs : none - * @param none + * @details Inputs: adcDialInPumpMCSpeedRPM + * @details Outputs: none * @return the current dialIn pump speed (in RPM). *************************************************************************/ -DATA_GET( F32, getMeasuredDialInPumpMCSpeed, adcDialInPumpMCSpeedRPM ) +F32 getMeasuredDialInPumpMCSpeed( void ) +{ + F32 result = adcDialInPumpMCSpeedRPM.data; + + if ( OVERRIDE_KEY == adcDialInPumpMCSpeedRPM.override ) + { + result = adcDialInPumpMCSpeedRPM.ovData; + } + + return result; +} -/************************************************************************* - * @brief getMeasuredDialInPumpMCCurrent - * The getMeasuredDialInPumpMCCurrent function gets the measured dialIn pump \n +/*********************************************************************//** + * @brief + * The getMeasuredDialInPumpMCCurrent function gets the measured dialIn pump * current. - * @details - * Inputs : adcDialInPumpMCCurrentmA - * Outputs : none - * @param none + * @details Inputs: adcDialInPumpMCCurrentmA + * @details Outputs: none * @return the current dialIn pump current (in mA). *************************************************************************/ -DATA_GET( F32, getMeasuredDialInPumpMCCurrent, adcDialInPumpMCCurrentmA ) +F32 getMeasuredDialInPumpMCCurrent( void ) +{ + F32 result = adcDialInPumpMCCurrentmA.data; + + if ( OVERRIDE_KEY == adcDialInPumpMCCurrentmA.override ) + { + result = adcDialInPumpMCCurrentmA.ovData; + } + + return result; +} -/************************************************************************* - * @brief publishDialInFlowData - * The publishDialInFlowData function publishes dialIn flow data at the set \n +/*********************************************************************//** + * @brief + * The publishDialInFlowData function publishes dialIn flow data at the set * interval. - * @details - * Inputs : target flow rate, measured flow rate, measured MC speed, \n + * @details Inputs: target flow rate, measured flow rate, measured MC speed, * measured MC current - * Outputs : DialIn flow data is published to CAN bus. - * @param none + * @details Outputs: DialIn flow data is published to CAN bus. * @return none *************************************************************************/ static void publishDialInFlowData( void ) { // publish dialIn flow data on interval if ( ++dialInFlowDataPublicationTimerCounter >= getPublishDialInFlowDataInterval() ) { - S32 flowStPt = (S32)getTargetDialInFlowRate(); -#ifndef SHOW_RAW_FLOW_VALUES - F32 measFlow = getMeasuredDialInFlowRate(); -#else - F32 measFlow = getFPGADialysateFlow(); -#endif - F32 measRotSpd = getMeasuredDialInPumpRotorSpeed(); - F32 measSpd = getMeasuredDialInPumpSpeed(); - F32 measMCSpd = getMeasuredDialInPumpMCSpeed(); - F32 measMCCurr = getMeasuredDialInPumpMCCurrent(); - F32 pumpPWMPctDutyCycle = dialInPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR; -#ifdef DEBUG_ENABLED -// // TODO - temporary debug code - remove later -// char debugFlowStr[ 256 ]; -// -// sprintf( debugFlowStr, "Dial. Set Pt:%5d, Meas. Flow:%5d, Speed:%5d RPM, Current:%5d mA, PWM:%5d \n", flowStPt, (S32)measFlow, (S32)measMCSpd, (S32)measMCCurr, (S32)pumpPWMPctDutyCycle ); -// sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) ); -#endif - broadcastDialInFlowData( flowStPt, measFlow, measRotSpd, measSpd, measMCSpd, measMCCurr, pumpPWMPctDutyCycle ); + DIALIN_PUMP_STATUS_PAYLOAD_T payload; + + payload.setPoint = targetDialInFlowRate; + payload.measFlow = getMeasuredDialInFlowRate(); + payload.measRotorSpd = getMeasuredDialInPumpRotorSpeed(); + payload.measPumpSpd = getMeasuredDialInPumpSpeed(); + payload.measMCSpd = getMeasuredDialInPumpMCSpeed(); + payload.measMCCurr = getMeasuredDialInPumpMCCurrent(); + payload.pwmDC = dialInPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR; + payload.flowSigStrength = getMeasuredDialInFlowSignalStrength() * FRACTION_TO_PERCENT_FACTOR; + broadcastDialInFlowData( &payload ); dialInFlowDataPublicationTimerCounter = 0; } } -/************************************************************************* - * @brief resetDialInFlowMovingAverage - * The resetDialInFlowMovingAverage function resets the properties of the \n +/*********************************************************************//** + * @brief + * The resetDialInFlowMovingAverage function resets the properties of the * dialIn flow moving average sample buffer. - * @details - * Inputs : none - * Outputs : flowReadingsTotal, flowReadingsIdx, flowReadingsCount all set to zero. - * @param none - * @return none + * @details Inputs: none + * @details