Index: firmware/App/Controllers/DryBiCart.c =================================================================== diff -u -rd210786d6c7d75bb0b4d9e18efc40a01d85123fe -r3d0c86bab8540914d9f3cfdbdd321f35db623999 --- firmware/App/Controllers/DryBiCart.c (.../DryBiCart.c) (revision d210786d6c7d75bb0b4d9e18efc40a01d85123fe) +++ firmware/App/Controllers/DryBiCart.c (.../DryBiCart.c) (revision 3d0c86bab8540914d9f3cfdbdd321f35db623999) @@ -26,10 +26,12 @@ #include "Messaging.h" #include "ModeGenDialysate.h" #include "OperationModes.h" +#include "PIControllers.h" #include "PressureSensor.h" #include "PersistentAlarm.h" #include "Pressure.h" #include "TaskGeneral.h" +#include "TemperatureSensors.h" #include "Timers.h" #include "Valves.h" @@ -43,11 +45,15 @@ #define DRY_BICART_DATA_PUBLISH_INTERVAL ( 250 / TASK_GENERAL_INTERVAL ) ///< Interval (ms/task time) at which the balancing chamber data published. // Dry Bicart Fill -#define DRY_BICART_FILL_DURATION_MIN_MS (2 * MS_PER_SECOND) ///< Minimum fill duration to be met to end the fill cycle. +#define DRY_BICART_FILL_DURATION_MIN_MS ( 2 * MS_PER_SECOND ) ///< Minimum fill duration to be met to end the fill cycle. #define DRY_BICART_FILL_COMPLETE_TIME_MS ( 1 * MS_PER_SECOND ) ///< Wait time to reset the request flag after fill complete #define DRY_BICART_FILL_DURATION_DIFF_MS 750 ///< Fill duration difference between last and current fill cycle. -#define DRY_BICART_FILL_COMPLETE_PRESSURE 15.0F ///< Maximum pressure reached to indicate the dry bicart fill being completed. -#define DRY_BICART_FILL_INITIATE_PRESSURE 5.0F ///< Minimum pressure required to initiate the dry bicart fill process. +#define PRESSURE_OFFSET 2 ///< Dry bicart pressure offset +#define DRY_BICART_FILL_COMPLETE_PRESSURE ( 10.0F + PRESSURE_OFFSET ) ///< Maximum pressure reached to indicate the dry bicart fill being completed. +#define DRY_BICART_FILL_INITIATE_PRESSURE 3.0F ///< Minimum pressure required to initiate the dry bicart fill process. +#define DRY_BICART_FILL_COMPLETE_SUPPLY_PRESSURE 6.0F ///< Maximum pressure allowed at bicart fill during supply process/state +#define DRY_BICART_FILL_INITIATE_SUPPLY_PRESSURE 3.0F ///< Minimum pressure required to initiate the dry bicart fill during supply process/state + #define DRY_BICART_DEFAULT_MAX_FILL_CYCLE_CNT 10 ///< Default max fill cycle allowed for dry bicart fill/mix with water. #define DRY_BICART_MAX_FILL_CYCLE_CNT 30 ///< Max fill cycle allowed (by override) for dry bicart fill/mix with water. // Dry Bicart Fill Vent @@ -58,7 +64,7 @@ // Bicarb chamber fill/Supply #define DRY_BICART_SUPPLY_VALVE_D80_OPEN_TIME_MS ( 3 * MS_PER_SECOND ) ///< Max time allowed for supply (opening D80 valve) during bicarb chamber (F) fill. #define DRY_BICART_SUPPLY_VENT_TIME_MS ( 1 * MS_PER_SECOND ) ///< Wait time to vent dry bicart gas before actuating Bicarb chamber(F) venting. -#define DRY_BICART_SUPPLY_VENT_MAX_TIME_MS ( 3 * MS_PER_SECOND ) ///< Max time to vent both dry bicart and Chamber F. +#define DRY_BICART_SUPPLY_VENT_MAX_TIME_MS ( 1.1 * MS_PER_SECOND ) ///< Max time to vent both dry bicart and Chamber F. // Dry Bicart Drain #define LARGE_DRY_BICART_MAX_DRAIN_TIME_MS ( 8 * SEC_PER_MIN * MS_PER_SECOND ) ///< Max drain time for large dry bicart in ms. @@ -69,6 +75,36 @@ #define DRY_BICART_DRAIN_COND_ZERO_THRESH 0.05F ///< Zero conductivity threshold #define DRY_BICART_DRAIN_COND_STABLE_SAMPLES 10U ///< Debounce samples (10*50ms=500ms) +// drybicarb mixing +#define BICARB_VOL_CONTROL_P_COEFFICIENT 0.00008484 ///< Bicarb proportional gain (kp) +#define BICARB_VOL_CONTROL_I_COEFFICIENT 0.00033936 ///< Bicarb integral gain. (ki) +#define MIN_BICARB_VOLUME_ML 0.868686869 ///< Minimum bicarb volume in mL +#define MAX_BICARB_VOLUME_ML 1.8 ///< Maximum bicarb volume in mL + +#define ACID_VOL_CONTROL_P_COEFFICIENT (0.00000997/2) ///< Acid proportional gain (kp) +#define ACID_VOL_CONTROL_I_COEFFICIENT (0.00003988/2) ///< Acid integral gain. (ki) +#define MIN_ACID_VOLUME_ML 0.3 ///< Minimum acid volume in mL +#define MAX_ACID_VOLUME_ML 1.0 ///< Maximum acid volume in mL/min. + +#define DRY_BICARB_TARGET_CONDUCTIVITY 2714.0F ///< Target bicarb conductivity +#define DRY_BICARB_DELTA_CONDUCTIVITY 500.0F ///< Delta bicarb conductivity + +#define DRY_ACID_BICARB_TARGET_CONDUCTIVITY 13734.87F ///< Target acid bicarb mix conductivity +#define DRY_ACID_BICARB_DELTA_CONDUCTIVITY 700.0F ///< Delta acid bicarb mix conductivity + +#define ACID_TYPE_1K_2_5_CA 11192.55F ///< standard acid conductivity for 1K +#define ACID_TYPE_2K_2_5_CA 11313.62F ///< standard acid conductivity for 2K +#define ACID_TYPE_3K_2_5_CA 11435.68F ///< standard acid conductivity for 3K + +#define MIN_BICARB_CONDUCTIVITY 2000 ///< Minimum Bicarb conductivity limit +#define MAX_BICARB_CONDUCTIVITY 4000 ///< Maximum Bicarb conductivity limit + +#define MIX_NO_FEED_FORWARD 0.0F ///< Feedforward term for dialysate closed loop control + +#define MIXING_CONTROL_INTERVAL_MS ( 15 * MS_PER_SECOND ) ///< Dialysate mixing control interval in ms +#define MIXING_CONTROL_INTERVAL ( MIXING_CONTROL_INTERVAL_MS /\ + TASK_GENERAL_INTERVAL ) ///< Interval (ms/task time) at which the dialysate mixing is controlled. + /// Payload record structure for dry bicart fill request typedef struct { @@ -85,6 +121,31 @@ NUM_OF_DRY_BICART_OPERATION ///< Number of dry bicart operation } DRY_BICART_OPERATION_T; +/// Enumeration of dialysate Mixing id. +typedef enum DialysateMixingID +{ + BICARB_MIX_ID = 0, ///< Bicarb mixing id + DIALYSATE_MIX_ID_FIRST = BICARB_MIX_ID, ///< First dialysate mixing in list + ACID_MIX_ID, ///< Acid mix id + NUM_OF_DIALYSATE_MIXING_ID ///< Number of dialysate mix ids +} DIALYSATE_MIXING_ID_T; + +/// Enumeration of dialysate Mixing states. +typedef enum DialysateMixing_States +{ + DIALYSATE_MIXING_OPEN_LOOP_STATE = 0, ///< Dialysate open loop state + DIALYSATE_MIXING_RAMP_UP_STATE, ///< Dialysate mixing ramp up state + DIALYSATE_MIXING_CONTROL_TO_TARGET_STATE, ///< Dialysate mixing control to target state + NUM_OF_DIALYSATE_MIXING_STATES ///< Number of dialysate mixing states +} DIALYSATE_MIXING_STATE_T; + +/// Dialysate Mixing state machine data structure +typedef struct +{ + U32 controlTimerCounter; ///< Timer counter to perform control on dialysate mixing. + DIALYSATE_MIXING_STATE_T dialysateMixingState; ///< Current state of dialysate mixing controller state machine. +} DIALYSATE_MIXING_DATA_T; + // ********** private data ********** static DRY_BICART_FILL_EXEC_STATE_T dryBiCartFillExecState; ///< Current state of dry bicart fill executive state machine. @@ -96,6 +157,9 @@ static U32 lastFillDurationInMS; ///< Previous time duration to fill the bicart fill. static U32 currentFillDurationInMS; ///< Current time duration to fill the bicart fill. static OVERRIDE_U32_T biCartMaxFillCycleCount; ///< Maximum number of drybicart fill cycle ( overrideable) +static OVERRIDE_F32_T dryBiCartUpperCartPressure; ///< Upper cart pressure +static OVERRIDE_F32_T dryBiCartLowerCartPressure; ///< Lower cart pressure + // initiate the fill/supply/drain static OVERRIDE_U32_T dryBiCartFillRequested; ///< Start/stop dry bicart fill. static OVERRIDE_U32_T bicarbChamberFillRequested; ///< Start/stop bicarb chamber fill. @@ -117,6 +181,29 @@ static DRY_BICART_OPERATION_T dryBicartStartRequest; ///< Dry bicart operation, fill or supply or drain request +// drybicart mixing +static OVERRIDE_F32_T dryBiCartAcidMixVolume; ///< Acid concentrate volume in ml ( overrideable). +static OVERRIDE_F32_T dryBiCartBicarbMixVolume; ///< Bicarb concentrate volume in ml ( overrideable). + +static OVERRIDE_F32_T dryBiCartAcidMixVolumeKpGain; ///< Acid kp gain. +static OVERRIDE_F32_T dryBiCartAcidMixVolumeKiGain; ///< Acid ki gain. + +static OVERRIDE_F32_T dryBiCartBicarbMixVolumeKpGain; ///< Bicarb kp gain +static OVERRIDE_F32_T dryBiCartBicarbMixVolumeKiGain; ///< Acid ki gain. + +static DIALYSATE_MIXING_DATA_T dialysateMix[ NUM_OF_DIALYSATE_MIXING_ID ]; ///< Array of dialysate mixing data structure. + +static OVERRIDE_F32_T dryBiCartBicarbTargetConductivity; ///< Target bicarb conductivity +static OVERRIDE_F32_T dryBiCartBicarbDeltaConductivity; ///< Target delta conductivity + +static OVERRIDE_F32_T dryBiCartDialysateTargetConductivity; ///< Acid bicarb mix conductivity +static OVERRIDE_F32_T dryBiCartDialysateDeltaConductivity; ///< Acid bicarb delta conductivity + +static OVERRIDE_F32_T dryBiCartMixControlInterval; ///< Mix control interval + +static PI_CONTROLLER_SIGNALS_DATA bicarbControlSignals; ///< Bicarb closed loop control signal data +static PI_CONTROLLER_SIGNALS_DATA acidControlSignals; ///< Acid closed loop control signal data + // ********** private function prototypes ********** static void updateDrybicartOperation(void); @@ -142,6 +229,26 @@ static DRY_BICART_DRAIN_EXEC_STATE_T handleDryBicartFluidDrainState( void ); static DRY_BICART_DRAIN_EXEC_STATE_T handleDryBicartFluidDrainDurationCheckState( void ); static DRY_BICART_DRAIN_EXEC_STATE_T handleDryBicartFluidDrainEndState( void ); + +// dosing control loop +static DIALYSATE_MIXING_STATE_T handleDialysateMixOpenLoopState( DIALYSATE_MIXING_ID_T mixId ); +static DIALYSATE_MIXING_STATE_T handleDialysateMixRampToTargetState( DIALYSATE_MIXING_ID_T mixId ); +static DIALYSATE_MIXING_STATE_T handleDialysateMixControlToTargetState( DIALYSATE_MIXING_ID_T mixId ); + +static void setBicarbMixVol( F32 targetValue ); +static void setAcidMixVol( F32 targetValue ); +static F32 getBicarbDeltaConductivity( void ); +static F32 getBicarbTargetConductivity( void ); +static F32 getAcidBicarbDeltaConductivity( void ); +static F32 getAcidBicarbTargetConductivity( void ); +static F32 getBicarbKpGainCoefficient( void ); +static F32 getBicarbKiGainCoefficient( void ); +static F32 getAcidKpGainCoefficient( void ); +static F32 getAcidKiGainCoefficient( void ); +static F32 getDryBicartLowerCartPressure( void ); +static F32 getDryBicartUpperCartPressure( void ); +static F32 getDryBicartMixControlInterval( void ); + // publish the status static void publishDryBicartData( void ); static U32 getDryBicartFillDataPublishInterval( void ); @@ -156,52 +263,133 @@ *************************************************************************/ void initDryBiCart( void ) { - dryBiCartFillExecState = DRY_BICART_START_STATE; - bicarbChamberFillExecState = BICARB_CHAMBER_START_STATE; - dryBiCartDrainExecState = DRY_BICART_DRAIN_START_STATE; - dryBicartStartRequest = DRY_BICART_IDLE; + DIALYSATE_MIXING_ID_T mixId; - dryBiCartDataPublishInterval.data = DRY_BICART_DATA_PUBLISH_INTERVAL; - dryBiCartDataPublishInterval.ovData = DRY_BICART_DATA_PUBLISH_INTERVAL; - dryBiCartDataPublishInterval.ovInitData = 0; - dryBiCartDataPublishInterval.override = OVERRIDE_RESET; + dryBiCartFillExecState = DRY_BICART_START_STATE; + bicarbChamberFillExecState = BICARB_CHAMBER_START_STATE; + dryBiCartDrainExecState = DRY_BICART_DRAIN_START_STATE; + dryBicartStartRequest = DRY_BICART_IDLE; - biCartMaxFillCycleCount.data = DRY_BICART_DEFAULT_MAX_FILL_CYCLE_CNT; - biCartMaxFillCycleCount.ovData = DRY_BICART_DEFAULT_MAX_FILL_CYCLE_CNT; - biCartMaxFillCycleCount.ovInitData = 0; - biCartMaxFillCycleCount.override = OVERRIDE_RESET; + for ( mixId = DIALYSATE_MIX_ID_FIRST; mixId < NUM_OF_DIALYSATE_MIXING_ID; mixId++ ) + { + dialysateMix[ mixId ].dialysateMixingState = DIALYSATE_MIXING_OPEN_LOOP_STATE; + dialysateMix[ mixId ].controlTimerCounter = 0; + } - dryBiCartFillRequested.data = FALSE; - dryBiCartFillRequested.ovData = FALSE; - dryBiCartFillRequested.ovInitData = FALSE; - dryBiCartFillRequested.override = OVERRIDE_RESET; + dryBiCartDataPublishInterval.data = DRY_BICART_DATA_PUBLISH_INTERVAL; + dryBiCartDataPublishInterval.ovData = DRY_BICART_DATA_PUBLISH_INTERVAL; + dryBiCartDataPublishInterval.ovInitData = 0; + dryBiCartDataPublishInterval.override = OVERRIDE_RESET; - dryBiCartDrainRequested.data = FALSE; - dryBiCartDrainRequested.ovData = FALSE; - dryBiCartDrainRequested.ovInitData = FALSE; - dryBiCartDrainRequested.override = OVERRIDE_RESET; + biCartMaxFillCycleCount.data = DRY_BICART_DEFAULT_MAX_FILL_CYCLE_CNT; + biCartMaxFillCycleCount.ovData = DRY_BICART_DEFAULT_MAX_FILL_CYCLE_CNT; + biCartMaxFillCycleCount.ovInitData = 0; + biCartMaxFillCycleCount.override = OVERRIDE_RESET; - bicarbChamberFillRequested.data = FALSE; - bicarbChamberFillRequested.ovData = FALSE; - bicarbChamberFillRequested.ovInitData = FALSE; - bicarbChamberFillRequested.override = OVERRIDE_RESET; + dryBiCartFillRequested.data = FALSE; + dryBiCartFillRequested.ovData = FALSE; + dryBiCartFillRequested.ovInitData = FALSE; + dryBiCartFillRequested.override = OVERRIDE_RESET; - dryBiCartType.data = FALSE; - dryBiCartType.ovData = FALSE; - dryBiCartType.ovInitData = 0; - dryBiCartType.override = OVERRIDE_RESET; + dryBiCartDrainRequested.data = FALSE; + dryBiCartDrainRequested.ovData = FALSE; + dryBiCartDrainRequested.ovInitData = FALSE; + dryBiCartDrainRequested.override = OVERRIDE_RESET; - dryBiCartFillStartTime = 0; - lastFillDurationInMS = 0; - currentFillDurationInMS = 0; - dryBiCartDataPublicationTimerCounter = 0; - biCartFillCycleCounter = 0; - dryBiCarbSupplyStartTime = 0; - dryBiCarbSypplyVentStartTime = 0; - dryBiCartDrainStartTime = 0; - dryBiCartDrainLastCondSampleTime = 0; - dryBiCartDrainCondStableCount = 0; - dryBiCartDrainTimePeriod = 0; + bicarbChamberFillRequested.data = FALSE; + bicarbChamberFillRequested.ovData = FALSE; + bicarbChamberFillRequested.ovInitData = FALSE; + bicarbChamberFillRequested.override = OVERRIDE_RESET; + + dryBiCartType.data = FALSE; + dryBiCartType.ovData = FALSE; + dryBiCartType.ovInitData = 0; + dryBiCartType.override = OVERRIDE_RESET; + + dryBiCartAcidMixVolume.data = DEFAULT_ACID_VOLUME_ML; + dryBiCartAcidMixVolume.ovData = DEFAULT_ACID_VOLUME_ML; + dryBiCartAcidMixVolume.ovInitData = 0.0F; + dryBiCartAcidMixVolume.override = OVERRIDE_RESET; + + dryBiCartBicarbMixVolume.data = DEFAULT_BICARB_VOLUME_ML; + dryBiCartBicarbMixVolume.ovData = DEFAULT_BICARB_VOLUME_ML; + dryBiCartBicarbMixVolume.ovInitData = 0.0F; + dryBiCartBicarbMixVolume.override = OVERRIDE_RESET; + + dryBiCartAcidMixVolumeKpGain.data = ACID_VOL_CONTROL_P_COEFFICIENT; + dryBiCartAcidMixVolumeKpGain.ovData = ACID_VOL_CONTROL_P_COEFFICIENT; + dryBiCartAcidMixVolumeKpGain.ovInitData = 0.0F; + dryBiCartAcidMixVolumeKpGain.override = OVERRIDE_RESET; + + dryBiCartAcidMixVolumeKiGain.data = ACID_VOL_CONTROL_I_COEFFICIENT; + dryBiCartAcidMixVolumeKiGain.ovData = ACID_VOL_CONTROL_I_COEFFICIENT; + dryBiCartAcidMixVolumeKiGain.ovInitData = 0.0F; + dryBiCartAcidMixVolumeKiGain.override = OVERRIDE_RESET; + + dryBiCartBicarbMixVolumeKpGain.data = BICARB_VOL_CONTROL_P_COEFFICIENT; + dryBiCartBicarbMixVolumeKpGain.ovData = BICARB_VOL_CONTROL_P_COEFFICIENT; + dryBiCartBicarbMixVolumeKpGain.ovInitData = 0.0F; + dryBiCartBicarbMixVolumeKpGain.override = OVERRIDE_RESET; + + dryBiCartBicarbMixVolumeKiGain.data = BICARB_VOL_CONTROL_I_COEFFICIENT; + dryBiCartBicarbMixVolumeKiGain.ovData = BICARB_VOL_CONTROL_I_COEFFICIENT; + dryBiCartBicarbMixVolumeKiGain.ovInitData = 0.0F; + dryBiCartBicarbMixVolumeKiGain.override = OVERRIDE_RESET; + + dryBiCartBicarbTargetConductivity.data = DRY_BICARB_TARGET_CONDUCTIVITY; + dryBiCartBicarbTargetConductivity.ovData = DRY_BICARB_TARGET_CONDUCTIVITY; + dryBiCartBicarbTargetConductivity.ovInitData = 0.0F; + dryBiCartBicarbTargetConductivity.override = OVERRIDE_RESET; + + dryBiCartBicarbDeltaConductivity.data = DRY_BICARB_DELTA_CONDUCTIVITY; + dryBiCartBicarbDeltaConductivity.ovData = DRY_BICARB_DELTA_CONDUCTIVITY; + dryBiCartBicarbDeltaConductivity.ovInitData = 0.0F; + dryBiCartBicarbDeltaConductivity.override = OVERRIDE_RESET; + + dryBiCartDialysateTargetConductivity.data = DRY_ACID_BICARB_TARGET_CONDUCTIVITY; + dryBiCartDialysateTargetConductivity.ovData = DRY_ACID_BICARB_TARGET_CONDUCTIVITY; + dryBiCartDialysateTargetConductivity.ovInitData = 0.0F; + dryBiCartDialysateTargetConductivity.override = OVERRIDE_RESET; + + dryBiCartDialysateDeltaConductivity.data = DRY_ACID_BICARB_DELTA_CONDUCTIVITY; + dryBiCartDialysateDeltaConductivity.ovData = DRY_ACID_BICARB_DELTA_CONDUCTIVITY; + dryBiCartDialysateDeltaConductivity.ovInitData = 0.0F; + dryBiCartDialysateDeltaConductivity.override = OVERRIDE_RESET; + + dryBiCartUpperCartPressure.data = DRY_BICART_FILL_COMPLETE_SUPPLY_PRESSURE; + dryBiCartUpperCartPressure.ovData = DRY_BICART_FILL_COMPLETE_SUPPLY_PRESSURE; + dryBiCartUpperCartPressure.ovInitData = 0.0F; + dryBiCartUpperCartPressure.override = OVERRIDE_RESET; + + dryBiCartLowerCartPressure.data = DRY_BICART_FILL_INITIATE_SUPPLY_PRESSURE; + dryBiCartLowerCartPressure.ovData = DRY_BICART_FILL_INITIATE_SUPPLY_PRESSURE; + dryBiCartLowerCartPressure.ovInitData = 0.0F; + dryBiCartLowerCartPressure.override = OVERRIDE_RESET; + + dryBiCartMixControlInterval.data = MIXING_CONTROL_INTERVAL; + dryBiCartMixControlInterval.ovData = MIXING_CONTROL_INTERVAL; + dryBiCartMixControlInterval.ovInitData = 0.0F; + dryBiCartMixControlInterval.override = OVERRIDE_RESET; + + dryBiCartFillStartTime = 0; + lastFillDurationInMS = 0; + currentFillDurationInMS = 0; + dryBiCartDataPublicationTimerCounter = 0; + biCartFillCycleCounter = 0; + dryBiCarbSupplyStartTime = 0; + dryBiCarbSypplyVentStartTime = 0; + dryBiCartDrainStartTime = 0; + dryBiCartDrainLastCondSampleTime = 0; + dryBiCartDrainCondStableCount = 0; + dryBiCartDrainTimePeriod = 0; + + initializePIController( PI_CONTROLLER_ID_BICARB_VOL, 0.0F,\ + getBicarbKpGainCoefficient(), getBicarbKiGainCoefficient(),\ + MIN_BICARB_VOLUME_ML, MAX_BICARB_VOLUME_ML, FALSE, MIX_NO_FEED_FORWARD ); + + initializePIController( PI_CONTROLLER_ID_ACID_VOL, 0.0F, \ + getAcidKpGainCoefficient(), getAcidKiGainCoefficient(),\ + MIN_ACID_VOLUME_ML, MAX_ACID_VOLUME_ML, FALSE, MIX_NO_FEED_FORWARD ); } /*********************************************************************//** @@ -219,6 +407,43 @@ /*********************************************************************//** * @brief + * The execDialysateCompositionMixingController function executes the dialysate mixing controller. + * @details \b Inputs: dialysateDosingState + * @details \b Outputs: dialysateDosingState + * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT if invalid dialysate dosing + * state machine found. + * @return none + *************************************************************************/ +void execDialysateCompositionMixingController( void ) +{ + DIALYSATE_MIXING_ID_T mixId; + + for ( mixId = DIALYSATE_MIX_ID_FIRST; mixId < NUM_OF_DIALYSATE_MIXING_ID; mixId++ ) + { + switch ( dialysateMix[ mixId ].dialysateMixingState ) + { + case DIALYSATE_MIXING_OPEN_LOOP_STATE: + dialysateMix[ mixId ].dialysateMixingState = handleDialysateMixOpenLoopState( mixId ); + break; + + case DIALYSATE_MIXING_RAMP_UP_STATE: + dialysateMix[ mixId ].dialysateMixingState = handleDialysateMixRampToTargetState( mixId ); + break; + + case DIALYSATE_MIXING_CONTROL_TO_TARGET_STATE: + dialysateMix[ mixId ].dialysateMixingState = handleDialysateMixControlToTargetState( mixId ); + break; + + default: + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_DIALYSATE_MIX_EXEC_INVALID_STATE, mixId ) + dialysateMix[ mixId ].dialysateMixingState = DIALYSATE_MIXING_OPEN_LOOP_STATE; + break; + } + } +} + +/*********************************************************************//** + * @brief * The execDryBicart function executes the set of dry bicarbonate cartridge fill, * bicarbonate chamber fill and bicarbonate cartridge drain related state machines one at time * @details \b Inputs: dryBicartStartRequest @@ -227,8 +452,21 @@ *************************************************************************/ void execDryBicart( void ) { + //( TRUE == getBicarbChamberFillRequested() ) + //supply dryBicartStartRequest = DRY_BICART_SUPPLY ; + //( TRUE == getBicartFillRequested() ) + //fill dryBicartStartRequest = DRY_BICART_INITIAL_FILL; + //( TRUE == getBicartDrainRequested() ) + //drain dryBicartStartRequest = DRY_BICART_DRAIN; + //else idle dryBicartStartRequest = DRY_BICART_IDLE; updateDrybicartOperation(); + if( getCurrentBalancingChamberExecState() > BAL_CHAMBER_STATE_IDLE ) + { + // closed loop bicarb and acid dosing controller + execDialysateCompositionMixingController(); + } + // top level state machine selection DRY_BICART_OPERATION_T dryBicartState = dryBicartStartRequest; U32 dryBicartSubstate; @@ -237,27 +475,25 @@ { case DRY_BICART_IDLE: // run as idle state - dryBicartSubstate = 0x0; break; case DRY_BICART_INITIAL_FILL: // Dry bicart fill exec - dryBicartSubstate = execDryBicartFillMode(); + execDryBicartFillMode(); break; case DRY_BICART_SUPPLY: // Fill Bicarb chamber F exec - dryBicartSubstate = execBicarbChamberFillMode(); + execBicarbChamberFillMode(); break; case DRY_BICART_DRAIN: // Dry bicart drain exec - dryBicartSubstate = execDryBicartDrainMode(); + execDryBicartDrainMode(); break; default: // software fault, - dryBicartSubstate = 0x0; dryBicartStartRequest = DRY_BICART_IDLE; SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_DRY_BICART_FILL_INVALID_EXEC_STATE, dryBicartStartRequest ); break; @@ -279,6 +515,8 @@ *************************************************************************/ U32 execDryBicartFillMode( void ) { + hydChamberWaterInletControl(); + // execute drybicart fill state machine switch ( dryBiCartFillExecState ) { @@ -330,6 +568,7 @@ *************************************************************************/ U32 execBicarbChamberFillMode( void ) { + // TODO in pregen mode call hydChamberWaterInletControl(); // execute bicarb chamber fill state machine switch ( bicarbChamberFillExecState ) { @@ -413,6 +652,34 @@ /*********************************************************************//** * @brief + * TThe getBicarbMixVol function gets the bicarb mix volume provided by the controller + * @details \b Inputs: dryBiCartBicarbMixVolume + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getBicarbMixVol( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartBicarbMixVolume ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidMixVol function gets acid mix volume provided by the controller + * @details \b Inputs: dryBiCartAcidMixVolume + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getAcidMixVol( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartAcidMixVolume ); + + return result; +} + +/*********************************************************************//** + * @brief * The setBicarbChamberFillRequested function sets the chmaberFillRequest * flag value to be True. * @details \b Inputs: dryBiCartFillRequested, dryBiCartDrainRequested @@ -555,6 +822,311 @@ /*********************************************************************//** * @brief + * The setAcidMixVol function sets acid mix volume provided by the controller + * flag value to be True. + * @details \b Inputs: none + * @details \b Outputs: dryBiCartAcidMixVolume + * @param targetValue acid mix volume + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static void setAcidMixVol( F32 targetValue ) +{ + dryBiCartAcidMixVolume.data = targetValue; +} + +/*********************************************************************//** + * @brief + * The setBicarbMixVol function sets bicarb Mix volume provided by the controller + * @details \b Inputs: none + * @details \b Outputs: dryBiCartBicarbMixVolume + * @param targetValue bicarb Mix volume + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static void setBicarbMixVol( F32 targetValue ) +{ + dryBiCartBicarbMixVolume.data = targetValue; +} + +/*********************************************************************//** + * @brief + * The getBicarbDeltaConductivity function gets the delta target conductivity + * @details \b Inputs: dryBiCartBicarbDeltaConductivity + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getBicarbDeltaConductivity( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartBicarbDeltaConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getBicarbTargetConductivity function gets the target conductivity + * @details \b Inputs: dryBiCartBicarbTargetConductivity + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getBicarbTargetConductivity( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartBicarbTargetConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidBicarbDeltaConductivity function gets the acid bicarb delta target conductivity + * @details \b Inputs: dryBiCartAcidBicarbMixDeltaConductivity + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getAcidBicarbDeltaConductivity( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartDialysateDeltaConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidBicarbTargetConductivity function gets the acid bicarb delta target conductivity + * @details \b Inputs: dryBiCartAcidBicarbMixTargetConductivity + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getAcidBicarbTargetConductivity( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartDialysateTargetConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getBicarbKpGainCoefficient function gets the Kp Gain for closed loop + * bicarb mix volume control + * @details \b Inputs: dryBiCartBicarbMixVolumeKpGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getBicarbKpGainCoefficient( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartBicarbMixVolumeKpGain ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getBicarbKiGainCoefficient function gets the Kp Gain for closed loop + * bicarb mix volume control + * @details \b Inputs: dryBiCartBicarbMixVolumeKiGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getBicarbKiGainCoefficient( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartBicarbMixVolumeKiGain ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidKpGainCoefficient function gets the Kp Gain for closed loop + * acid mix volume control + * @details \b Inputs: dryBiCartAcidMixVolumeKpGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getAcidKpGainCoefficient( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartAcidMixVolumeKpGain ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidKiGainCoefficient function gets the Ki Gain for closed loop + * acid mix volume control + * @details \b Inputs: dryBiCartAcidMixVolumeKiGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getAcidKiGainCoefficient( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartAcidMixVolumeKiGain ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getDryBicartUpperCartPressure function gets the bicart upper threshold pressure + * @details \b Inputs: dryBiCartUpperCartPressure + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getDryBicartUpperCartPressure( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartUpperCartPressure ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getDryBicartLowerCartPressure function gets the bicart lower threshold pressure + * @details \b Inputs: dryBiCartLowerCartPressure + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getDryBicartLowerCartPressure( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartLowerCartPressure ); + + return result; +} + +/*********************************************************************//** + * @brief + * The getDryBicartMixControlInterval function gets the bicart mix control interval + * @details \b Inputs: dryBiCartMixControlInterval + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +static F32 getDryBicartMixControlInterval( void ) +{ + F32 result = getF32OverrideValue( &dryBiCartMixControlInterval ); + + return result; +} + +/*********************************************************************//** + * @brief + * The handleDialysateOpenLoopState function handles the dialysate open loop state of + * the dialysate mix controller state machine. + * @details \b Inputs: D17_COND, D29_COND + * @details \b Outputs: none + * @param mixId dialysate mix id to run the dialysate mix + * @return next state for the controller state machine + *************************************************************************/ +static DIALYSATE_MIXING_STATE_T handleDialysateMixOpenLoopState( DIALYSATE_MIXING_ID_T mixId ) +{ + DIALYSATE_MIXING_STATE_T result; + + if ( BICARB_MIX_ID == mixId ) + { + result = DIALYSATE_MIXING_OPEN_LOOP_STATE; + F32 measuredBicarbConductivity = getFilteredConductivity( D17_COND ); + // if measured conductivity crossed (targetConductivity- deltaConuctivity) , switch to closed loop + if ( measuredBicarbConductivity >= ( getBicarbTargetConductivity() - getBicarbDeltaConductivity() ) ) + { + result = DIALYSATE_MIXING_RAMP_UP_STATE; + } + } + else if ( ACID_MIX_ID == mixId ) + { + result = DIALYSATE_MIXING_OPEN_LOOP_STATE; + F32 measuredAcidBicarbMixConductivity = getFilteredConductivity( D27_COND ); + + // if measured conductivity crossed (targetConductivity- deltaConuctivity) , switch to closed loop + if ( measuredAcidBicarbMixConductivity >= ( getAcidBicarbTargetConductivity() - getAcidBicarbDeltaConductivity() ) ) + { + result = DIALYSATE_MIXING_RAMP_UP_STATE; + } + } + + return result; +} + +/*********************************************************************//** + * @brief + * The handleDialysatePumpRampToTargetState function handles the dialysate ramp to target state of + * the dialysate mix controller state machine. + * @details \b Inputs: none + * @details \b Outputs: none + * @param mixId mix id to + * @return next state for the controller state machine + *************************************************************************/ +static DIALYSATE_MIXING_STATE_T handleDialysateMixRampToTargetState( DIALYSATE_MIXING_ID_T mixId ) +{ + DIALYSATE_MIXING_STATE_T state = DIALYSATE_MIXING_RAMP_UP_STATE; + + if ( BICARB_MIX_ID == mixId ) + { + resetPIController( PI_CONTROLLER_ID_BICARB_VOL, DEFAULT_BICARB_VOLUME_ML, MIX_NO_FEED_FORWARD ); + + state = DIALYSATE_MIXING_CONTROL_TO_TARGET_STATE; + } + else if ( ACID_MIX_ID == mixId ) + { + resetPIController( PI_CONTROLLER_ID_ACID_VOL, DEFAULT_ACID_VOLUME_ML, MIX_NO_FEED_FORWARD ); + + state = DIALYSATE_MIXING_CONTROL_TO_TARGET_STATE; + } + + return state; +} + +/*********************************************************************//** + * @brief + * The handleDialysatePumpControlToTargetState function handles the control to + * target state of the dialysate mix