Index: firmware/App/Controllers/Valves.h =================================================================== diff -u -rb824ef4b479578c5aa702abd9147aef505a6fb04 -r46bfe970a8efd732ba6aca22ae170879e549b25f --- firmware/App/Controllers/Valves.h (.../Valves.h) (revision b824ef4b479578c5aa702abd9147aef505a6fb04) +++ firmware/App/Controllers/Valves.h (.../Valves.h) (revision 46bfe970a8efd732ba6aca22ae170879e549b25f) @@ -7,8 +7,8 @@ * * @file Valves.h * -* @author (last) Dara Navaei -* @date (last) 26-Oct-2025 +* @author (last) Varshini Nagabooshanam +* @date (last) 23-Dec-2025 * * @author (original) Sean Nash * @date (original) 24-Oct-2024 @@ -44,6 +44,16 @@ NUM_OF_VALVE_POSITIONS, ///< Number of valve positions } VALVE_POSITION_T; +/// 3 way valves names +typedef enum valvesNames +{ + VDI = 0, ///< Valve Dialyzer Inlet + VDO, ///< Valve Dialyzer Outlet + VBA, ///< Valve Blood Arterial + VBV, ///< Valve Blood Venous + NUM_OF_VALVE_COUNT ///< Number of valve count +} TD_VALVE_T; + #pragma pack(push, 1) /// TD valves broadcast data typedef struct Index: firmware/App/Modes/BloodPrime.c =================================================================== diff -u --- firmware/App/Modes/BloodPrime.c (revision 0) +++ firmware/App/Modes/BloodPrime.c (revision 46bfe970a8efd732ba6aca22ae170879e549b25f) @@ -0,0 +1,383 @@ +/************************************************************************** +* +* Copyright (c) 2021-2025 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 BloodPrime.c +* +* @author (last) Varshini Nagabooshanam +* @date (last) 26-Dec-2025 +* +* @author (original) Varshini Nagabooshanam +* @date (original) 22-Dec-2025 +* +***************************************************************************/ + +#include "AirTrap.h" +#include "BloodFlow.h" +#include "BloodPrime.h" +#include "ModeTreatment.h" +#include "ModeTxParams.h" +#include "OperationModes.h" +#include "TaskGeneral.h" +#include "Utilities.h" +#include "Valves.h" + +/** + * @addtogroup BloodPrime + * @{ + */ + +// ********** private definitiions *********** + +#define MIN_RAMP_TIME_SEC 60 ///< Minimum ramp time for blood prime (in seconds). + +/// Initial flow rate for blood pump when starting blood prime operation. +#define BLOOD_PRIME_INIT_BP_FLOW_RATE_ML_MIN 250 + +/// Interval at which blood prime ramping is controlled. +static const U32 BLOOD_PRIME_RAMPING_INTERVAL = ( MS_PER_SECOND / TASK_GENERAL_INTERVAL ); + +/// Interval at which blood prime progress is to be published to UI. +#define BLOOD_PRIME_DATA_PUBLISH_INTERVAL ( MS_PER_SECOND / TASK_GENERAL_INTERVAL ) + +/// Multiplier to convert flow (mL/min) into volume (mL) for period of general task interval. +static const F32 BLOOD_PRIME_FLOW_INTEGRATOR = 1.0F / (F32)( SEC_PER_MIN * ( MS_PER_SECOND / TASK_GENERAL_INTERVAL ) ); + +// ********** private data ********** + +static BLOOD_PRIME_STATE_T bloodPrimeState; ///< Current state of the blood prime sub-mode. + +static F32 bloodPrimeRampFlowRate_mL_min; ///< Current blood pump ramp flow rate. +static F32 bloodPrimeRampStep_mL; ///< Blood pump volume step size for ramping. +static F32 bloodPrimeTargetVolume_mL; ///< Calculated target blood prime volume (based on selected dialyzer and fixed tubing volume). + +static U32 bloodPrimeRampControlTimerCtr; ///< Timer counter for determining interval for controlling BP ramp. +static U32 bloodPrimePublishTimerCtr; ///< Timer counter for determining interval for blood prime status to be published. + +/// Interval (in task intervals) at which to publish blood prime data to CAN