Index: firmware/App/Controllers/DryBiCart.c =================================================================== diff -u -rd210786d6c7d75bb0b4d9e18efc40a01d85123fe -rd0a2037b16f76e661dc02296e039f099ce5d9ea8 --- firmware/App/Controllers/DryBiCart.c (.../DryBiCart.c) (revision d210786d6c7d75bb0b4d9e18efc40a01d85123fe) +++ firmware/App/Controllers/DryBiCart.c (.../DryBiCart.c) (revision d0a2037b16f76e661dc02296e039f099ce5d9ea8) @@ -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" @@ -47,7 +49,7 @@ #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 DRY_BICART_FILL_INITIATE_PRESSURE 7.5F ///< Minimum pressure required to initiate the dry bicart fill process. #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 @@ -56,7 +58,7 @@ #define DRY_BICART_FILL_VENT_COMPLETE_PRESSURE 1.5F ///< Pressure reached to indicate the dry bicart venting being completed. // 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_VALVE_D80_OPEN_TIME_MS ( 1 * 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. @@ -69,6 +71,46 @@ #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 DEFAULT_ACID_VOLUME_ML 0.67F ///< Acid concentrate volume in ml. +#define DEFAULT_BICARB_VOLUME_ML 1.15F ///< Bicarb concentrate volume in ml. + +#define KP_SCALE_FACTOR 1 +#define KI_SCALE_FACTOR 1 + +#define BICARB_VOL_CONTROL_P_COEFFICIENT ( 0.0002121 / KP_SCALE_FACTOR )//0.000065F ///< Propotional gain (kp) +#define BICARB_VOL_CONTROL_I_COEFFICIENT ( 0.0001121 * KI_SCALE_FACTOR )//0.00022F ///< Integral gain. (ki) +#define MIN_BICARB_VOLUME_MLPM 0.0004242 ///< Minimum target bicarb in mL/min. +#define MAX_BICARB_VOLUME_MLPM 2.0 ///< Maximum target bicarb volume in mL/min. + +#define ACID_VOL_CONTROL_P_COEFFICIENT 0.0002121//0.000065F ///< Propotional gain (kp) +#define ACID_VOL_CONTROL_I_COEFFICIENT 0.0001121//0.00022F ///< Integral gain. (ki) +#define MIN_ACID_VOLUME_MLPM 0.0004242 // 0.2 ///< Minimum target acid volume in mL/min. +#define MAX_ACID_VOLUME_MLPM 1.85 ///< Maximum target acid volume in mL/min. + + +#define STD_BICARB_DOSING 1.146666667F ///< Standard bicarb dosing volume +#define STD_ACID_DOSING 0.666666667F ///< Standard acid dosing volume + +#define DRY_BICARB_TARGET_CONDUCTIVITY 2714.0F ///< Target bicarb conductivity +#define DRY_BICARB_DELTA_CONDUCTIVITY 50.0F ///< Delta bicarb conductivity + +#define DRY_ACID_BICARB_TARGET_CONDUCTIVITY 13734.87F ///< Target acid bicarb mix conductivity +#define DRY_ACID_BICARB_DELTA_CONDUCTIVITY 100.0F ///< 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 DOSING_NO_FEED_FORWARD 0.0F ///< Feedforward term for dialysate pump control + +#define DOSE_CONTROL_INTERVAL_MS 3000 ///< Dialysate dosing control interval in ms +#define DOSE_CONTROL_INTERVAL ( DOSE_CONTROL_INTERVAL_MS /\ + TASK_GENERAL_INTERVAL ) ///< Interval (ms/task time) at which the dialysate dose is controlled. + /// Payload record structure for dry bicart fill request typedef struct { @@ -85,6 +127,37 @@ NUM_OF_DRY_BICART_OPERATION ///< Number of dry bicart operation } DRY_BICART_OPERATION_T; +/// Enumeration of dialysate Dosing. +typedef enum DialysateDosing +{ + BICARB_DOSE = 0, ///< Bicarb Dose + DIALYSATE_DOSE_FIRST = BICARB_DOSE, ///< First dialysate Dose in