Outputs: flowReadingsTotal, flowReadingsIdx, flowReadingsCount all set to zero. + * @return none *************************************************************************/ static void resetDialInFlowMovingAverage( void ) { - flowReadingsTotal = 0.0; flowReadingsIdx = 0; flowReadingsCount = 0; - flowReadingsTmrCtr = 0; + flowReadingsTotal = 0.0; dipControlTimerCounter = 0; } -/************************************************************************* - * @brief filterDialInFlowReadings - * The filterDialInFlowReadings function adds a new flow sample to the filter \n - * if decimation rate for current set point calls for it. - * @details - * Inputs : none - * Outputs : flowReadings[], flowReadingsIdx, flowReadingsCount - * @param flow : newest dialIn flow sample +/*********************************************************************//** + * @brief + * The filterDialInFlowReadings function adds a new flow sample to the filter. + * @details Inputs: none + * @details Outputs: flowReadings[], flowReadingsIdx, flowReadingsCount, flowReadingsTotal * @return none *************************************************************************/ static void filterDialInFlowReadings( F32 flow ) { - BOOL addSampleToFilter = FALSE; - - if ( ( targetDialInFlowRate.data < MIN_DIAL_IN_FLOW_RATE ) || ( targetDialInFlowRate.data >= MAX_DIAL_IN_FLOW_RATE ) ) +#ifndef RAW_FLOW_SENSOR_DATA + if ( flowReadingsCount >= SIZE_OF_ROLLING_AVG ) { - addSampleToFilter = TRUE; + flowReadingsTotal -= flowReadings[ flowReadingsIdx ]; } - else + flowReadings[ flowReadingsIdx ] = flow; + flowReadingsTotal += flow; + flowReadingsIdx = INC_WRAP( flowReadingsIdx, 0, SIZE_OF_ROLLING_AVG - 1 ); + flowReadingsCount = INC_CAP( flowReadingsCount, SIZE_OF_ROLLING_AVG ); + measuredDialInFlowRate.data = flowReadingsTotal / (F32)flowReadingsCount; +#else + measuredDialInFlowRate.data = flow; +#endif +} + +/*********************************************************************//** + * @brief + * The updateDialInPumpSpeedAndDirectionFromHallSensors function calculates + * the dialysate inlet pump motor speed and direction from hall sensor counter on + * a 1 second interval. + * @details Inputs: dipLastMotorHallSensorCount, dipMotorSpeedCalcTimerCtr, current count from FPGA + * @details Outputs: dipMotorDirectionFromHallSensors, dialInPumpSpeedRPM + * @return none + *************************************************************************/ +static void updateDialInPumpSpeedAndDirectionFromHallSensors( void ) +{ + if ( ++dipMotorSpeedCalcTimerCtr >= DIP_SPEED_CALC_INTERVAL ) { - switch ( flowReadingsTmrCtr ) + U16 dipMotorHallSensorCount = getFPGADialInPumpHallSensorCount(); + U32 nextIdx = INC_WRAP( dipMotorSpeedCalcIdx, 0, DIP_SPEED_CALC_BUFFER_LEN - 1 ); + U16 incDelta = ( dipMotorHallSensorCount >= dipLastMotorHallSensorCounts[ nextIdx ] ? \ + dipMotorHallSensorCount - dipLastMotorHallSensorCounts[ nextIdx ] : \ + ( HEX_64_K - dipLastMotorHallSensorCounts[ nextIdx ] ) + dipMotorHallSensorCount ); + U16 decDelta = HEX_64_K - incDelta; + U16 delta; + + // determine dialysate inlet pump speed/direction from delta hall sensor count since last interval + if ( incDelta < decDelta ) { - case 0: - addSampleToFilter = TRUE; - break; + delta = incDelta; + dialInPumpSpeedRPM.data = ( (F32)delta / (F32)DIP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN; + } + else + { + delta = decDelta; + dialInPumpSpeedRPM.data = ( (F32)delta / (F32)DIP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN * -1.0; + } - case 1: - addSampleToFilter = FALSE; - break; + // update last count for next time + dipLastMotorHallSensorCounts[ nextIdx ] = dipMotorHallSensorCount; + dipMotorSpeedCalcIdx = nextIdx; + dipMotorSpeedCalcTimerCtr = 0; + } +} - case 2: - if ( targetDialInFlowRate.data >= 400 ) - { - addSampleToFilter = TRUE; - } - break; +/*********************************************************************//** + * @brief + * The checkDialInPumpRotor function checks the rotor for the dialysate inlet + * pump. If homing, this function will stop when hall sensor detected. If pump + * is off or running very slowly, rotor speed will be set to zero. + * @details Inputs: dipStopAtHomePosition, dipHomeStartTime, dipRotorRevStartTime + * @details Outputs: pump may be stopped if homing, dialInPumpRotorSpeedRPM may be set to zero. + * @return none + *************************************************************************/ +static void checkDialInPumpRotor( void ) +{ + // if homing, check timeout + if ( ( TRUE == dipStopAtHomePosition ) && ( TRUE == didTimeout( dipHomeStartTime, DIP_HOME_TIMEOUT_MS ) ) ) + { + signalDialInPumpHardStop(); + dipStopAtHomePosition = FALSE; + // TODO - alarm??? + } - case 3: - if ( targetDialInFlowRate.data >= 200 ) - { - addSampleToFilter = TRUE; - } - break; + // if pump is stopped or running very slowly, set rotor speed to zero + if ( TRUE == didTimeout( dipRotorRevStartTime, DIP_HOME_TIMEOUT_MS ) ) + { + dialInPumpRotorSpeedRPM.data = 0.0; + } +} - case 4: - if ( targetDialInFlowRate.data >= 300 ) - { - addSampleToFilter = TRUE; - } - break; +/*********************************************************************//** + * @brief + * The checkDialInPumpDirection function checks the set direction vs. + * the direction implied by the sign of the measured MC speed. + * @details Inputs: adcDialInPumpMCSpeedRPM, dialInPumpDirectionSet, dialInPumpState + * @details Outputs: none + * @return none + *************************************************************************/ +static void checkDialInPumpDirection( void ) +{ + if ( DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE == dialInPumpState ) + { + MOTOR_DIR_T dipMCDir, dipDir; + + dipMCDir = ( getMeasuredDialInPumpMCSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE ); + dipDir = ( getMeasuredDialInPumpSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE ); - default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_INVALID_FILTER_STATE, flowReadingsTmrCtr ) - break; + // check set direction vs. direction from hall sensors + if ( dialInPumpDirectionSet != dipDir ) + { + if ( ++errorDialInPumpDirectionPersistTimerCtr >= DIP_DIRECTION_ERROR_PERSIST ) + { +#ifndef DISABLE_PUMP_DIRECTION_CHECKS + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DIAL_IN_PUMP_MC_DIRECTION_CHECK, (U32)dialInPumpDirectionSet, (U32)dipDir ) +#endif + } } + // check set direction vs. direction from sign of motor controller speed + else if ( dialInPumpDirectionSet != dipMCDir ) + { + if ( ++errorDialInPumpDirectionPersistTimerCtr >= DIP_DIRECTION_ERROR_PERSIST ) + { +#ifndef DISABLE_PUMP_DIRECTION_CHECKS + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DIAL_IN_PUMP_MC_DIRECTION_CHECK, (U32)dialInPumpDirectionSet, (U32)dipMCDir ) +#endif + } + } + else + { + errorDialInPumpDirectionPersistTimerCtr = 0; + } + } + else + { + errorDialInPumpDirectionPersistTimerCtr = 0; } +} - if ( TRUE == addSampleToFilter ) +/*********************************************************************//** + * @brief + * The checkDialInPumpSpeeds function checks several aspects of the dialysate + * inlet pump speed. + * 1. while pump is commanded off, measured motor speed should be < limit. + * 2. while pump is controlling, measured motor speed should be within allowed range of commanded speed. + * 3. measured motor speed should be within allowed range of measured rotor speed. + * All 3 checks have a persistence time that must be met before an alarm is triggered. + * @details Inputs: targetDialInFlowRate, dialInPumpSpeedRPM, dialInPumpRotorSpeedRPM + * @details Outputs: alarm(s) may be triggered + * @return none + *************************************************************************/ +static void checkDialInPumpSpeeds( void ) +{ + F32 measMotorSpeed = getMeasuredDialInPumpSpeed(); + S32 cmdRate = targetDialInFlowRate; + + // check for pump running while commanded off + if ( 0 == cmdRate ) { - if ( flowReadingsCount >= SIZE_OF_ROLLING_AVG ) + if ( measMotorSpeed > DIP_MAX_MOTOR_SPEED_WHILE_OFF_RPM ) { - flowReadingsTotal -= flowReadings[ flowReadingsIdx ]; + if ( ++errorDialInMotorOffPersistTimerCtr >= DIP_OFF_ERROR_PERSIST ) + { +#ifndef DISABLE_PUMP_SPEED_CHECKS + SET_ALARM_WITH_1_F32_DATA( ALARM_ID_DIAL_IN_PUMP_OFF_CHECK, measMotorSpeed ); + activateSafetyShutdown(); +#endif + } } - flowReadings[ flowReadingsIdx ] = flow; - flowReadingsTotal += flow; - flowReadingsIdx = INC_WRAP( flowReadingsIdx, 0, SIZE_OF_ROLLING_AVG - 1 ); - flowReadingsCount = INC_CAP( flowReadingsCount, SIZE_OF_ROLLING_AVG ); - measuredDialInFlowRate.data = flowReadingsTotal / (F32)flowReadingsCount; + else + { + errorDialInMotorOffPersistTimerCtr = 0; + } } + else + { + errorDialInMotorOffPersistTimerCtr = 0; + } - flowReadingsTmrCtr = INC_WRAP( flowReadingsTmrCtr, 0, MAX_FLOW_FILTER_INTERVAL - 1 ); + if ( DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE == dialInPumpState ) + { + F32 cmdMotorSpeed = ( (F32)cmdRate / (F32)ML_PER_LITER ) * DIP_REV_PER_LITER * DIP_GEAR_RATIO; + F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed ); + F32 measRotorSpeed = getMeasuredDialInPumpRotorSpeed(); + F32 measMotorSpeedInRotorRPM = measMotorSpeed / DIP_GEAR_RATIO; + F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM ); + + // check measured motor speed vs. commanded motor speed while controlling to target + if ( deltaMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM ) + { + if ( ++errorDialInMotorSpeedPersistTimerCtr >= DIP_MOTOR_SPEED_ERROR_PERSIST ) + { +#ifndef DISABLE_PUMP_SPEED_CHECKS + SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DIAL_IN_PUMP_MOTOR_SPEED_CHECK, (F32)cmdRate, measMotorSpeed ); +#endif + } + } + else + { + errorDialInMotorSpeedPersistTimerCtr = 0; + } + + // check measured rotor speed vs. measured motor speed while controlling to target + if ( deltaRotorSpeed > DIP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) + { + if ( ++errorDialInRotorSpeedPersistTimerCtr >= DIP_ROTOR_SPEED_ERROR_PERSIST ) + { +#ifndef DISABLE_PUMP_SPEED_CHECKS + SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DIAL_IN_PUMP_ROTOR_SPEED_CHECK, measRotorSpeed, measMotorSpeed ); +#endif + } + } + else + { + errorDialInRotorSpeedPersistTimerCtr = 0; + } + + } + else + { + errorDialInMotorSpeedPersistTimerCtr = 0; + errorDialInRotorSpeedPersistTimerCtr = 0; + } } -/************************************************************************* - * @brief checkDialInPumpDirection - * The checkDialInPumpDirection function checks the set direction vs. \n - * the direction implied by the sign of the measured MC speed. - * @details - * Inputs : adcDialInPumpMCSpeedRPM, dialInPumpDirectionSet, dialInPumpState - * Outputs : none - * @param none +/*********************************************************************//** + * @brief + * The checkDialInPumpFlowAgainstSpeed function checks the measured dialysate flow + * against the implied flow of the measured pump speed when in treatment mode + * and controlling to target flow. If a sufficient difference persists, a + * flow vs. motor speed check error is triggered. + * @details Inputs: measuredDialInFlowRate, dialInPumpSpeedRPM, errorDialInFlowVsMotorSpeedPersistTimerCtr + * @details Outputs: alarm may be triggered * @return none *************************************************************************/ -static void checkDialInPumpDirection( void ) +static void checkDialInPumpFlowAgainstSpeed( void ) { - MOTOR_DIR_T dipMCDir; - - if ( DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE == dialInPumpState ) + // check only performed while in treatment mode and while we're in control to target state + if ( ( MODE_TREA == getCurrentOperationMode() ) && ( DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE == dialInPumpState ) ) { - // check set direction vs. direction from sign of motor controller speed - dipMCDir = ( getMeasuredDialInPumpMCSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE ); - if ( dialInPumpDirectionSet != dipMCDir ) + F32 flow = getMeasuredDialInFlowRate(); + F32 speed = getMeasuredDialInPumpSpeed(); + F32 impliedSpeed = ( flow / (F32)ML_PER_LITER ) * DIP_REV_PER_LITER * DIP_GEAR_RATIO; + F32 delta = fabs( speed - impliedSpeed ); + + if ( delta > DIP_MAX_FLOW_VS_SPEED_DIFF_RPM ) { - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DIAL_IN_PUMP_MC_DIRECTION_CHECK, (U32)dialInPumpDirectionSet, (U32)dipMCDir ) + if ( ++errorDialInFlowVsMotorSpeedPersistTimerCtr >= DIP_FLOW_VS_SPEED_PERSIST ) + { +#ifndef DISABLE_PUMP_FLOW_CHECKS + SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DIAL_IN_PUMP_FLOW_VS_MOTOR_SPEED_CHECK, flow, speed ); +#endif + } } + else + { + errorDialInFlowVsMotorSpeedPersistTimerCtr = 0; + } } + else + { + errorDialInFlowVsMotorSpeedPersistTimerCtr = 0; + } } -/************************************************************************* - * @brief checkDialInPumpMCCurrent - * The checkDialInPumpMCCurrent function checks the measured MC current vs. \n +/*********************************************************************//** + * @brief + * The checkDialInPumpMCCurrent function checks the measured MC current vs. * the set state of the dialIn pump (stopped or running). - * @details - * Inputs : dialInPumpState, dipCurrErrorDurationCtr, adcDialInPumpMCCurrentmA - * Outputs : none - * @param none + * @details Inputs: dialInPumpState, dipCurrErrorDurationCtr, adcDialInPumpMCCurrentmA + * @details Outputs: none * @return none *************************************************************************/ static void checkDialInPumpMCCurrent( void ) @@ -816,7 +1159,7 @@ dipCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL; if ( dipCurrErrorDurationCtr > DIP_MAX_CURR_ERROR_DURATION_MS ) { -#ifndef DISABLE_MOTOR_CURRENT_ERRORS +#ifndef DISABLE_MOTOR_CURRENT_CHECKS