bus. +static OVERRIDE_U32_T bloodPrimePublishInterval = { BLOOD_PRIME_DATA_PUBLISH_INTERVAL, BLOOD_PRIME_DATA_PUBLISH_INTERVAL, BLOOD_PRIME_DATA_PUBLISH_INTERVAL, 0 }; + +static OVERRIDE_F32_T cumulativeBloodPrimeVolume_mL = { 0.0, 0.0, 0.0, 0 }; ///< Total cumulative blood prime volume (in mL) from measured blood flow rate. + +// ********** private function prototypes ********** + +static void resetBloodPrimeFlags( void ); +static F32 getBloodPrimeVolume( void ); +static BLOOD_PRIME_STATE_T handleBloodPrimeRampState( void ); +static void publishBloodPrimeData( void ); + +/*********************************************************************//** + * @brief + * The initBloodPrime function initializes the Blood Prime sub-mode + * module. Calling this function will reset blood prime and therefore should + * only be called when a new blood prime is due to begin. + * @details Inputs: none + * @details Outputs: Blood prime sub-mode module initialized. + * @return none + *************************************************************************/ +void initBloodPrime( void ) +{ + S32 setBPRate = (S32)getTreatmentParameterU32( TREATMENT_PARAM_BLOOD_FLOW ); + F32 rampRateSpan = 0.0F; + F32 estRampSeconds = 0.0F; + + bloodPrimeState = BLOOD_PRIME_RAMP_STATE; + bloodPrimeRampControlTimerCtr = 0; + bloodPrimePublishTimerCtr = BLOOD_PRIME_DATA_PUBLISH_INTERVAL - 2; // setup so publish will occur time after next + cumulativeBloodPrimeVolume_mL.data = 0.0; + resetBloodPrimeFlags(); + + bloodPrimeTargetVolume_mL = (F32)getTreatmentParameterU32( TUBING_BLOOD_PRIME_VOLUME_ML ) + getDialyzerBloodVolume( getTreatmentParameterU32( TREATMENT_PARAM_DIALYZER_TYPE ) ); + bloodPrimeRampFlowRate_mL_min = (F32)BLOOD_PRIME_INIT_BP_FLOW_RATE_ML_MIN; + + // Calculate BP ramp step size + rampRateSpan = (F32)( setBPRate - BLOOD_PRIME_INIT_BP_FLOW_RATE_ML_MIN ); + estRampSeconds = ( ( bloodPrimeTargetVolume_mL / (F32)setBPRate + bloodPrimeTargetVolume_mL / (F32)BLOOD_PRIME_INIT_BP_FLOW_RATE_ML_MIN ) / 2.0 ) * (F32)SEC_PER_MIN; + + if ( estRampSeconds < (F32)MIN_RAMP_TIME_SEC ) + { + estRampSeconds = (F32)MIN_RAMP_TIME_SEC; + } + bloodPrimeRampStep_mL = rampRateSpan / estRampSeconds; +} + +/*********************************************************************//** + * @brief + * The transitionToBloodPrime function prepares for transition to blood prime + * sub-mode. This function will reset only what is required for resuming a + * blood prime that was paused (alarm) so if a blood prime is being restarted, + * call the initialize function first to reset everything. + * @details Inputs: none + * @details Outputs: actuators set for initial state of blood prime sub-mode + * @return none + *************************************************************************/ +void transitionToBloodPrime( void ) +{ + doorClosedRequired( TRUE, TRUE ); + + // Set valves + setValvePosition( VDI, VALVE_POSITION_C_CLOSE ); + setValvePosition( VDO, VALVE_POSITION_C_CLOSE ); + setValvePosition( VBA, VALVE_POSITION_B_OPEN ); + setValvePosition( VBV, VALVE_POSITION_B_OPEN ); + + // Ensure dialysate outlet and Heparin pumps are stopped + //signalDialOutPumpHardStop(); + //stopSyringePump(); + + // start blood and dialysate inlet pumps + setBloodPumpTargetFlowRate( (U32)bloodPrimeRampFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + //setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); + //cmdStartDGTrimmerHeater(); + setCurrentSubState( (U32)bloodPrimeState ); + + // Start air trap control + startAirTrapControl(); + + // Set user alarm