/************************************************************************** * * 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 BloodFlow.c * * @date 05-Nov-2019 * @author S. Nash * * @brief Monitor/Controller for blood pump and flow sensor. * **************************************************************************/ #ifndef _VECTORCAST_ #include #endif #include "can.h" #include "etpwm.h" #include #include "FPGA.h" #include "InternalADC.h" #include "OperationModes.h" #include "PIControllers.h" #include "SystemCommMessages.h" #include "TaskGeneral.h" #include "TaskPriority.h" #include "Timers.h" #include "BloodFlow.h" // ********** private definitions ********** #define BLOOD_FLOW_DATA_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) // interval (ms/task time) at which the blood flow data is published on the CAN bus #define MAX_BLOOD_FLOW_RATE 500 // mL/min #define MIN_BLOOD_FLOW_RATE 100 // mL/min #define MAX_BLOOD_PUMP_PWM_STEP_CHANGE 0.005 // max duty cycle change when ramping #define MAX_BLOOD_PUMP_PWM_DUTY_CYCLE 0.88 // controller will error if PWM duty cycle > 90%, so set max to 88% #define MIN_BLOOD_PUMP_PWM_DUTY_CYCLE 0.12 // controller will error if PWM duty cycle < 10%, so set min to 12% #define BP_CONTROL_INTERVAL ( 1000 / TASK_GENERAL_INTERVAL ) // interval (ms/task time) at which the blood pump is controlled #define BP_P_COEFFICIENT 0.00005 // P term for blood pump control #define BP_I_COEFFICIENT 0.00015 // I term for blood pump control #define BP_MAX_PWM_DC_DELTA 0.01 // prevents large steps in PWM duty cycle while controlling #define BP_MIN_PWM_DC_DELTA -0.01 #define BP_MAX_CURR_WHEN_STOPPED_MA 150.0 // motor controller current should not exceed this when pump should be stopped #define BP_MIN_CURR_WHEN_RUNNING_MA 150.0 // motor controller current should always exceed this when pump should be running #define BP_MAX_CURR_WHEN_RUNNING_MA 1000.0 // motor controller current should not exceed this when pump should be running #define BP_MAX_CURR_ERROR_DURATION_MS 2000 // motor controller current errors persisting beyond this duration will trigger an alarm #define BP_SPEED_ADC_TO_RPM_FACTOR 1.375 // conversion factor from ADC counts to RPM for blood pump motor #define BP_CURRENT_ADC_TO_MA_FACTOR 2.65 // conversion factor from ADC counts to mA for blood pump motor #define BP_REV_PER_LITER 124.0 // rotor revolutions per liter #define BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR ( BP_REV_PER_LITER / ML_PER_LITER ) #define BP_GEAR_RATIO 32.0 // blood pump motor to blood pump gear ratio #define BP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.00042 // ~24 BP motor RPM = 1% PWM duty cycle #define BP_PWM_ZERO_OFFSET 0.1 // 10% PWM duty cycle = zero speed #define BP_PWM_FROM_ML_PER_MIN(rate) ( (rate) * BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * BP_GEAR_RATIO * BP_MOTOR_RPM_TO_PWM_DC_FACTOR + BP_PWM_ZERO_OFFSET ) #define BLOODPUMP_ADC_FULL_SCALE_V 3.0 // BP analog signals are 0-3V (while int. ADC ref V is 3.3V) #define BLOODPUMP_ADC_MID_PT_BITS ( (F32)( INT_ADC_FULL_SCALE_BITS >> 1 ) * ( BLOODPUMP_ADC_FULL_SCALE_V / INT_ADC_REF_V ) ) #define SIGN_FROM_12_BIT_VALUE(v) ( (S16)(v) - (S16)BLOODPUMP_ADC_MID_PT_BITS ) #define BLOOD_FLOW_SAMPLE_FREQ ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) #define SIZE_OF_ROLLING_AVG ( BLOOD_FLOW_SAMPLE_FREQ * 2 ) // measured blood flow is filtered w/ moving average #define MAX_FLOW_FILTER_INTERVAL 5 // slowest sample interval for filter is every 5th sample 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; // 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 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, 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 DATA_DECL( S32, TargetBloodFlowRate, targetBloodFlowRate, 0, 0 ); // requested blood flow rate DATA_DECL( F32, MeasuredBloodFlowRate, measuredBloodFlowRate, 0.0, 0.0 ); // measured blood flow rate DATA_DECL( F32, MeasuredBloodPumpRotorSpeed, bloodPumpRotorSpeedRPM, 0.0, 0.0 );// measured blood pump rotor speed DATA_DECL( F32, MeasuredBloodPumpSpeed, bloodPumpSpeedRPM, 0.0, 0.0 ); // measured blood pump motor speed DATA_DECL( F32, MeasuredBloodPumpMCSpeed, adcBloodPumpMCSpeedRPM, 0.0, 0.0 ); // measured blood pump motor controller speed DATA_DECL( F32, MeasuredBloodPumpMCCurrent, adcBloodPumpMCCurrentmA, 0.0, 0.0 );// measured blood pump motor controller current static U32 bpControlTimerCounter = 0; // determines when to perform control on blood 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 bpCurrErrorDurationCtr = 0; // used for tracking persistence of bp current errors 