SET_ALARM_WITH_1_F32_DATA( ALARM_ID_DIAL_IN_PUMP_MC_CURRENT_CHECK, getMeasuredDialInPumpMCCurrent() ); #endif } @@ -835,7 +1178,7 @@ dipCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL; if ( dipCurrErrorDurationCtr > DIP_MAX_CURR_ERROR_DURATION_MS ) { -#ifndef DISABLE_MOTOR_CURRENT_ERRORS +#ifndef DISABLE_MOTOR_CURRENT_CHECKS SET_ALARM_WITH_1_F32_DATA( ALARM_ID_DIAL_IN_PUMP_MC_CURRENT_CHECK, getMeasuredDialInPumpMCCurrent() ); #endif } @@ -845,24 +1188,69 @@ dipCurrErrorDurationCtr = 0; } } +} + +/*********************************************************************//** + * @brief + * The checkDialInFlowSensorSignalStrength function checks the measured + * dialysate flow sensor signal strength is sufficient for accurate flow sensing. + * @details Inputs: + * @details Outputs: + * @return none + *************************************************************************/ +static void checkDialInFlowSensorSignalStrength( void ) +{ +#ifndef DISABLE_PUMP_FLOW_CHECKS + HD_OP_MODE_T opMode = getCurrentOperationMode(); + + // check flow sensor signal strength when appropriate TODO - in pre-treatment, must be far enough along for fluid to be in tubing + if ( MODE_TREA == opMode || ( MODE_PRET == opMode && FALSE ) ) + { + F32 sigStrength = getMeasuredDialInFlowSignalStrength(); + BOOL outOfRange = ( sigStrength < MIN_FLOW_SIG_STRENGTH ? TRUE : FALSE ); + + checkPersistentAlarm( PERSISTENT_ALARM_DIALYSATE_FLOW_SIGNAL_STRENGTH, outOfRange, sigStrength, MIN_FLOW_SIG_STRENGTH ); + } +#endif } -/************************************************************************* - * @brief execDialInFlowTest - * The execDialInFlowTest function executes the state machine for the \n - * DialInFlow self test. - * @details - * Inputs : none - * Outputs : none - * @param none - * @return the current state of the DialInFlow self test. +/*********************************************************************//** + * @brief + * The execDialInFlowTest function executes the state machine for the + * DialInFlow self-test. + * @details Inputs: none + * @details Outputs: none + * @return the current state of the DialInFlow self-test. *************************************************************************/ SELF_TEST_STATUS_T execDialInFlowTest( void ) { SELF_TEST_STATUS_T result = SELF_TEST_STATUS_FAILED; - - // TODO - implement self test(s) - + CALIBRATION_DATA_T cal; + + switch ( dialInPumpSelfTestState ) + { + case DIAL_IN_FLOW_SELF_TEST_STATE_START: + // retrieve blood flow sensor calibration data + if ( TRUE == getCalibrationData( &cal ) ) + { + dialInFlowCalGain = cal.dialysateFlowGain; + dialInFlowCalOffset = cal.dialysateFlowOffset_mL_min; + dialInPumpSelfTestState = DIAL_IN_FLOW_TEST_STATE_COMPLETE; // TODO - implement rest of self-test(s) + result = SELF_TEST_STATUS_PASSED; + } + break; + + case DIAL_IN_FLOW_TEST_STATE_IN_PROGRESS: + break; + + case DIAL_IN_FLOW_TEST_STATE_COMPLETE: + break; + + default: + // TODO - s/w fault + break; + } + return result; } @@ -872,14 +1260,63 @@ *************************************************************************/ -/************************************************************************* - * @brief testSetDialInFlowDataPublishIntervalOverride - * The testSetDialInFlowDataPublishIntervalOverride function overrides the \n +/*********************************************************************//** + * @brief + * The setDialInFlowCalibration function sets the dialysate flow calibration + * factors and has them stored in non-volatile memory. + * @details Inputs: none + * @details Outputs: dialInFlowCalGain, dialInFlowCalOffset + * @param gain gain calibration factor for dialysate flow sensor + * @param offset offset calibration factor for dialysate flow sensor + * @return TRUE if calibration factors successfully set/stored, FALSE if not + *************************************************************************/ +BOOL setDialInFlowCalibration( F32 gain, F32 offset ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + CALIBRATION_DATA_T cal; + + getCalibrationData( &cal ); + // keep locally and apply immediately + dialInFlowCalGain = gain; + dialInFlowCalOffset = offset; + // also update calibration record in non-volatile memory + cal.dialysateFlowGain = gain; + cal.dialysateFlowOffset_mL_min = offset; + if ( TRUE == setCalibrationData( cal ) ) + { + result = TRUE; + } + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getDialInFlowCalibration function retrieves the current dialysate flow + * calibration factors. + * @details Inputs: dialInFlowCalGain, dialInFlowCalOffset + * @details Outputs: none + * @param gain value to populate with