recovery actions allowed in this sub-mode + setAlarmUserActionEnabled( ALARM_USER_ACTION_RESUME, TRUE ); + setAlarmUserActionEnabled( ALARM_USER_ACTION_RINSEBACK, TRUE ); + setAlarmUserActionEnabled( ALARM_USER_ACTION_END_TREATMENT, TRUE ); +} + +/*********************************************************************//** + * @brief + * The resetBloodPrimeFlags function resets the blood prime request flags. + * @details Inputs: none + * @details Outputs: Blood prime request flags reset to FALSE. + * @return none + *************************************************************************/ +static void resetBloodPrimeFlags( void ) +{ + // No flags for now +} + +/*********************************************************************//** + * @brief + * The getBloodPrimeVolume function gets the calculated blood prime volume + * delivered. + * @details Inputs: cumulativeBloodPrimeVolume_mL + * @details Outputs: none + * @return the current blood prime volume delivered (in mL). + *************************************************************************/ +static F32 getBloodPrimeVolume( void ) +{ + F32 result = cumulativeBloodPrimeVolume_mL.data; + + if ( OVERRIDE_KEY == cumulativeBloodPrimeVolume_mL.override ) + { + result = cumulativeBloodPrimeVolume_mL.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The execBloodPrime function executes the Blood Prime sub-mode state machine. + * @details Inputs: bloodPrimeState + * @details Outputs: bloodPrimeState + * @return none + *************************************************************************/ +void execBloodPrime( void ) +{ + switch ( bloodPrimeState ) + { + case BLOOD_PRIME_RAMP_STATE: + bloodPrimeState = handleBloodPrimeRampState(); + break; + + default: + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_PRIME_INVALID_STATE, bloodPrimeState ); + break; + } + + // Blood prime flags should be handled by now - reset in case not handled by current state + resetBloodPrimeFlags(); + + // Publish blood prime progress while in blood prime sub-mode + publishBloodPrimeData(); +} + +/*********************************************************************//** + * @brief + * The handleBloodPrimeRampState function handles the blood prime ramp + * state operations. + * @details Inputs: flags + * @details Outputs: flags handled + * @return next blood prime state + *************************************************************************/ +static BLOOD_PRIME_STATE_T handleBloodPrimeRampState( void ) +{ + BLOOD_PRIME_STATE_T result = BLOOD_PRIME_RAMP_STATE; + + // Update blood prime volume delivered so far + cumulativeBloodPrimeVolume_mL.data += ( getMeasuredBloodFlowRate() * BLOOD_PRIME_FLOW_INTEGRATOR ); + + if ( TRUE == getTestConfigStatus( TEST_CONFIG_SKIP_BLOOD_PRIME ) ) + { + // If the skip blood prime is enabled, set the cumulative volume to the target blood prime volume + cumulativeBloodPrimeVolume_mL.data = bloodPrimeTargetVolume_mL; + } + + // Has blood prime completed? + if ( getBloodPrimeVolume() >= bloodPrimeTargetVolume_mL ) + { + initBloodPrime(); // Reset blood prime so that we start anew next time we transition to this sub-mode + //setBloodIsPrimed( TRUE ); // Signal treatment mode that blood prime is completed + //signalDialInPumpHardStop(); // Stop dialysate recirculation - dialysis sub-mode will restart dialysate pumps + //signalBloodPrimeToDialysis(); // Signal treatment mode that it's time to start dialysis + //cmdStopDGTrimmerHeater(); // Stop trimmer heater - dialysis sub-mode will restart as appropriate + } + else + { + // ramp