/************************************************************************** * * 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 OperationModes.c * * @date 19-Sep-2019 * @author S. Nash * * @brief Top-level state machine for the HD operation modes. * **************************************************************************/ #include #include "gio.h" #include "OperationModes.h" #include "ModeInitPOST.h" #include "ModeService.h" #include "ModeFault.h" #include "ModeStandby.h" #include "ModePrescription.h" #include "ModeOpParams.h" #include "ModePreTreat.h" #include "ModeTreatment.h" #include "ModePostTreat.h" // ********** private data ********** static volatile BOOL modeRequest[ NUM_OF_MODES - 1 ]; static OP_MODE currentMode = MODE_INIT; // this matrix determines legal transitions from one mode to another static const OP_MODE MODE_TRANSITION_TABLE[ NUM_OF_MODES - 1 ][ NUM_OF_MODES - 1 ] = { // from to-> FAULT SERVICE INIT STANBY PRESCRIP. OP.PARAMS PRE-TREAT TREATMENT POST_TREA /* FAUL */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, }, /* SERV */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, }, /* INIT */{ MODE_FAUL, MODE_NLEG, MODE_INIT, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, }, /* STAN */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_STAN, MODE_PRES, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, }, /* PRES */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRES, MODE_OPAR, MODE_NLEG, MODE_NLEG, MODE_NLEG, }, /* OPAR */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRES, MODE_OPAR, MODE_PRET, MODE_NLEG, MODE_NLEG, }, /* PRET */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRET, MODE_TREA, MODE_NLEG, }, /* TREA */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_TREA, MODE_POST, }, /* POST */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_POST, }, }; // ********** private function prototypes ********** static OP_MODE arbitrateModeRequest( void ); static void transitionToNewOperationMode( OP_MODE newMode ); /************************************************************************* * @brief execOperationModes * The execOperationModes function initializes the Operation Modes module. * @details * Inputs : none * Outputs : Operation Modes module initialized. * @param none * @return none *************************************************************************/ void initOperationModes( void ) { U32 i; // initialize mode requests to none pending for ( i = 0; i < ( NUM_OF_MODES - 1 ); i++ ) { modeRequest[ i ] = FALSE; } // start in init mode currentMode = MODE_INIT; transitionToNewOperationMode( MODE_INIT ); // call initializers for the individual modes initFaultMode(); initServiceMode(); initInitAndPOSTMode(); initStandbyMode(); initPrescriptionMode(); initOpParamsMode(); initPreTreatmentMode(); initTreatmentMode(); initPostTreatmentMode(); } /************************************************************************* * @brief execOperationModes * The execOperationModes function executes the Operation Modes state machine. * @details * Inputs : none * Outputs : currentMode is set by state machine. * @param none * @return none *************************************************************************/ void execOperationModes( void ) { OP_MODE newMode; // any new mode requests? newMode = arbitrateModeRequest(); // will return current mode if no pending requests newMode = MODE_TRANSITION_TABLE[ currentMode ][ newMode ]; // is requested new mode valid and legal at this time? if ( newMode >= MODE_NLEG ) { SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_ILLEGAL_MODE_TRANSITION_REQUESTED, newMode ) newMode = currentMode; } // has mode changed? if ( currentMode != newMode ) { // handle transition to new mode transitionToNewOperationMode( newMode ); currentMode = newMode; } // mode specific processing to be done continuously switch ( currentMode ) { case MODE_FAUL: execFaultMode(); break; case MODE_SERV: execServiceMode(); break; case MODE_INIT: execInitAndPOSTMode(); break; case MODE_STAN: execStandbyMode(); break; case MODE_PRES: execPrescriptionMode(); break; case MODE_OPAR: execOpParamsMode(); break; case MODE_PRET: execPreTreatmentMode(); break; case MODE_TREA: execTreatmentMode(); break; case MODE_POST: execPostTreatmentMode(); break; default: currentMode = MODE_FAUL; SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, currentMode ) break; } // end switch } /************************************************************************* * @brief requestNewOperationMode * The requestNewOperationMode function initializes the Operation Modes module. * @details * Inputs : none * Outputs : Initializes the Operation Modes module. * @param none * @return none *************************************************************************/ void requestNewOperationMode( OP_MODE newMode ) { // validate requested mode if ( newMode < MODE_NLEG ) { // make request modeRequest[ newMode ] = TRUE; } else { // invalid mode requested SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_REQUESTED, newMode ) } } /************************************************************************* * @brief getCurrentOperationMode * The getCurrentOperationMode function initializes the Operation Modes module. * @details * Inputs : none * Outputs : Initializes the Operation Modes module. * @param none * @return none *************************************************************************/ OP_MODE getCurrentOperationMode( void ) { return currentMode; } /************************************************************************* * @brief arbitrateModeRequest * The arbitrateModeRequest function initializes the Operation Modes module. * @details * Inputs : none * Outputs : Initializes the Operation Modes module. * @param none * @return none *************************************************************************/ static OP_MODE arbitrateModeRequest( void ) { OP_MODE reqMode = currentMode; U32 i; // block additional requests until after mode arbitration _disable_IRQ(); // select highest priority mode request -or- current mode if no requests pending for ( i = 0; i < MODE_NLEG; i++ ) { if ( modeRequest[ i ] != FALSE ) { reqMode = (OP_MODE)i; break; } } // clear all requests now that an arbitration winner is selected for ( i = 0; i < MODE_NLEG; i++ ) { modeRequest[ i ] = FALSE; } // un-block requests _enable_IRQ(); return reqMode; } /************************************************************************* * @brief transitionToNewOperationMode * The transitionToNewOperationMode function initializes the Operation Modes module. * @details * Inputs : none * Outputs : Initializes the Operation Modes module. * @param none * @return none *************************************************************************/ static void transitionToNewOperationMode( OP_MODE newMode ) { // setup for new operating mode switch ( newMode ) { case MODE_FAUL: transitionToFaultMode(); break; case MODE_SERV: transitionToServiceMode(); break; case MODE_INIT: transitionToInitAndPOSTMode(); break; case MODE_STAN: transitionToStandbyMode(); break; case MODE_PRES: transitionToPrescriptionMode(); break; case MODE_OPAR: transitionToOpParamsMode(); break; case MODE_PRET: transitionToPreTreatmentMode(); break; case MODE_TREA: transitionToTreatmentMode(); break; case MODE_POST: transitionToPostTreatmentMode(); break; default: SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_TO_TRANSITION_TO, newMode ) break; } }