gain calibration factor for dialysate flow sensor + * @param offset value to populate with offset calibration factor for dialysate flow sensor + * @return none + *************************************************************************/ +void getDialInFlowCalibration( F32 *gain, F32 *offset ) +{ + *gain = dialInFlowCalGain; + *offset = dialInFlowCalOffset; +} + +/*********************************************************************//** + * @brief + * The testSetDialInFlowDataPublishIntervalOverride function overrides the * dialIn flow data publish interval. - * @details - * Inputs : none - * Outputs : dialInFlowDataPublishInterval - * @param value : override dialIn flow data publish interval with (in ms) + * @details Inputs: none + * @details Outputs: dialInFlowDataPublishInterval + * @param value override dialIn flow data publish interval with (in ms) * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testSetDialInFlowDataPublishIntervalOverride( U32 value ) @@ -898,13 +1335,12 @@ return result; } -/************************************************************************* - * @brief testResetDialInFlowDataPublishIntervalOverride - * The testResetDialInFlowDataPublishIntervalOverride function resets the override \n +/*********************************************************************//** + * @brief + * The testResetDialInFlowDataPublishIntervalOverride function resets the override * of the dialIn flow data publish interval. - * @details - * Inputs : none - * Outputs : dialInFlowDataPublishInterval + * @details Inputs: none + * @details Outputs: dialInFlowDataPublishInterval * @return TRUE if override reset successful, FALSE if not *************************************************************************/ BOOL testResetDialInFlowDataPublishIntervalOverride( void ) @@ -921,17 +1357,17 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief - * The testSetTargetDialInFlowRateOverride function overrides the target \n - * dialysate inlet flow rate. \n - * @details - * Inputs : none - * Outputs : targetDialInFlowRate - * @param value : override target dialysate inlet flow rate (in mL/min) + * The testSetTargetDialInFlowRateOverride function overrides the target + * dialysate inlet flow rate.n + * @details Inputs: none + * @details Outputs: targetDialInFlowRate + * @param value override target dialysate inlet flow rate (in mL/min) + * @param ctrlMode override pump control mode to this mode (0 = closed loop, 1 = open loop) * @return TRUE if override successful, FALSE if not *************************************************************************/ -BOOL testSetTargetDialInFlowRateOverride( S32 value ) +BOOL testSetTargetDialInFlowRateOverride( S32 value, U32 ctrlMode ) { BOOL result = FALSE; @@ -947,109 +1383,284 @@ { dir = MOTOR_DIR_FORWARD; } - targetDialInFlowRate.ovInitData = targetDialInFlowRate.data; // backup current target flow rate - targetDialInFlowRate.ovData = value; - targetDialInFlowRate.override = OVERRIDE_KEY; - result = setDialInPumpTargetFlowRate( ABS(value), dir, dialInPumpControlMode ); + if ( ctrlMode < NUM_OF_PUMP_CONTROL_MODES ) + { + targetDialInFlowRate = value; + result = setDialInPumpTargetFlowRate( abs(value), dir, (PUMP_CONTROL_MODE_T)ctrlMode ); + } } return result; } -/************************************************************************* +/*********************************************************************//** * @brief - * The testResetTargetDialInFlowRateOverride function resets the override of the \n - * target dialysate inlet flow rate. - * @details - * Inputs : none - * Outputs : targetDialInFlowRate - * @param none - * @return TRUE if override reset successful, FALSE if not + * The testResetMeasuredDialInFlowRateOverride function overrides the measured + * dialIn flow rate. + * @details Inputs: none + * @details Outputs: measuredDialInFlowRate + * @param value override measured dialIn flow rate (in mL/min) + * @return TRUE if override successful, FALSE if not *************************************************************************/ -BOOL testResetTargetDialInFlowRateOverride( void ) +BOOL testSetMeasuredDialInFlowRateOverride( F32 value ) { BOOL result = FALSE; if ( TRUE == isTestingActivated() ) { - targetDialInFlowRate.data = targetDialInFlowRate.ovInitData; // restore pre-override target flow rate - targetDialInFlowRate.override = OVERRIDE_RESET; - targetDialInFlowRate.ovInitData = 0; - targetDialInFlowRate.ovData = 0; - result = setDialInPumpTargetFlowRate( targetDialInFlowRate.data, dialInPumpDirection, dialInPumpControlMode ); + result = TRUE; + measuredDialInFlowRate.ovData = value; + measuredDialInFlowRate.override = OVERRIDE_KEY; } return result; } -/************************************************************************* - * @brief testSetMeasuredDialInFlowRateOverride and testResetMeasuredDialInFlowRateOverride - * The testResetMeasuredDialInFlowRateOverride function overrides the measured \n - * dialIn flow rate. \n - * The testResetOffButtonStateOverride function resets the override of the \n +/*********************************************************************//** + * @brief + * The testResetMeasuredDialInFlowRateOverride function resets the override of the * measured dialIn flow rate. - * @details - * Inputs : none - * Outputs : measuredDialInFlowRate - * @param value : override measured dialIn flow rate (in mL/min) + * @details Inputs: none + * @details Outputs: measuredDialInFlowRate + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredDialInFlowRateOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + measuredDialInFlowRate.override = OVERRIDE_RESET; + measuredDialInFlowRate.ovData = measuredDialInFlowRate.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredDialInPumpRotorSpeedOverride function overrides the measured + * dialIn pump rotor speed. + * @details Inputs: none + * @details Outputs: dialInPumpRotorSpeedRPM + * @param value override measured dialIn pump rotor speed (in RPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ -DATA_OVERRIDE_FUNC( F32, testSetMeasuredDialInFlowRateOverride, testResetMeasuredDialInFlowRateOverride, measuredDialInFlowRate ) +BOOL testSetMeasuredDialInPumpRotorSpeedOverride( F32 value ) +{ + BOOL result = FALSE; -/************************************************************************* - * @brief testSetMeasuredDialInPumpRotorSpeedOverride and testResetMeasuredDialInPumpRotorSpeedOverride - * The testSetMeasuredDialInPumpRotorSpeedOverride function overrides the measured \n - * dialIn pump rotor speed. \n - * The testResetMeasuredDialInPumpRotorSpeedOverride function resets the override of the \n + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + dialInPumpRotorSpeedRPM.ovData = value; + dialInPumpRotorSpeedRPM.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredDialInPumpRotorSpeedOverride function resets the override of the * measured dialIn pump rotor speed. - * @details - * Inputs : none - * Outputs : dialInPumpRotorSpeedRPM - * @param value : override measured dialIn pump rotor speed (in RPM) + * @details Inputs: none + * @details Outputs: dialInPumpRotorSpeedRPM + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredDialInPumpRotorSpeedOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + dialInPumpRotorSpeedRPM.override = OVERRIDE_RESET; + dialInPumpRotorSpeedRPM.ovData = dialInPumpRotorSpeedRPM.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredDialInPumpSpeedOverride function overrides the measured + * dialIn pump motor speed. + * @details Inputs: none + * @details Outputs: dialInPumpSpeedRPM + * @param value override measured dialIn pump motor speed (in RPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ -DATA_OVERRIDE_FUNC( F32, testSetMeasuredDialInPumpRotorSpeedOverride, testResetMeasuredDialInPumpRotorSpeedOverride, dialInPumpRotorSpeedRPM ) +BOOL testSetMeasuredDialInPumpSpeedOverride( F32 value ) +{ + BOOL result = FALSE; -/************************************************************************* - * @brief testSetMeasuredDialInPumpSpeedOverride and testResetMeasuredDialInPumpSpeedOverride - * The testSetMeasuredDialInPumpSpeedOverride function overrides the measured \n - * dialIn pump motor speed. \n - * The testResetMeasuredDialInPumpSpeedOverride function resets the override of the \n + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + dialInPumpSpeedRPM.ovData = value; + dialInPumpSpeedRPM.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredDialInPumpSpeedOverride function resets the override of the * measured dialIn pump motor speed. - * @details - * Inputs : none - * Outputs : dialInPumpSpeedRPM - * @param value : override measured dialIn pump motor speed (in RPM) + * @details Inputs: none + * @details Outputs: dialInPumpSpeedRPM + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredDialInPumpSpeedOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + dialInPumpSpeedRPM.override = OVERRIDE_RESET; + dialInPumpSpeedRPM.ovData = dialInPumpSpeedRPM.