list + ACID_DOSE, ///< Acid Dose + NUM_OF_DIALYSATE_DOSE ///< Number of dialysate Dose +} DIALYSATE_DOSING_T; + +/// Enumeration of dialysate Dosing states. +typedef enum DialysateDosing_States +{ + DIALYSATE_OPEN_LOOP_STATE = 0, ///< Dialysate open loop state + DIALYSATE_DOSING_RAMP_UP_STATE, ///< Dialysate dose ramp up state + DIALYSATE_DOSING_CONTROL_TO_TARGET_STATE, ///< Dialysate dose control to target state + NUM_OF_DIALYSATE_DOSING_STATES ///< Number of dialysate dose states +} DIALYSATE_DOSING_STATE_T; + +/// Dialysate Dosing data structure +typedef struct +{ + U32 controlTimerCounter; ///< Timer counter to perform control on dialysate dose. + DIALYSATE_DOSING_STATE_T dialysateDosingState; ///< Current state of dialysate dose controller state machine. + //BOOL isDialPumpOn; ///< Flag indicates dialysate pump On or Off state + //F32 prevPumpTargetSpeed; ///< Previous target dialysate pumps' speed (mL/min). + //F32 currentPumpSpeed; ///< Current controlled dialysate pumps' speed (mL/min). + //U32 directionErrorCount; ///< dialysate pump direction error count from power up. + //U32 lastDirectionErrorCount; ///< last dialysate pump direction error count from power up. + U08 control; ///< Dialysate dose control +} DIALYSATE_DOSE_DATA_T; + // ********** private data ********** static DRY_BICART_FILL_EXEC_STATE_T dryBiCartFillExecState; ///< Current state of dry bicart fill executive state machine. @@ -117,6 +190,30 @@ static DRY_BICART_OPERATION_T dryBicartStartRequest; ///< Dry bicart operation, fill or supply or drain request +// drybicart mixing +static OVERRIDE_F32_T dryBiCartAcidDoseVolume; ///< Acid concentrate volume in ml ( overrideable). +static OVERRIDE_F32_T dryBiCartBicarbDoseVolume; ///< Bicarb concentrate volume in ml ( overrideable). + +static OVERRIDE_F32_T dryBiCartAcidDoseVolumeKpGain; ///< Acid concentrate volume in ml ( overrideable). +static OVERRIDE_F32_T dryBiCartAcidDoseVolumeKiGain; ///< Acid concentrate volume in ml ( overrideable). + +static OVERRIDE_F32_T dryBiCartBicarbDoseVolumeKpGain; ///< Acid concentrate volume in ml ( overrideable). +static OVERRIDE_F32_T dryBiCartBicarbDoseVolumeKiGain; ///< Acid concentrate volume in ml ( overrideable). + +static DIALYSATE_DOSE_DATA_T dialysateDose[ NUM_OF_DIALYSATE_DOSE ]; ///< Array of dialysate Dose data structure. + +static OVERRIDE_F32_T dryBiCartBicarbTargetConductivity; ///< Target bicarb conductivity +static OVERRIDE_F32_T dryBiCartBicarbDeltaConductivity; ///< Target delta conductivity + +static OVERRIDE_F32_T dryBiCartAcidBicarbMixTargetConductivity; ///< Acid bicarb mix conductivity +static OVERRIDE_F32_T dryBiCartAcidBicarbMixDeltaConductivity; ///< Acid bicarb delta conductivity + +static PI_CONTROLLER_SIGNALS_DATA bicarbControlSignals; ///< Bicarb closed loop control signal data +static PI_CONTROLLER_SIGNALS_DATA acidControlSignals; ///< Acid closed loop control signal data + +//For testing +static F32 pIControlSignal[ NUM_OF_CONTROLLER_SIGNAL ]; + // ********** private function prototypes ********** static void updateDrybicartOperation(void); @@ -142,6 +239,12 @@ 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_DOSING_STATE_T handleDialysateOpenLoopState( DIALYSATE_DOSING_T