blood pump on ramp interval + if ( ++bloodPrimeRampControlTimerCtr >= BLOOD_PRIME_RAMPING_INTERVAL ) + { + U32 setBPRate = getTreatmentParameterU32( TREATMENT_PARAM_BLOOD_FLOW ); + + bloodPrimeRampControlTimerCtr = 0; + bloodPrimeRampFlowRate_mL_min += bloodPrimeRampStep_mL; + setBloodPumpTargetFlowRate( (U32)bloodPrimeRampFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + } + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getCurrentBloodPrimeState function returns the current state of the + * blood prime sub-mode. + * @details Inputs: bloodPrimeState + * @details Outputs: none + * @return bloodPrimeState + *************************************************************************/ +BLOOD_PRIME_STATE_T getCurrentBloodPrimeState( void ) +{ + return bloodPrimeState; +} + +/*********************************************************************//** + * @brief + * The publishBloodPrimeData function publishes blood prime progress to UI + * at 1 Hz interval. + * @details Inputs: bloodPrimePublishTimerCtr + * @details Outputs: rinseback data published + * @return none + *************************************************************************/ +static void publishBloodPrimeData( void ) +{ + if ( ++bloodPrimePublishTimerCtr >= getU32OverrideValue( &bloodPrimePublishInterval ) ) + { + BLOOD_PRIME_DATA_PAYLOAD_T data; + + bloodPrimePublishTimerCtr = 0; + data.targetBloodPrimeVolumeMl = bloodPrimeTargetVolume_mL; + data.deliveredBloodPrimeVolumeMl = MAX( 0.0, getBloodPrimeVolume() ); + broadcastData( MSG_ID_TD_BLOOD_PRIME_PROGRESS_DATA, COMM_BUFFER_OUT_CAN_TD_BROADCAST, (U08*)&data, sizeof( BLOOD_PRIME_DATA_PAYLOAD_T ) ); + } +} + + +/************************************************************************* + * TEST SUPPORT FUNCTIONS + *************************************************************************/ + + +/*********************************************************************//** + * @brief + * The testSetBloodPrimeVolumeOverride function overrides the calculated + * blood prime volume. + * @details Inputs: none + * @details Outputs: cumulativeBloodPrimeVolume_mL + * @param vol override calculated blood prime volume (in mL) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetBloodPrimeVolumeOverride( F32 vol ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + cumulativeBloodPrimeVolume_mL.ovData = vol; + cumulativeBloodPrimeVolume_mL.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetBloodPrimeVolumeOverride function resets the override of the + * calculated blood prime volume. + * @details Inputs: none + * @details Outputs: cumulativeBloodPrimeVolume_mL + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetBloodPrimeVolumeOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + cumulativeBloodPrimeVolume_mL.override = OVERRIDE_RESET; + cumulativeBloodPrimeVolume_mL.ovData = cumulativeBloodPrimeVolume_mL.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetBloodPrimePublishIntervalOverride function sets the override of the + * blood prime data publication interval. + * @details Inputs: none + * @details Outputs: bloodPrimePublishInterval + * @param ms milliseconds between blood prime broadcasts + * @return TRUE if override set successful, FALSE if not + *************************************************************************/ +BOOL testSetBloodPrimePublishIntervalOverride( U32 ms ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + U32 intvl = ms / TASK_GENERAL_INTERVAL; + + result = TRUE; + bloodPrimePublishInterval.ovData = intvl; + bloodPrimePublishInterval.