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredDialInPumpMCSpeedOverride function overrides the measured + * dialIn pump motor speed. + * @details Inputs: none + * @details Outputs: adcDialInPumpMCSpeedRPM + * @param value override measured dialIn pump speed (in RPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ -DATA_OVERRIDE_FUNC( F32, testSetMeasuredDialInPumpSpeedOverride, testResetMeasuredDialInPumpSpeedOverride, dialInPumpSpeedRPM ) +BOOL testSetMeasuredDialInPumpMCSpeedOverride( F32 value ) +{ + BOOL result = FALSE; -/************************************************************************* - * @brief testSetMeasuredDialInPumpMCSpeedOverride and testResetMeasuredDialInPumpMCSpeedOverride - * The testSetMeasuredDialInPumpMCSpeedOverride function overrides the measured \n - * dialIn pump motor speed. \n - * The testResetMeasuredDialInPumpMCSpeedOverride function resets the override of the \n + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcDialInPumpMCSpeedRPM.ovData = value; + adcDialInPumpMCSpeedRPM.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredDialInPumpMCSpeedOverride function resets the override of the * measured dialIn pump motor speed. - * @details - * Inputs : none - * Outputs : adcDialInPumpMCSpeedRPM - * @param value : override measured dialIn pump speed (in RPM) + * @details Inputs: none + * @details Outputs: adcDialInPumpMCSpeedRPM + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredDialInPumpMCSpeedOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcDialInPumpMCSpeedRPM.override = OVERRIDE_RESET; + adcDialInPumpMCSpeedRPM.ovData = adcDialInPumpMCSpeedRPM.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredDialInPumpMCCurrentOverride function overrides the measured + * dialIn pump motor current. + * @details Inputs: none + * @details Outputs: adcDialInPumpMCCurrentmA + * @param value override measured dialIn pump current (in mA) * @return TRUE if override successful, FALSE if not *************************************************************************/ -DATA_OVERRIDE_FUNC( F32, testSetMeasuredDialInPumpMCSpeedOverride, testResetMeasuredDialInPumpMCSpeedOverride, adcDialInPumpMCSpeedRPM ) +BOOL testSetMeasuredDialInPumpMCCurrentOverride( F32 value ) +{ + BOOL result = FALSE; -/************************************************************************* - * @brief testSetMeasuredDialInPumpMCCurrentOverride and testResetMeasuredDialInPumpMCCurrentOverride - * The testSetMeasuredDialInPumpMCCurrentOverride function overrides the measured \n - * dialIn pump motor current. \n - * The testResetMeasuredDialInPumpMCCurrentOverride function resets the override of the \n + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcDialInPumpMCCurrentmA.ovData = value; + adcDialInPumpMCCurrentmA.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredDialInPumpMCCurrentOverride function resets the override of the * measured dialIn pump motor current. - * @details - * Inputs : none - * Outputs : adcDialInPumpMCCurrentmA - * @param value : override measured dialIn pump current (in mA) - * @return TRUE if override successful, FALSE if not + * @details Inputs: none + * @details Outputs: adcDialInPumpMCCurrentmA + * @return TRUE if reset successful, FALSE if not *************************************************************************/ -DATA_OVERRIDE_FUNC( F32, testSetMeasuredDialInPumpMCCurrentOverride, testResetMeasuredDialInPumpMCCurrentOverride, adcDialInPumpMCCurrentmA ) +BOOL testResetMeasuredDialInPumpMCCurrentOverride( void ) +{ + BOOL result = FALSE; + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcDialInPumpMCCurrentmA.override = OVERRIDE_RESET; + adcDialInPumpMCCurrentmA.ovData = adcDialInPumpMCCurrentmA.ovInitData; + } + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredDialInFlowSignalStrengthOverride function overrides the measured + * dialysate flow signal strength. + * @details Inputs: none + * @details Outputs: dialInFlowSignalStrength + * @param value override measured dialysate flow signal strength (in %) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetMeasuredDialInFlowSignalStrengthOverride( F32 value ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + dialInFlowSignalStrength.ovData = value / 100.0; + dialInFlowSignalStrength.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredDialInFlowSignalStrengthOverride function resets the override + * of the measured dialysate flow signal strength. + * @details Inputs: none + * @details Outputs: dialInFlowSignalStrength + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredDialInFlowSignalStrengthOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + dialInFlowSignalStrength.override = OVERRIDE_RESET; + dialInFlowSignalStrength.ovData = dialInFlowSignalStrength.ovInitData; + } + + return result; +} + +/**@}*/