doseId ); +static DIALYSATE_DOSING_STATE_T handleDialysateDoseRampToTargetState( DIALYSATE_DOSING_T doseId ); +static DIALYSATE_DOSING_STATE_T handleDialysateDoseControlToTargetState( DIALYSATE_DOSING_T doseId ); + // publish the status static void publishDryBicartData( void ); static U32 getDryBicartFillDataPublishInterval( void ); @@ -156,52 +259,118 @@ *************************************************************************/ void initDryBiCart( void ) { - dryBiCartFillExecState = DRY_BICART_START_STATE; - bicarbChamberFillExecState = BICARB_CHAMBER_START_STATE; - dryBiCartDrainExecState = DRY_BICART_DRAIN_START_STATE; - dryBicartStartRequest = DRY_BICART_IDLE; + DIALYSATE_DOSING_T doseId; + dryBiCartFillExecState = DRY_BICART_START_STATE; + bicarbChamberFillExecState = BICARB_CHAMBER_START_STATE; + dryBiCartDrainExecState = DRY_BICART_DRAIN_START_STATE; + dryBicartStartRequest = DRY_BICART_IDLE; - dryBiCartDataPublishInterval.data = DRY_BICART_DATA_PUBLISH_INTERVAL; - dryBiCartDataPublishInterval.ovData = DRY_BICART_DATA_PUBLISH_INTERVAL; - dryBiCartDataPublishInterval.ovInitData = 0; - dryBiCartDataPublishInterval.override = OVERRIDE_RESET; + for ( doseId = DIALYSATE_DOSE_FIRST; doseId < NUM_OF_DIALYSATE_DOSE; doseId++ ) + { + dialysateDose[ doseId ].dialysateDosingState = DIALYSATE_OPEN_LOOP_STATE; + } - 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; + dryBiCartDataPublishInterval.data = DRY_BICART_DATA_PUBLISH_INTERVAL; + dryBiCartDataPublishInterval.ovData = DRY_BICART_DATA_PUBLISH_INTERVAL; + dryBiCartDataPublishInterval.ovInitData = 0; + dryBiCartDataPublishInterval.override = OVERRIDE_RESET; - dryBiCartFillRequested.data = FALSE; - dryBiCartFillRequested.ovData = FALSE; - dryBiCartFillRequested.ovInitData = FALSE; - dryBiCartFillRequested.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; - dryBiCartDrainRequested.data = FALSE; - dryBiCartDrainRequested.ovData = FALSE; - dryBiCartDrainRequested.ovInitData = FALSE; - dryBiCartDrainRequested.override = OVERRIDE_RESET; + dryBiCartFillRequested.data = FALSE; + dryBiCartFillRequested.ovData = FALSE; + dryBiCartFillRequested.ovInitData = FALSE; + dryBiCartFillRequested.override = OVERRIDE_RESET; - bicarbChamberFillRequested.data = FALSE; - bicarbChamberFillRequested.ovData = FALSE; - bicarbChamberFillRequested.ovInitData = FALSE; - bicarbChamberFillRequested.override = OVERRIDE_RESET; + dryBiCartDrainRequested.data = FALSE; + dryBiCartDrainRequested.ovData = FALSE; + dryBiCartDrainRequested.ovInitData = FALSE; + dryBiCartDrainRequested.override = OVERRIDE_RESET; - dryBiCartType.data = FALSE; - dryBiCartType.ovData = FALSE; - dryBiCartType.ovInitData = 0; - dryBiCartType.override = OVERRIDE_RESET; + bicarbChamberFillRequested.data = FALSE; + bicarbChamberFillRequested.ovData = FALSE; + bicarbChamberFillRequested.ovInitData = FALSE; + bicarbChamberFillRequested.