controller state machine.. + * @details \b Inputs: D17_COND, D29_COND, controlTimerCounter + * @details \b Outputs:none + * @return next state of the controller state machine + *************************************************************************/ +static DIALYSATE_MIXING_STATE_T handleDialysateMixControlToTargetState( DIALYSATE_MIXING_ID_T mixId ) +{ + DIALYSATE_MIXING_STATE_T state = DIALYSATE_MIXING_CONTROL_TO_TARGET_STATE; + + // control at set minimum interval or interval is expired and balance chamber fill is complete + if ( ( ++dialysateMix[ mixId ].controlTimerCounter >= getDryBicartMixControlInterval() ) ) + { + dialysateMix[ mixId ].controlTimerCounter = 0; + + // Control based on the measured and target conductivity + if ( BICARB_MIX_ID == mixId ) + { + PI_CONTROLLER_SIGNALS_DATA debugBicarbControl; + F32 measuredBicarbConductivity; + + measuredBicarbConductivity = getFilteredConductivity( D17_COND ); + F32 bicarbMixVol = runPIController( PI_CONTROLLER_ID_BICARB_VOL, getBicarbTargetConductivity(), measuredBicarbConductivity ); + //Set bicarb dosing vol + setBicarbMixVol( bicarbMixVol ); + + debugBicarbControl = getDebugPIControllerSignals( PI_CONTROLLER_ID_BICARB_VOL ); + + memcpy( (void*)&bicarbControlSignals, (void*)&debugBicarbControl, sizeof(PI_CONTROLLER_SIGNALS_DATA) ); + } + // ACID Mix + else if ( ACID_MIX_ID == mixId ) + { + F32 measuredAcidBicarbMixConductivity; + PI_CONTROLLER_SIGNALS_DATA debugAcidControl; + + measuredAcidBicarbMixConductivity = getFilteredConductivity( D27_COND ); + + F32 acidMixVol = runPIController( PI_CONTROLLER_ID_ACID_VOL, getAcidBicarbTargetConductivity(), measuredAcidBicarbMixConductivity ); + //Set acid dosing vol + setAcidMixVol( acidMixVol ); + + debugAcidControl = getDebugPIControllerSignals( PI_CONTROLLER_ID_ACID_VOL ); + + memcpy( (void*)&acidControlSignals, (void*)&debugAcidControl, sizeof(PI_CONTROLLER_SIGNALS_DATA) ); + } + } + + return state; +} + +/*********************************************************************//** + * @brief * The updateDrybicartOperation function initiates the water fill, bicarbonate supply or bicarbonate drain * operation * @details \b Inputs: none @@ -602,8 +1174,8 @@ //if(FP_MODE_GENP == getCurrentFPOperationMode()) { // TODO: pre gen should start the D12 pump and D14 valve - setValveState( D14_VALV, VALVE_STATE_OPEN ); - setDialysatePumpTargetRPM( D12_PUMP, FRESH_DIAL_PUMP_INITIAL_RPM, TRUE ); + //setValveState( D14_VALV, VALVE_STATE_OPEN ); + setDialysatePumpTargetRPM( D12_PUMP, FRESH_DIAL_PUMP_INITIAL_RPM_B1_9_B2_0, TRUE ); state = DRY_BICART_FILL_WATER_START_STATE; } @@ -798,6 +1370,9 @@ // TODO: implement the broadcast message for fill complete if ( TRUE == didTimeout( dryBiCartFillStartTime, DRY_BICART_FILL_COMPLETE_TIME_MS ) ) { + currentFillDurationInMS = 0; + lastFillDurationInMS = 0; + biCartFillCycleCounter = 0; // Go idle dryBiCartFillRequested.data = FALSE; // for this request override also cleared @@ -875,7 +1450,7 @@ BICARB_CHAMBER_FILL_EXEC_STATE_T state = BICARB_CARTRIDGE_FILL_WATER_END_STATE; F32 d66Pressure = getFilteredPressure( D66_PRES ); - if ( d66Pressure >= DRY_BICART_FILL_COMPLETE_PRESSURE ) + if ( d66Pressure >= getDryBicartUpperCartPressure() ) { // Close water inlet valve as D66 pressure reaches 15 PSI. setValveState( D65_VALV, VALVE_STATE_CLOSED ); @@ -896,13 +1471,13 @@ static BICARB_CHAMBER_FILL_EXEC_STATE_T handleBicarbChamberCheckLevelState( void ) { BICARB_CHAMBER_FILL_EXEC_STATE_T state = BICARB_CHAMBER_CHECK_LEVEL_STATE; - LEVEL_STATE_T bicarbChamberLevel = getLevelStatus( D63_LEVL ); + LEVEL_STATE_T bicarbChamberLevel = getBicarbChamberLevelStatus(); // TODO: Confirm D80 open on chamber low or end of balancing chamber switching? // TODO: Enable the below code once level sensor is working //if ( LEVEL_STATE_LOW == bicarbChamberLevel ) - //{ - if ( getBalancingChamberFillinProgressStatus() == FALSE ) + { + // if ( getBalancingChamberFillinProgressStatus() == FALSE ) { // Open the Bicarb chamber inlet valve setValveState( D80_VALV, VALVE_STATE_OPEN ); @@ -912,7 +1487,8 @@ state = BICARB_CHAMBER_FILL_STATE; } - //} + } + // TODO: alarm return state; } @@ -929,7 +1505,7 @@ { BICARB_CHAMBER_FILL_EXEC_STATE_T state = BICARB_CHAMBER_FILL_STATE; F32 d66Pressure = getFilteredPressure( D66_PRES ); - LEVEL_STATE_T bicarbChamberLevel = getLevelStatus( D63_LEVL ); + LEVEL_STATE_T bicarbChamberLevel = getBicarbChamberLevelStatus(); // Once level reached, close the valve if ( LEVEL_STATE_HIGH == bicarbChamberLevel ) @@ -938,11 +1514,15 @@ state = BICARB_CHAMBER_PRESSURE_CHECK_STATE; } // Open water inlet valve to fill the bicart - else if ( d66Pressure <= DRY_BICART_FILL_INITIATE_PRESSURE ) + else if ( d66Pressure <= getDryBicartLowerCartPressure() ) { setValveState( D65_VALV, VALVE_STATE_OPEN ); state = BICARB_CHAMBER_PRESSURE_CHECK_STATE; } + else + { + state = BICARB_CHAMBER_PRESSURE_CHECK_STATE; + } return state; } @@ -959,10 +1539,10 @@ { BICARB_CHAMBER_FILL_EXEC_STATE_T state = BICARB_CHAMBER_PRESSURE_CHECK_STATE; F32 d66Pressure = getFilteredPressure( D66_PRES ); - LEVEL_STATE_T bicarbChamberLevel = getLevelStatus( D63_LEVL ); + LEVEL_STATE_T bicarbChamberLevel = getBicarbChamberLevelStatus(); // Once level reached, close the valve - if ( ( LEVEL_STATE_HIGH == bicarbChamberLevel ) || + if ( ( LEVEL_STATE_HIGH == bicarbChamberLevel ) || ( TRUE == didTimeout( dryBiCarbSupplyStartTime, DRY_BICART_SUPPLY_VALVE_D80_OPEN_TIME_MS ) ) ) { setValveState( D65_VALV, VALVE_STATE_CLOSED ); @@ -971,12 +1551,14 @@ dryBiCarbSypplyVentStartTime = getMSTimerCount(); state = BICARB_SUPPLY_VENT_START_STATE; } - + /*else if ( d66Pressure <= getDryBicartLowerCartPressure() ) + { + setValveState( D65_VALV, VALVE_STATE_OPEN ); } // Close water inlet valve as fill is complete. - if ( d66Pressure >= DRY_BICART_FILL_COMPLETE_PRESSURE ) + else if ( d66Pressure >= getDryBicartUpperCartPressure() ) { setValveState( D65_VALV, VALVE_STATE_CLOSED ); - } + }*/ return state; } @@ -992,18 +1574,64 @@ static BICARB_CHAMBER_FILL_EXEC_STATE_T