/************************************************************************** * * Copyright (c) 2019-2019 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 BloodFlow.c * * @date 05-Nov-2019 * @author S. Nash * * @brief Monitor/Controller for blood pump and flow sensor. * **************************************************************************/ #include "can.h" #include "etpwm.h" #include "Common.h" #include "InternalADC.h" #include "SystemCommMessages.h" #include "TaskPriority.h" #include "Timers.h" #include "BloodFlow.h" // ********** private definitions ********** #define MAX_BLOOD_FLOW_RATE 600 // mL/min #define MAX_BLOOD_PUMP_PWM_STEP_CHANGE 0.005 // duty cycle TODO - fixed or parameterized or set in motor controller? #define BP_SPEED_ADC_2_RPM_FACTOR 1.0 // conversion factor from ADC counts to RPM for blood pump motor TODO - set appropriate value #define BP_CURRENT_ADC_2_MA_FACTOR 1.0 // conversion factor from ADC counts to mA for blood pump motor TODO - set appropriate value #define BLOOD_FLOW_DATA_PUB_INTERVAL (1000 / TASK_PRIORITY_INTERVAL) // interval (ms) at which the blood flow data is published on the CAN bus typedef enum BloodPump_States { BLOOD_PUMP_OFF_STATE = 0, BLOOD_PUMP_RAMPING_UP_STATE, BLOOD_PUMP_RAMPING_DOWN_STATE, BLOOD_PUMP_CONTROL_TO_TARGET_STATE, NUM_OF_BLOOD_PUMP_STATES } BLOOD_PUMP_STATE_T; typedef enum BloodFlow_Self_Test_States { BLOOD_FLOW_SELF_TEST_STATE_START = 0, BLOOD_FLOW_TEST_STATE_IN_PROGRESS, BLOOD_FLOW_TEST_STATE_COMPLETE, NUM_OF_BLOOD_FLOW_SELF_TEST_STATES } BLOOD_FLOW_SELF_TEST_STATE_T; // CAN3 port pin assignments for pump stop and direction outputs #define STOP_CAN3_PORT_MASK 0x00000002 // (Tx - re-purposed as output GPIO for blood pump stop signal) #define DIR_CAN3_PORT_MASK 0x00000002 // (Rx - re-purposed as output GPIO for blood pump direction signal) // blood pump stop and direction macros #define SET_BP_DIR() {canREG3->RIOC |= DIR_CAN3_PORT_MASK;} #define SET_BP_STOP() {canREG3->TIOC |= STOP_CAN3_PORT_MASK;} #define CLR_BP_DIR() {canREG3->RIOC &= ~DIR_CAN3_PORT_MASK;} #define CLR_BP_STOP() {canREG3->TIOC &= ~STOP_CAN3_PORT_MASK;} // ********** private data ********** static BLOOD_PUMP_STATE_T bloodPumpState = BLOOD_PUMP_OFF_STATE; // current state of blood flow controller state machine static U32 bloodFlowDataPublicationTimerCounter = 0; // used to schedule blood flow data publication to CAN bus DATA_DECL( U32, BloodFlowDataPub, bloodFlowDataPublishInterval, BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL ); // interval (in ms) at which to publish blood flow data to CAN bus static BOOL isBloodPumpOn = FALSE; // blood pump is currently running static F32 bloodPumpPWMDutyCyclePct = 0.0; // initial blood pump PWM duty cycle static F32 bloodPumpPWMDutyCyclePctSet = 0.0; // currently set blood pump PWM duty cycle static MOTOR_DIR_T bloodPumpDirection = MOTOR_DIR_FORWARD; // requested blood flow direction static MOTOR_DIR_T bloodPumpDirectionSet = MOTOR_DIR_FORWARD; // currently set blood flow direction DATA_DECL( U32, TargetBloodFlowRate, targetBloodFlowRate, 0, 0 ); // requested blood flow rate static U32 targetBloodFlowRateSet = 0; // currently set blood flow rate DATA_DECL( F32, MeasuredBloodFlowRate, measuredBloodFlowRate, 0.0, 0.0 ); // measured blood flow rate DATA_DECL( F32, MeasuredBloodPumpSpeed, adcBloodPumpSpeedRPM, 0.0, 0.0 ); // measured blood pump speed DATA_DECL( F32, MeasuredBloodPumpCurrent, adcBloodPumpCurrentmA, 0.0, 0.0 ); // measured blood pump motor current static BLOOD_FLOW_SELF_TEST_STATE_T bloodPumpSelfTestState = BLOOD_FLOW_SELF_TEST_STATE_START; // current blood pump self test state static U32 bloodPumpSelfTestTimerCount = 0; // timer counter for blood pump self test // ********** private function prototypes ********** static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void ); static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void ); static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void ); static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void ); static void stopBloodPump( void ); static void releaseBloodPumpStop( void ); static void setBloodPumpDirection( MOTOR_DIR_T dir ); /************************************************************************* * @brief initBloodFlow * The initBloodFlow function initializes the BloodFlow module. * @details * Inputs : none * Outputs : BloodFlow module initialized. * @param none * @return none *************************************************************************/ void initBloodFlow( void ) { stopBloodPump(); setBloodPumpDirection( MOTOR_DIR_FORWARD ); } /************************************************************************* * @brief setBloodPumpTargetFlowRate * The setBloodPumpTargetFlowRate function sets a new target flow rate and * pump direction. * @details * Inputs : isBloodPumpOn, bloodPumpDirectionSet * Outputs : targetBloodFlowRate, bloodPumpdirection, bloodPumpPWMDutyCyclePct * @param flowRate : new target blood flow rate * @param dir : new blood flow direction * @return TRUE if new flow rate & dir are set, FALSE if not *************************************************************************/ BOOL setBloodPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir ) { BOOL result = FALSE; // direction change while pump is running is not allowed if ( ( FALSE == isBloodPumpOn ) || ( 0 == flowRate ) || ( dir == bloodPumpDirectionSet ) ) { // verify flow rate if ( flowRate <= MAX_BLOOD_FLOW_RATE ) { targetBloodFlowRate.data = flowRate; bloodPumpDirection = dir; // TODO - this is temporary conversion to initial duty cycle bloodPumpPWMDutyCyclePct = ( (F32)flowRate / 800.0 ); switch ( bloodPumpState ) { case BLOOD_PUMP_RAMPING_UP_STATE: // see if we need to reverse direction of ramp if ( bloodPumpPWMDutyCyclePct < bloodPumpPWMDutyCyclePctSet ) { bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE; } break; case BLOOD_PUMP_RAMPING_DOWN_STATE: // see if we need to reverse direction of ramp if ( bloodPumpPWMDutyCyclePct > bloodPumpPWMDutyCyclePctSet ) { bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE; } break; case BLOOD_PUMP_CONTROL_TO_TARGET_STATE: // start ramp in appropriate direction if ( targetBloodFlowRateSet > getTargetBloodFlowRate() ) { bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE; } else { bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE; } break; default: // ok - do nothing break; } result = TRUE; } else { SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, bloodPumpState ) } } return result; } /************************************************************************* * @brief execBloodFlowMonitor * The execBloodFlowMonitor function executes the blood flow monitor. * @details * Inputs : none * Outputs : none * @param none * @return none *************************************************************************/ void execBloodFlowMonitor( void ) { U16 bpRPM = getIntADCReading( INT_ADC_BLOOD_PUMP_SPEED ); U16 bpmA = getIntADCReading( INT_ADC_BLOOD_PUMP_MOTOR_CURRENT ); adcBloodPumpSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpRPM)) * BP_SPEED_ADC_2_RPM_FACTOR; adcBloodPumpCurrentmA.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpmA)) * BP_CURRENT_ADC_2_MA_FACTOR; // publish blood flow data on interval if ( ++bloodFlowDataPublicationTimerCounter > getPublishBloodFlowDataInterval() ) { U32 flowStPt = getTargetBloodFlowRate(); F32 measFlow = getMeasuredBloodFlowRate(); F32 measSpd = getMeasuredBloodPumpSpeed(); F32 measCurr = getMeasuredBloodPumpCurrent(); broadcastBloodFlowData( flowStPt, measFlow, measSpd, measCurr ); bloodFlowDataPublicationTimerCounter = 0; } } /************************************************************************* * @brief execBloodFlowController * The execBloodFlowController function executes the blood flow controller. * @details * Inputs : bloodPumpState * Outputs : bloodPumpState * @param none * @return none *************************************************************************/ void execBloodFlowController( void ) { switch ( bloodPumpState ) { case BLOOD_PUMP_OFF_STATE: bloodPumpState = handleBloodPumpOffState(); break; case BLOOD_PUMP_RAMPING_UP_STATE: bloodPumpState = handleBloodPumpRampingUpState(); break; case BLOOD_PUMP_RAMPING_DOWN_STATE: bloodPumpState = handleBloodPumpRampingDownState(); break; case BLOOD_PUMP_CONTROL_TO_TARGET_STATE: bloodPumpState = handleBloodPumpControlToTargetState(); break; default: SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_STATE, bloodPumpState ) break; } } /************************************************************************* * @brief handleBloodPumpOffState * The handleBloodPumpOffState function handles the blood pump off state \n * of the blood pump controller state machine. * @details * Inputs : targetBloodFlowRate, bloodPumpDirection * Outputs : bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet, isBloodPumpOn * @param none * @return next state *************************************************************************/ static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void ) { BLOOD_PUMP_STATE_T result = BLOOD_PUMP_OFF_STATE; // if we've been given a flow rate, setup ramp up and transition to ramp up state if ( getTargetBloodFlowRate() > 0 ) { // set initial PWM duty cycle bloodPumpPWMDutyCyclePctSet = MAX_BLOOD_PUMP_PWM_STEP_CHANGE; etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) ); // allow blood pump to run in requested direction setBloodPumpDirection( bloodPumpDirection ); releaseBloodPumpStop(); // start PWM for blood pump etpwmStartTBCLK(); isBloodPumpOn = TRUE; result = BLOOD_PUMP_RAMPING_UP_STATE; } return result; } /************************************************************************* * @brief handleBloodPumpRampingUpState * The handleBloodPumpRampingUpState function handles the ramp up state \n * of the blood pump controller state machine. * @details * Inputs : bloodPumpPWMDutyCyclePctSet * Outputs : bloodPumpPWMDutyCyclePctSet * @param none * @return next state *************************************************************************/ static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void ) { BLOOD_PUMP_STATE_T result = BLOOD_PUMP_RAMPING_UP_STATE; // have we been asked to stop the blood pump? if ( 0 == getTargetBloodFlowRate() ) { // start ramp down to stop bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE; etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) ); result = BLOOD_PUMP_RAMPING_DOWN_STATE; } // have we reached end of ramp up? else if ( bloodPumpPWMDutyCyclePctSet >= bloodPumpPWMDutyCyclePct ) { targetBloodFlowRateSet = getTargetBloodFlowRate(); result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; } // continue ramp up else { bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_CHANGE; etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) ); } return result; } /************************************************************************* * @brief handleBloodPumpRampingDownState * The handleBloodPumpRampingDownState function handles the ramp down state \n * of the blood pump controller state machine. * @details * Inputs : bloodPumpPWMDutyCyclePctSet * Outputs : bloodPumpPWMDutyCyclePctSet * @param none * @return next state *************************************************************************/ static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void ) { BLOOD_PUMP_STATE_T result = BLOOD_PUMP_RAMPING_DOWN_STATE; // have we essentially reached zero speed if ( bloodPumpPWMDutyCyclePctSet < MAX_BLOOD_PUMP_PWM_STEP_CHANGE ) { isBloodPumpOn = FALSE; targetBloodFlowRateSet = 0; bloodPumpPWMDutyCyclePctSet = 0.0; etpwmSetCmpA( etpwmREG1, 0 ); etpwmStopTBCLK(); stopBloodPump(); result = BLOOD_PUMP_OFF_STATE; } // have we reached end of ramp down? else if ( bloodPumpPWMDutyCyclePctSet <= bloodPumpPWMDutyCyclePct ) { targetBloodFlowRateSet = getTargetBloodFlowRate(); result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; } // continue ramp down else { bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE; etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) ); } return result; } /************************************************************************* * @brief handleBloodPumpControlToTargetState * The handleBloodPumpControlToTargetState function handles the "control to \n * target" state of the blood pump controller state machine. * @details * Inputs : none * Outputs : bloodPumpState * @param none * @return next state *************************************************************************/ static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void ) { BLOOD_PUMP_STATE_T result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; // TODO - control return result; } /************************************************************************* * @brief stopBloodPump * The stopBloodPump function sets the blood pump stop signal. * @details * Inputs : none * Outputs : blood pump stop signal * @param none * @return none *************************************************************************/ static void stopBloodPump( void ) { SET_BP_STOP(); } /************************************************************************* * @brief releaseBloodPumpStop * The releaseBloodPumpStop function clears the blood pump stop signal. * @details * Inputs : none * Outputs : blood pump stop signal * @param none * @return none *************************************************************************/ static void releaseBloodPumpStop( void ) { CLR_BP_STOP(); } /************************************************************************* * @brief setBloodPumpDirection * The setBloodPumpDirection function sets the set blood pump direction to \n * the given direction. * @details * Inputs : bloodPumpState * Outputs : bloodPumpState * @param dir : blood pump direction to set * @return none *************************************************************************/ static void setBloodPumpDirection( MOTOR_DIR_T dir ) { switch ( dir ) { case MOTOR_DIR_FORWARD: bloodPumpDirectionSet = dir; SET_BP_DIR(); break; case MOTOR_DIR_REVERSE: bloodPumpDirectionSet = dir; CLR_BP_DIR(); break; default: SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_DIRECTION, dir ) break; } } /************************************************************************* * @brief getPublishBloodFlowDataInterval * The getPublishBloodFlowDataInterval function gets the blood flow data \n * publication interval. * @details * Inputs : bloodFlowDataPublishInterval * Outputs : none * @param none * @return the current blood flow data publication interval (in ms). *************************************************************************/ DATA_GET( U32, getPublishBloodFlowDataInterval, bloodFlowDataPublishInterval ) /************************************************************************* * @brief getTargetBloodFlowRate * The getTargetBloodFlowRate function gets the current target blood flow \n * rate. * @details * Inputs : targetBloodFlowRate * Outputs : none * @param none * @return the current target blood flow rate (in mL/min). *************************************************************************/ DATA_GET( U32, getTargetBloodFlowRate, targetBloodFlowRate ) /************************************************************************* * @brief getMeasuredBloodFlowRate * The getMeasuredBloodFlowRate function gets the measured blood flow \n * rate. * @details * Inputs : measuredBloodFlowRate * Outputs : none * @param none * @return the current blood flow rate (in mL/min). *************************************************************************/ DATA_GET( F32, getMeasuredBloodFlowRate, measuredBloodFlowRate ) /************************************************************************* * @brief getMeasuredBloodPumpSpeed * The getMeasuredBloodPumpSpeed function gets the measured blood pump \n * speed. * @details * Inputs : adcBloodPumpSpeedRPM * Outputs : none * @param none * @return the current blood pump speed (in RPM). *************************************************************************/ DATA_GET( F32, getMeasuredBloodPumpSpeed, adcBloodPumpSpeedRPM ) /************************************************************************* * @brief getMeasuredBloodPumpCurrent * The getMeasuredBloodPumpCurrent function gets the measured blood pump \n * current. * @details * Inputs : adcBloodPumpCurrentmA * Outputs : none * @param none * @return the current blood pump current (in mA). *************************************************************************/ DATA_GET( F32, getMeasuredBloodPumpCurrent, adcBloodPumpCurrentmA ) /************************************************************************* * TEST SUPPORT FUNCTIONS *************************************************************************/ /************************************************************************* * @brief testSetBloodFlowDataPublishIntervalOverride * The testSetBloodFlowDataPublishIntervalOverride function overrides the \n * blood flow data publish interval. \n * @details * Inputs : none * Outputs : bloodFlowDataPublishInterval * @param value : override blood flow data publish interval with (in ms) * @return TRUE if override successful, FALSE if not *************************************************************************/ BOOL testSetBloodFlowDataPublishIntervalOverride( U32 value ) { BOOL result = FALSE; if ( TRUE == isTestingActivated() ) { U32 intvl = value / TASK_PRIORITY_INTERVAL; result = TRUE; bloodFlowDataPublishInterval.ovData = intvl; bloodFlowDataPublishInterval.override = OVERRIDE_KEY; } return result; } /************************************************************************* * @brief testResetBloodFlowDataPublishIntervalOverride * The testResetBloodFlowDataPublishIntervalOverride function resets the override \n * of the blood flow data publish interval. * @details * Inputs : none * Outputs : bloodFlowDataPublishInterval * @return TRUE if override reset successful, FALSE if not *************************************************************************/ BOOL testResetBloodFlowDataPublishIntervalOverride( void ) { BOOL result = FALSE; if ( TRUE == isTestingActivated() ) { result = TRUE; bloodFlowDataPublishInterval.override = OVERRIDE_RESET; bloodFlowDataPublishInterval.ovData = bloodFlowDataPublishInterval.ovInitData; } return result; } /************************************************************************* * @brief testSetTargetBloodFlowRateOverride and testResetTargetBloodFlowRateOverride * The testSetTargetBloodFlowRateOverride function overrides the target \n * blood flow rate. \n * The testResetTargetBloodFlowRateOverride function resets the override of the \n * target blood flow rate. * @details * Inputs : none * Outputs : targetBloodFlowRate * @param value : override target blood flow rate (in mL/min) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( U32, testSetTargetBloodFlowRateOverride, testResetTargetBloodFlowRateOverride, targetBloodFlowRate ) /************************************************************************* * @brief testSetMeasuredBloodFlowRateOverride and testResetMeasuredBloodFlowRateOverride * The testResetMeasuredBloodFlowRateOverride function overrides the measured \n * blood flow rate. \n * The testResetOffButtonStateOverride function resets the override of the \n * measured blood flow rate. * @details * Inputs : none * Outputs : measuredBloodFlowRate * @param value : override measured blood flow rate (in mL/min) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( F32, testSetMeasuredBloodFlowRateOverride, testResetMeasuredBloodFlowRateOverride, measuredBloodFlowRate ) /************************************************************************* * @brief testSetMeasuredBloodPumpSpeedOverride and testResetMeasuredBloodPumpSpeedOverride * The testSetMeasuredBloodPumpSpeedOverride function overrides the measured \n * blood pump motor speed. \n * The testResetMeasuredBloodPumpSpeedOverride function resets the override of the \n * measured blood pump motor speed. * @details * Inputs : none * Outputs : adcBloodPumpSpeedRPM * @param value : override measured blood pump speed (in RPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( F32, testSetMeasuredBloodPumpSpeedOverride, testResetMeasuredBloodPumpSpeedOverride, adcBloodPumpSpeedRPM ) /************************************************************************* * @brief testSetMeasuredBloodPumpCurrentOverride and testResetMeasuredBloodPumpCurrentOverride * The testSetMeasuredBloodPumpCurrentOverride function overrides the measured \n * blood pump motor current. \n * The testResetMeasuredBloodPumpCurrentOverride function resets the override of the \n * measured blood pump motor current. * @details * Inputs : none * Outputs : adcBloodPumpCurrentmA * @param value : override measured blood pump current (in mA) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( F32, testSetMeasuredBloodPumpCurrentOverride, testResetMeasuredBloodPumpCurrentOverride, adcBloodPumpCurrentmA )