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 setBloodPumpControlSignalPWM( F32 newPWM ); static void stopBloodPump( void ); static void releaseBloodPumpStop( void ); static void setBloodPumpDirection( MOTOR_DIR_T dir ); static void publishBloodFlowData( void ); static void resetBloodFlowMovingAverage( void ); static void filterBloodFlowReadings( F32 flow ); static void checkBloodPumpDirection( void ); static void checkBloodPumpMCCurrent( void ); static DATA_GET_PROTOTYPE( U32, getPublishBloodFlowDataInterval ); /************************************************************************* * @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 ); // zero rolling flow average buffer resetBloodFlowMovingAverage(); // initialize blood flow PI controller initializePIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, BP_P_COEFFICIENT, BP_I_COEFFICIENT, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, MAX_BLOOD_PUMP_PWM_DUTY_CYCLE ); } /************************************************************************* * @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 ) { resetBloodFlowMovingAverage(); targetBloodFlowRate.data = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 ); bloodPumpDirection = dir; // 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 bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate); // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%) 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 to new target in appropriate direction if ( bloodPumpPWMDutyCyclePctSet > bloodPumpPWMDutyCyclePct ) { bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE; } else { bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE; } break; default: // ok - not all states need to be handled here break; } result = TRUE; } else // requested flow rate too high { SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate ) } } return result; } /************************************************************************* * @brief signalBloodPumpHardStop * The signalBloodPumpHardStop function stops the blood pump immediately. * @details * Inputs : none * Outputs : Blood pump stopped, set point reset, state changed to off * @param none * @return none *************************************************************************/ void signalBloodPumpHardStop( void ) { targetBloodFlowRate.data = 0; stopBloodPump(); bloodPumpState = BLOOD_PUMP_OFF_STATE; bloodPumpPWMDutyCyclePct = 0.0; bpControlTimerCounter = 0; resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE ); } /************************************************************************* * @brief execBloodFlowMonitor * The execBloodFlowMonitor function executes the blood flow monitor. * @details * Inputs : none * Outputs : measuredBloodFlowRate, adcBloodPumpMCSpeedRPM, adcBloodPumpMCCurrentmA * @param none * @return none *************************************************************************/ void execBloodFlowMonitor( void ) { U16 bpRPM = getIntADCReading( INT_ADC_BLOOD_PUMP_SPEED ); U16 bpmA = getIntADCReading( INT_ADC_BLOOD_PUMP_MOTOR_CURRENT ); F32 bpFlow = getFPGABloodFlow(); adcBloodPumpMCSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpRPM)) * BP_SPEED_ADC_TO_RPM_FACTOR; adcBloodPumpMCCurrentmA.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpmA)) * BP_CURRENT_ADC_TO_MA_FACTOR; filterBloodFlowReadings( bpFlow ); // don't start enforcing checks until out of init/POST mode if ( getCurrentOperationMode() != MODE_INIT ) { checkBloodPumpDirection(); checkBloodPumpMCCurrent(); } // publish blood flow data on interval publishBloodFlowData(); } /************************************************************************* * @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 = BP_PWM_ZERO_OFFSET + MAX_BLOOD_PUMP_PWM_STEP_CHANGE; setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); // allow blood pump to run in requested direction setBloodPumpDirection( bloodPumpDirection ); releaseBloodPumpStop(); 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; setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); result = BLOOD_PUMP_RAMPING_DOWN_STATE; } // have we reached end of ramp up? else if ( bloodPumpPWMDutyCyclePctSet >= bloodPumpPWMDutyCyclePct ) { resetBloodFlowMovingAverage(); resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet ); result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; } // continue ramp up else { bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_CHANGE; setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); } 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 + BP_PWM_ZERO_OFFSET) ) { stopBloodPump(); result = BLOOD_PUMP_OFF_STATE; } // have we reached end of ramp down? else if ( bloodPumpPWMDutyCyclePctSet <= bloodPumpPWMDutyCyclePct ) { resetBloodFlowMovingAverage(); resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet ); result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; } // continue ramp down else { bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE; setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); } 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; F32 tgtFlow = (F32)getTargetBloodFlowRate(); F32 actFlow = getMeasuredBloodFlowRate(); F32 newPWM; // control at set interval if ( ++bpControlTimerCounter >= BP_CONTROL_INTERVAL ) { newPWM = runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow ); bloodPumpPWMDutyCyclePctSet = newPWM; setBloodPumpControlSignalPWM( newPWM ); bpControlTimerCounter = 0; } return result; } /************************************************************************* * @brief setBloodPumpControlSignalPWM * The setBloodPumpControlSignalPWM function sets the PWM duty cycle for \n * the blood pump to a given %. * @details * Inputs : none * Outputs : blood pump stop signal activated, PWM duty cycle zeroed * @param newPWM : new duty cycle % to apply to PWM * @return none *************************************************************************/ static void setBloodPumpControlSignalPWM( F32 newPWM ) { etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( newPWM * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) ); } /************************************************************************* * @brief stopBloodPump * The stopBloodPump function sets the blood pump stop signal. * @details * Inputs : none * Outputs : blood pump stop signal activated, PWM duty cycle zeroed * @param none * @return none *************************************************************************/ static void stopBloodPump( void ) { isBloodPumpOn = FALSE; bloodPumpPWMDutyCyclePctSet = 0.0; etpwmSetCmpA( etpwmREG1, 0 ); 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( S32, 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 getMeasuredBloodPumpRotorSpeed * The getMeasuredBloodPumpRotorSpeed function gets the measured blood flow \n * rate. * @details * Inputs : bloodPumpRotorSpeedRPM * Outputs : none * @param none * @return the current blood flow rate (in mL/min). *************************************************************************/ DATA_GET( F32, getMeasuredBloodPumpRotorSpeed, bloodPumpRotorSpeedRPM ) /************************************************************************* * @brief getMeasuredBloodPumpSpeed * The getMeasuredBloodPumpSpeed function gets the measured blood flow \n * rate. * @details * Inputs : bloodPumpSpeedRPM * Outputs : none * @param none * @return the current blood flow rate (in mL/min). *************************************************************************/ DATA_GET( F32, getMeasuredBloodPumpSpeed, bloodPumpSpeedRPM ) /************************************************************************* * @brief getMeasuredBloodPumpMCSpeed * The getMeasuredBloodPumpMCSpeed function gets the measured blood pump \n * speed. * @details * Inputs : adcBloodPumpMCSpeedRPM * Outputs : none * @param none * @return the current blood pump speed (in RPM). *************************************************************************/ DATA_GET( F32, getMeasuredBloodPumpMCSpeed, adcBloodPumpMCSpeedRPM ) /************************************************************************* * @brief getMeasuredBloodPumpMCCurrent * The getMeasuredBloodPumpMCCurrent function gets the measured blood pump \n * current. * @details * Inputs : adcBloodPumpMCCurrentmA * Outputs : none * @param none * @return the current blood pump current (in mA). *************************************************************************/ DATA_GET( F32, getMeasuredBloodPumpMCCurrent, adcBloodPumpMCCurrentmA ) /************************************************************************* * @brief publishBloodFlowData * The publishBloodFlowData function publishes blood flow data at the set \n * interval. * @details * Inputs : target flow rate, measured flow rate, measured MC speed, \n * measured MC current * Outputs : Blood flow data is published to CAN bus. * @param none * @return none *************************************************************************/ static void publishBloodFlowData( void ) { // publish blood flow data on interval if ( ++bloodFlowDataPublicationTimerCounter > getPublishBloodFlowDataInterval() ) { S32 flowStPt = (S32)getTargetBloodFlowRate(); F32 measFlow = getMeasuredBloodFlowRate(); F32 measRotSpd = getMeasuredBloodPumpRotorSpeed(); F32 measSpd = getMeasuredBloodPumpSpeed(); F32 measMCSpd = getMeasuredBloodPumpMCSpeed(); F32 measMCCurr = getMeasuredBloodPumpMCCurrent(); F32 pumpPWMPctDutyCycle = bloodPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR; //#ifdef DEBUG_ENABLED // // TODO - temporary debug code - remove later // char debugFlowStr[ 256 ]; // // sprintf( debugFlowStr, "Blood 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 broadcastBloodFlowData( flowStPt, measFlow, measRotSpd, measSpd, measMCSpd, measMCCurr, pumpPWMPctDutyCycle ); bloodFlowDataPublicationTimerCounter = 0; } } /************************************************************************* * @brief resetBloodFlowMovingAverage * The resetBloodFlowMovingAverage function re-sizes and re-initializes the \n * blood flow moving average sample buffer. * @details * Inputs : none * Outputs : flowReadingsTotal, flowReadingsIdx, flowReadingsCount all set to zero. * @param initFlow : the new blood flow set pt. * @param flowDir : the new set direction * @return none *************************************************************************/ static void resetBloodFlowMovingAverage( void ) { flowReadingsTotal = 0.0; flowReadingsIdx = 0; flowReadingsCount = 0; flowReadingsTmrCtr = 0; bpControlTimerCounter = 0; } /************************************************************************* * @brief filterBloodFlowReadings * The filterBloodFlowReadings 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 blood flow sample * @return none *************************************************************************/ static void filterBloodFlowReadings( F32 flow ) { BOOL addSampleToFilter = FALSE; if ( ( targetBloodFlowRate.data < MIN_BLOOD_FLOW_RATE ) || ( targetBloodFlowRate.data >= MAX_BLOOD_FLOW_RATE ) ) { addSampleToFilter = TRUE; } else { switch ( flowReadingsTmrCtr ) { case 0: addSampleToFilter = TRUE; break; case 1: addSampleToFilter = FALSE; break; case 2: if ( targetBloodFlowRate.data >= 400 ) { addSampleToFilter = TRUE; } break; case 3: if ( targetBloodFlowRate.data >= 200 ) { addSampleToFilter = TRUE; } break; case 4: if ( targetBloodFlowRate.data >= 300 ) { addSampleToFilter = TRUE; } break; default: SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_FILTER_STATE, flowReadingsTmrCtr ) break; } } if ( TRUE == addSampleToFilter ) { if ( flowReadingsCount >= SIZE_OF_ROLLING_AVG ) { flowReadingsTotal -= flowReadings[ flowReadingsIdx ]; } flowReadings[ flowReadingsIdx ] = flow; flowReadingsTotal += flow; flowReadingsIdx = INC_WRAP( flowReadingsIdx, 0, SIZE_OF_ROLLING_AVG - 1 ); flowReadingsCount = INC_CAP( flowReadingsCount, SIZE_OF_ROLLING_AVG ); measuredBloodFlowRate.data = flowReadingsTotal / (F32)flowReadingsCount; } flowReadingsTmrCtr = INC_WRAP( flowReadingsTmrCtr, 0, MAX_FLOW_FILTER_INTERVAL - 1 ); #ifdef DEBUG_ENABLED { // TODO - temporary debug code - remove later // char debugFlowStr[ 40 ]; //S32 num = (S32)(flow); //S32 dec = (S32)(fabs(flow-(S32)(flow))*100.0); // S32 numf = (S32)(measuredBloodFlowRate.data); // S32 decf = (S32)(fabs(measuredBloodFlowRate.data-(S32)(measuredBloodFlowRate.data))*100.0); // S32 nump = (S32)bloodPumpPWMDutyCyclePctSet; // S32 decp = (S32)((bloodPumpPWMDutyCyclePctSet-(S32)bloodPumpPWMDutyCyclePctSet)*100.0); // sprintf( debugFlowStr, "%5d.%02d %5d.%02d\n", numf, decf, numf, decf ); // sprintf( debugFlowStr, "%5d.%02d %5d.%02d\n", num, dec, numf, decf ); // sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) ); } #endif } /************************************************************************* * @brief checkBloodPumpDirection * The checkBloodPumpDirection function checks the set direction vs. \n * the direction implied by the sign of the measured MC speed. * @details * Inputs : * Outputs : * @param none * @return none *************************************************************************/ static void checkBloodPumpDirection( void ) { MOTOR_DIR_T bpMCDir; if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState ) { // check set direction vs. direction from sign of motor controller speed bpMCDir = ( getMeasuredBloodPumpMCSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE ); if ( bloodPumpDirectionSet != bpMCDir ) { SET_ALARM_WITH_2_U32_DATA( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK, (U32)bloodPumpDirectionSet, (U32)bpMCDir ) } } } /************************************************************************* * @brief checkBloodPumpMCCurrent * The checkBloodPumpMCCurrent function checks the measured MC current vs. \n * the set state of the blood pump (stopped or running). * @details * Inputs : * Outputs : * @param none * @return none *************************************************************************/ static void checkBloodPumpMCCurrent( void ) { F32 bpCurr; // blood pump should be off if ( BLOOD_PUMP_OFF_STATE == bloodPumpState ) { bpCurr = fabs( getMeasuredBloodPumpMCCurrent() ); if ( bpCurr > BP_MAX_CURR_WHEN_STOPPED_MA ) { bpCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL; if ( bpCurrErrorDurationCtr > BP_MAX_CURR_ERROR_DURATION_MS ) { SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, getMeasuredBloodPumpMCCurrent() ); } } else { bpCurrErrorDurationCtr = 0; } } // blood pump should be running else { bpCurr = fabs( getMeasuredBloodPumpMCCurrent() ); if ( ( bpCurr < BP_MIN_CURR_WHEN_RUNNING_MA ) || ( bpCurr > BP_MAX_CURR_WHEN_RUNNING_MA ) ) { bpCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL; if ( bpCurrErrorDurationCtr > BP_MAX_CURR_ERROR_DURATION_MS ) { SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, getMeasuredBloodPumpMCCurrent() ); } } else { bpCurrErrorDurationCtr = 0; } } } /************************************************************************* * @brief execBloodFlowTest * The execBloodFlowTest function executes the state machine for the \n * BloodFlow self test. * @details * Inputs : none * Outputs : none * @param none * @return the current state of the BloodFlow self test. *************************************************************************/ SELF_TEST_STATUS_T execBloodFlowTest( void ) { SELF_TEST_STATUS_T result = SELF_TEST_STATUS_FAILED; // TODO - implement self test(s) return result; } /************************************************************************* * TEST SUPPORT FUNCTIONS *************************************************************************/ /************************************************************************* * @brief testSetBloodFlowDataPublishIntervalOverride * The testSetBloodFlowDataPublishIntervalOverride function overrides the \n * blood flow data publish interval. * @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( S32, 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 testSetMeasuredBloodPumpRotorSpeedOverride and testResetMeasuredBloodPumpRotorSpeedOverride * The testSetMeasuredBloodPumpRotorSpeedOverride function overrides the measured \n * blood pump rotor speed. \n * The testResetMeasuredBloodPumpRotorSpeedOverride function resets the override of the \n * measured blood pump rotor speed. * @details * Inputs : none * Outputs : bloodPumpRotorSpeedRPM * @param value : override measured blood pump rotor speed (in RPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( F32, testSetMeasuredBloodPumpRotorSpeedOverride, testResetMeasuredBloodPumpRotorSpeedOverride, bloodPumpRotorSpeedRPM ) /************************************************************************* * @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 : bloodPumpSpeedRPM * @param value : override measured blood pump motor speed (in RPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( F32, testSetMeasuredBloodPumpSpeedOverride, testResetMeasuredBloodPumpSpeedOverride, bloodPumpSpeedRPM ) /************************************************************************* * @brief testSetMeasuredBloodPumpMCSpeedOverride and testResetMeasuredBloodPumpMCSpeedOverride * The testSetMeasuredBloodPumpMCSpeedOverride function overrides the measured \n * blood pump motor speed. \n * The testResetMeasuredBloodPumpMCSpeedOverride function resets the override of the \n * measured blood pump motor speed. * @details * Inputs : none * Outputs : adcBloodPumpMCSpeedRPM * @param value : override measured blood pump speed (in RPM) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( F32, testSetMeasuredBloodPumpMCSpeedOverride, testResetMeasuredBloodPumpMCSpeedOverride, adcBloodPumpMCSpeedRPM ) /************************************************************************* * @brief testSetMeasuredBloodPumpMCCurrentOverride and testResetMeasuredBloodPumpMCCurrentOverride * The testSetMeasuredBloodPumpMCCurrentOverride function overrides the measured \n * blood pump motor current. \n * The testResetMeasuredBloodPumpMCCurrentOverride function resets the override of the \n * measured blood pump motor current. * @details * Inputs : none * Outputs : adcBloodPumpMCCurrentmA * @param value : override measured blood pump current (in mA) * @return TRUE if override successful, FALSE if not *************************************************************************/ DATA_OVERRIDE_FUNC( F32, testSetMeasuredBloodPumpMCCurrentOverride, testResetMeasuredBloodPumpMCCurrentOverride, adcBloodPumpMCCurrentmA )