handleBicarbChamberSupplyVentStartState(void) { BICARB_CHAMBER_FILL_EXEC_STATE_T state = BICARB_SUPPLY_VENT_START_STATE; + float setpoint; + U32 startTime; + F32 d66Pressure = getFilteredPressure( D66_PRES ); + F32 tmpD66Pressure = getFilteredPressure( D66_PRES ); - if ( TRUE == didTimeout( dryBiCarbSypplyVentStartTime, DRY_BICART_SUPPLY_VENT_TIME_MS ) ) + setpoint = d66Pressure - 1.0; + + if ( ( d66Pressure > DRY_BICART_FILL_INITIATE_SUPPLY_PRESSURE ) ) { + setValveState( D64_VALV, VALVE_STATE_OPEN ); + state = BICARB_SUPPLY_VENT_END_STATE; + } + + //if ( TRUE == didTimeout( dryBiCarbSupplyStartTime, 10 ) ) +#if 0 + while ( tmpD66Pressure >= getDryBicartLowerCartPressure() && tmpD66Pressure >= setpoint ) { + //setpoint = d66Pressure - 1.0; + + // Venting loop: stay open until target PSI is reached + setValveState( D64_VALV, VALVE_STATE_CLOSED ); + setValveState( D85_VALV, VALVE_STATE_OPEN ); + startTime = getMSTimerCount(); + while ( TRUE != didTimeout( startTime, 12 ) ) + { + } + // close the vallve + setValveState( D85_VALV, VALVE_STATE_CLOSED ); + setValveState( D64_VALV, VALVE_STATE_OPEN ); + startTime = getMSTimerCount(); + while ( TRUE != didTimeout( startTime, 100 ) ) + { + } + tmpD66Pressure = getFilteredPressure( D66_PRES ); + //sleep + } +#endif + else if ( TRUE == didTimeout( dryBiCarbSypplyVentStartTime, DRY_BICART_SUPPLY_VENT_TIME_MS ) ) + { //Vent bicart after 1 sec setValveState( D85_VALV, VALVE_STATE_OPEN ); } - if ( TRUE == didTimeout( dryBiCarbSypplyVentStartTime, DRY_BICART_SUPPLY_VENT_MAX_TIME_MS ) ) + else if ( TRUE == didTimeout( dryBiCarbSypplyVentStartTime, DRY_BICART_SUPPLY_VENT_MAX_TIME_MS ) ) { - //Vent chamber F after 3 sec + setValveState( D85_VALV, VALVE_STATE_CLOSED ); + //Vent chamber F after 200 ms setValveState( D64_VALV, VALVE_STATE_OPEN ); dryBiCarbSypplyVentStartTime = getMSTimerCount(); + //state = BICARB_SUPPLY_VENT_END_STATE; + } + + // D66 pressure drops or time out + else if ( ( d66Pressure <= DRY_BICART_FILL_INITIATE_SUPPLY_PRESSURE ) /*|| + ( TRUE == didTimeout( dryBiCarbSypplyVentStartTime, DRY_BICART_FILL_VENT_MAX_TIME_MS ) )*/ ) + { + setValveState( D64_VALV, VALVE_STATE_OPEN ); + setValveState( D85_VALV, VALVE_STATE_CLOSED ); + dryBiCarbSypplyVentStartTime = getMSTimerCount(); state = BICARB_SUPPLY_VENT_END_STATE; } @@ -1022,12 +1650,12 @@ { BICARB_CHAMBER_FILL_EXEC_STATE_T state = BICARB_SUPPLY_VENT_END_STATE; - // close bicart vent and chamber f vent after 3 sec - if ( TRUE == didTimeout( dryBiCarbSypplyVentStartTime, DRY_BICART_SUPPLY_VENT_MAX_TIME_MS ) ) + // close bicart vent and chamber f vent after 1 sec + if ( TRUE == didTimeout( dryBiCarbSypplyVentStartTime, DRY_BICART_SUPPLY_VENT_TIME_MS ) ) { setValveState( D85_VALV, VALVE_STATE_CLOSED ); - setValveState( D64_VALV, VALVE_STATE_CLOSED); - + //setValveState( D64_VALV, VALVE_STATE_CLOSED); + bicarbChamberFillRequested.data = FALSE; // for this request override also cleared bicarbChamberFillRequested.ovData = FALSE; @@ -1236,10 +1864,26 @@ data.bicarbChamberFillRequest = getU32OverrideValue( &bicarbChamberFillRequested ); data.dryBiCartDrainRequest = getU32OverrideValue( &dryBiCartDrainRequested ); data.dryBiCartLastFillTime = lastFillDurationInMS; - data.dryBiCartCurrentFillTime = currentFillDurationInMS; + data.dryBiCartCurrentFillTime = currentFillDurationInMS; data.dryBiCartType = getU32OverrideValue( &dryBiCartType ); data.dryBiCartDrainTimePeriod = dryBiCartDrainTimePeriod; - + + // TODO: remove after feature testing + memcpy( &data.dryBiCartBicarbDosingControl, &bicarbControlSignals, sizeof( PI_CONTROLLER_SIGNALS_DATA ) ); + // TODO: remove after feature testing + memcpy( &data.dryBiCartAcidDosingControl , &acidControlSignals , sizeof( PI_CONTROLLER_SIGNALS_DATA ) ); + + data.dryBiCartAcidMixVolume = getAcidMixVol(); + data.dryBiCartBicarbMixVolume = getBicarbMixVol(); + + // TODO: remove after feature testing + data.dryBiCartBicarbDosingKPgain = getBicarbKpGainCoefficient(); + // TODO: remove after feature testing + data.dryBiCartBicarbDosingKIgain = getBicarbKiGainCoefficient(); + + data.dryBiCartAcidDosingKPgain = getAcidKpGainCoefficient(); + data.dryBiCartAcidDosingKIgain = getAcidKiGainCoefficient(); + broadcastData( MSG_ID_DD_DRY_BICART_DATA, COMM_BUFFER_OUT_CAN_DD_BROADCAST, (U08*)&data, sizeof( DRY_BICART_DATA_T ) ); dryBiCartDataPublicationTimerCounter = 0; @@ -1352,4 +1996,225 @@ return result; } +/*********************************************************************//** + * @brief + * The testDryBiCartAcidMixVolumeOverride function sets the override value + * of the acid concentrate dosing volume. + * @details Inputs: dryBiCartAcidMixVolume + * @details Outputs: dryBiCartAcidMixVolume + * @param message Override message from Dialin which includes the override + * value to override the acid concentrate dosing volume. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartAcidMixVolumeOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartAcidMixVolume ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartBicarbMixVolumeOverride function sets the override value + * of the bicarb concentrate dosing volume. + * @details Inputs: dryBiCartBicarbMixVolume + * @details Outputs: dryBiCartBicarbMixVolume + * @param message Override message from Dialin which includes the override + * value to override the bicarb concentrate dosing volume. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartBicarbMixVolumeOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbMixVolume ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartBicarbMixVolControlKpGainOverride function sets the override value + * of the Kp gain coefficient for closed loop bicarb dosing volume control + * @details Inputs: dryBiCartBicarbMixVolumeKpGain + * @details Outputs: dryBiCartBicarbMixVolumeKpGain + * @param message Override message from Dialin which includes the override + * value to override the bicarb concentrate dosing volume kp gain. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartBicarbMixVolControlKpGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbMixVolumeKpGain ); + + initializePIController( PI_CONTROLLER_ID_BICARB_VOL, 0.0F,\ + getBicarbKpGainCoefficient(), getBicarbKiGainCoefficient(),\ + MIN_BICARB_VOLUME_ML, MAX_BICARB_VOLUME_ML, FALSE, MIX_NO_FEED_FORWARD ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartBicarbMixVolControlKiGainOverride function sets the override value + * of the Ki gain coefficient for closed loop bicarb concentrate dosing volume control + * @details Inputs: dryBiCartBicarbMixVolumeKiGain + * @details Outputs: dryBiCartBicarbMixVolumeKiGain + * @param message Override message from Dialin which includes the override + * value to override the bicarb concentrate dosing volume ki gain. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartBicarbMixVolControlKiGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbMixVolumeKiGain ); + + initializePIController( PI_CONTROLLER_ID_BICARB_VOL, 0.0F,\ + getBicarbKpGainCoefficient(), getBicarbKiGainCoefficient(),\ + MIN_BICARB_VOLUME_ML, MAX_BICARB_VOLUME_ML, FALSE, MIX_NO_FEED_FORWARD ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartAcidMoxVolControlKpGainOverride function sets the override value + * of the Kp gain coefficient for closed loop acid concentrate dosing volume control + * @details Inputs: dryBiCartAcidMixVolumeKpGain + * @details Outputs: dryBiCartAcidMixVolumeKpGain + * @param message Override message from Dialin which includes the override + * value to override the acid concentrate dosing volume kp gain. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartAcidMixVolControlKpGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartAcidMixVolumeKpGain ); + + initializePIController( PI_CONTROLLER_ID_ACID_VOL, 0.0F, \ + getAcidKpGainCoefficient(), getAcidKiGainCoefficient(),\ + MIN_ACID_VOLUME_ML, MAX_ACID_VOLUME_ML, FALSE, MIX_NO_FEED_FORWARD ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartAcidMixVolControlKiGainOverride function sets the override value + * of the Ki gain coefficient for closed loop acid concentrate dosing volume control + * @details Inputs: dryBiCartAcidMixVolumeKiGain + * @details Outputs: dryBiCartAcidMixVolumeKiGain + * @param message Override message from Dialin which includes the override + * value to override the bicarb concentrate dosing volume ki gain. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartAcidMixVolControlKiGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartAcidMixVolumeKiGain ); + + initializePIController( PI_CONTROLLER_ID_ACID_VOL, 0.0F, \ + getAcidKpGainCoefficient(), getAcidKiGainCoefficient(),\ + MIN_ACID_VOLUME_ML, MAX_ACID_VOLUME_ML, FALSE, MIX_NO_FEED_FORWARD ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartTargetConductivityOverride function sets the override value + * of target conductivity for closed loop control + * @details Inputs: dryBiCartTargetConductivity + * @details Outputs: dryBiCartTargetConductivity + * @param message Override message from Dialin which includes the override + * value to override the bicarb concentrate target conductivity. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartTargetConductivityOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbTargetConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartDeltaConductivityOverride function sets the override value + * of delta target conductivity for closed loop control + * @details Inputs: dryBiCartDeltaConductivity + * @details Outputs: dryBiCartDeltaConductivity + * @param message Override message from Dialin which includes the override + * value to override the bicarb concentrate delta target conductivity. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartDeltaConductivityOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbDeltaConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartAcidBicarbTargetConductivityOverride function sets the override value + * of acid bicarb mix target conductivity for closed loop control + * @details Inputs: dryBiCartAcidBicarbMixTargetConductivity + * @details Outputs: dryBiCartAcidBicarbMixTargetConductivity + * @param message Override message from Dialin which includes the override + * value to override the acid bicarb mix target conductivity. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartAcidBicarbTargetConductivityOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartDialysateTargetConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartAcidBicarbDeltaConductivityOverride function sets the override value + * of delta target conductivity for acid bicarb mix closed loop control + * @details Inputs: dryBiCartDeltaConductivity + * + * @details Outputs: dryBiCartDeltaConductivity + * @param message Override message from Dialin which includes the override + * value to override the acid bicarb mix target delta conductivity. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartAcidBicarbDeltaConductivityOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartDialysateDeltaConductivity ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartUpperCartPressureOverride function sets the override value + * of bicart upper cart pressure + * @details Inputs: dryBiCartUpperCartPressure + * @details Outputs: dryBiCartUpperCartPressure + * @param message Override message from Dialin which includes the override + * value to override the bicart upper cart pressure + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartUpperCartPressureOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartUpperCartPressure ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartLowerCartPressureOverride function sets the override value + * of Lowercart pressure + * @details Inputs: dryBiCartLowerCartPressure + * @details Outputs: dryBiCartLowerCartPressure + * @param message Override message from Dialin which includes the override + * value to override the bicart lower pressure. + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testDryBiCartLowerCartPressureOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartLowerCartPressure ); + + return result; +} + /**@}*/