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetBloodPrimePublishIntervalOverride function resets the override of the + * blood prime data publication interval. + * @details Inputs: none + * @details Outputs: bloodPrimePublishInterval + * @return TRUE if override reset successful, FALSE if not + *************************************************************************/ +BOOL testResetBloodPrimePublishIntervalOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + bloodPrimePublishInterval.override = OVERRIDE_RESET; + bloodPrimePublishInterval.ovData = bloodPrimePublishInterval.ovInitData; + } + + return result; +} + +/**@}*/ Index: firmware/App/Modes/BloodPrime.h =================================================================== diff -u --- firmware/App/Modes/BloodPrime.h (revision 0) +++ firmware/App/Modes/BloodPrime.h (revision 46bfe970a8efd732ba6aca22ae170879e549b25f) @@ -0,0 +1,63 @@ +/************************************************************************** +* +* Copyright (c) 2021-2025 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 BloodPrime.h +* +* @author (last) Varshini Nagabooshanam +* @date (last) 26-Dec-2025 +* +* @author (original) Varshini Nagabooshanam +* @date (original) 22-Dec-2025 +* +***************************************************************************/ + +#ifndef __BLOOD_PRIME_H__ +#define __BLOOD_PRIME_H__ + +#include "TDCommon.h" +#include "TDDefs.h" + +/** + * @defgroup BloodPrime BloodPrime + * @brief Blood prime sub-mode of treatment mode. + * The blood prime state is where we go when treatment is first started or + * when returning to treatment after a rinseback. + * In this state, there is no Heparin delivery nor ultrafiltration. + * In this state, treatment timer is not running. No dialysis. Dialyzer is bypassed. + * In this state, blood pump is slowly ramped to set rate until the prime volume is delivered. + * + * @addtogroup BloodPrime + * @{ + */ + +// ********** public definitions ****************** + +#define TUBING_BLOOD_PRIME_VOLUME_ML 106.6F ///< Tubing portion of blood prime volume to prime the blood side circuit (in mL). + +/// Payload record structure for a blood prime data broadcast message. +typedef struct +{ + F32 targetBloodPrimeVolumeMl; ///< Target blood prime volume in mL. + F32 deliveredBloodPrimeVolumeMl; ///< Delivered blood prime volume in mL. +} BLOOD_PRIME_DATA_PAYLOAD_T; + +// ********** public function prototypes ********** + +void initBloodPrime( void ); +void transitionToBloodPrime( void ); +void execBloodPrime( void ); + +BLOOD_PRIME_STATE_T getCurrentBloodPrimeState( void ); + +BOOL testSetBloodPrimeVolumeOverride( F32 vol ); +BOOL testResetBloodPrimeVolumeOverride( void ); +BOOL testSetBloodPrimePublishIntervalOverride( U32 ms ); +BOOL testResetBloodPrimePublishIntervalOverride( void ); + +/**@}*/ + +#endif Index: firmware/App/Services/AlarmMgmtSWFaults.h =================================================================== diff -u -rb824ef4b479578c5aa702abd9147aef505a6fb04 -r46bfe970a8efd732ba6aca22ae170879e549b25f --- firmware/App/Services/AlarmMgmtSWFaults.h (.../AlarmMgmtSWFaults.h) (revision b824ef4b479578c5aa702abd9147aef505a6fb04) +++ firmware/App/Services/AlarmMgmtSWFaults.h (.../AlarmMgmtSWFaults.h) (revision 46bfe970a8efd732ba6aca22ae170879e549b25f) @@ -176,6 +176,7 @@ SW_FAULT_ID_VALVES_INVALID_VALVE_ENCODER_REQ = 145, SW_FAULT_ID_TD_VALVES_INVALID_IDLE = 146, SW_FAULT_ID_TD_VALVES_INVALID_IN_TRANSITION = 147, + SW_FAULT_ID_BLOOD_PRIME_INVALID_STATE = 148, NUM_OF_SW_FAULT_IDS } SW_FAULT_ID_T;