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; + dryBiCartType.data = FALSE; + dryBiCartType.ovData = FALSE; + dryBiCartType.ovInitData = 0; + dryBiCartType.override = OVERRIDE_RESET; + + dryBiCartAcidDoseVolume.data = DEFAULT_ACID_VOLUME_ML; + dryBiCartAcidDoseVolume.ovData = DEFAULT_ACID_VOLUME_ML; + dryBiCartAcidDoseVolume.ovInitData = 0.0F; + dryBiCartAcidDoseVolume.override = OVERRIDE_RESET; + + dryBiCartBicarbDoseVolume.data = DEFAULT_BICARB_VOLUME_ML; + dryBiCartBicarbDoseVolume.ovData = DEFAULT_BICARB_VOLUME_ML; + dryBiCartBicarbDoseVolume.ovInitData = 0.0F; + dryBiCartBicarbDoseVolume.override = OVERRIDE_RESET; + + dryBiCartAcidDoseVolumeKpGain.data = ACID_VOL_CONTROL_P_COEFFICIENT; + dryBiCartAcidDoseVolumeKpGain.ovData = ACID_VOL_CONTROL_P_COEFFICIENT; + dryBiCartAcidDoseVolumeKpGain.ovInitData = 0.0F; + dryBiCartAcidDoseVolumeKpGain.override = OVERRIDE_RESET; + + dryBiCartAcidDoseVolumeKiGain.data = ACID_VOL_CONTROL_I_COEFFICIENT; + dryBiCartAcidDoseVolumeKiGain.ovData = ACID_VOL_CONTROL_I_COEFFICIENT; + dryBiCartAcidDoseVolumeKiGain.ovInitData = 0.0F; + dryBiCartAcidDoseVolumeKiGain.override = OVERRIDE_RESET; + + dryBiCartBicarbDoseVolumeKpGain.data = BICARB_VOL_CONTROL_P_COEFFICIENT; + dryBiCartBicarbDoseVolumeKpGain.ovData = BICARB_VOL_CONTROL_P_COEFFICIENT; + dryBiCartBicarbDoseVolumeKpGain.ovInitData = 0.0F; + dryBiCartBicarbDoseVolumeKpGain.override = OVERRIDE_RESET; + + dryBiCartBicarbDoseVolumeKiGain.data = BICARB_VOL_CONTROL_I_COEFFICIENT; + dryBiCartBicarbDoseVolumeKiGain.ovData = BICARB_VOL_CONTROL_I_COEFFICIENT; + dryBiCartBicarbDoseVolumeKiGain.ovInitData = 0.0F; + dryBiCartBicarbDoseVolumeKiGain.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; + + dryBiCartAcidBicarbMixTargetConductivity.data = DRY_ACID_BICARB_TARGET_CONDUCTIVITY; + dryBiCartAcidBicarbMixTargetConductivity.ovData = DRY_ACID_BICARB_TARGET_CONDUCTIVITY; + dryBiCartAcidBicarbMixTargetConductivity.ovInitData = 0.0F; + dryBiCartAcidBicarbMixTargetConductivity.override = OVERRIDE_RESET; + + dryBiCartAcidBicarbMixDeltaConductivity.data = DRY_ACID_BICARB_DELTA_CONDUCTIVITY; + dryBiCartAcidBicarbMixDeltaConductivity.ovData = DRY_ACID_BICARB_DELTA_CONDUCTIVITY; + dryBiCartAcidBicarbMixDeltaConductivity.ovInitData = 0.0F; + dryBiCartAcidBicarbMixDeltaConductivity.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, MIN_BICARB_VOLUME_MLPM,\ + getBicarbKpGainCoefficient(), getBicarbKiGainCoefficient(),\ + MIN_BICARB_VOLUME_MLPM, MAX_BICARB_VOLUME_MLPM, FALSE, DOSING_NO_FEED_FORWARD ); + resetPIController(PI_CONTROLLER_ID_BICARB_VOL, STD_BICARB_DOSING, DOSING_NO_FEED_FORWARD); + + initializePIController(PI_CONTROLLER_ID_ACID_VOL, MIN_ACID_VOLUME_MLPM, \ + getAcidKpGainCoefficient(), getAcidKiGainCoefficient(),\ + MIN_ACID_VOLUME_MLPM, MAX_ACID_VOLUME_MLPM, FALSE, DOSING_NO_FEED_FORWARD ); + resetPIController(PI_CONTROLLER_ID_ACID_VOL, STD_ACID_DOSING, DOSING_NO_FEED_FORWARD); } /*********************************************************************//** @@ -219,6 +388,43 @@ /*********************************************************************//** * @brief + * The execDialysateCompositionDosingController function executes the dialysate dosing 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 execDialysateCompositionDosingController( void ) +{ + DIALYSATE_DOSING_T doseId; + + for ( doseId = DIALYSATE_DOSE_FIRST; doseId < NUM_OF_DIALYSATE_DOSE; doseId++ ) + { + switch ( dialysateDose[ doseId ].dialysateDosingState ) + { + case DIALYSATE_OPEN_LOOP_STATE: + dialysateDose[ doseId ].dialysateDosingState = handleDialysateOpenLoopState( doseId ); + break; + + case DIALYSATE_DOSING_RAMP_UP_STATE: + dialysateDose[ doseId ].dialysateDosingState = handleDialysateDoseRampToTargetState( doseId ); + break; + + case DIALYSATE_DOSING_CONTROL_TO_TARGET_STATE: + dialysateDose[ doseId ].dialysateDosingState = handleDialysateDoseControlToTargetState( doseId ); + break; + + default: + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_DIALYSATE_DOSE_EXEC_INVALID_STATE, doseId ) + dialysateDose[ doseId ].dialysateDosingState = DIALYSATE_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 @@ -263,6 +469,7 @@ break; } + (void)dryBicartSubstate; // Publish dry bicart data publishDryBicartData(); } @@ -330,6 +537,9 @@ *************************************************************************/ U32 execBicarbChamberFillMode( void ) { + // closed loop bicarb and acid dosing controller + execDialysateCompositionDosingController(); + // execute bicarb chamber fill state machine switch ( bicarbChamberFillExecState ) { @@ -413,6 +623,234 @@ /*********************************************************************//** * @brief + * The setBicarbDoseVol function sets bicarb dose volume provided by the controller + * @details \b Inputs: none + * @details \b Outputs: dryBiCartBicarbDoseVolume + * @param targetValue bicarb dose volume + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +void setBicarbDoseVol( F32 targetValue ) +{ + dryBiCartBicarbDoseVolume.data = targetValue; +} + +/*********************************************************************//** + * @brief + * TThe getBicarbDoseVol function gets the bicarb dose volume provided by the controller + * @details \b Inputs: dryBiCartBicarbDoseVolume + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getBicarbDoseVol( void ) +{ + F32 result = dryBiCartBicarbDoseVolume.data; + + if ( OVERRIDE_KEY == dryBiCartBicarbDoseVolume.override ) + { + result = dryBiCartBicarbDoseVolume.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The setAcidDoseVol function sets acid dose volume provided by the controller + * flag value to be True. + * @details \b Inputs: none + * @details \b Outputs: dryBiCartAcidDoseVolume + * @param targetValue acid dose volume + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +void setAcidDoseVol( F32 targetValue ) +{ + dryBiCartAcidDoseVolume.data = targetValue; +} + +/*********************************************************************//** + * @brief + * The getBicarbAcidDoseVol function gets acid dose volume provided by the controller + * flag values + * @details \b Inputs: dryBiCartAcidDoseVolume + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getAcidDoseVol( void ) +{ + F32 result = dryBiCartAcidDoseVolume.data; + + if ( OVERRIDE_KEY == dryBiCartAcidDoseVolume.override ) + { + result = dryBiCartAcidDoseVolume.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getBicarbDeltaConductivity function gets the delta target conductivity + * @details \b Inputs: dryBiCartBicarbDeltaConductivity + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getBicarbDeltaConductivity( void ) +{ + F32 result = dryBiCartBicarbDeltaConductivity.data; + + if ( OVERRIDE_KEY == dryBiCartBicarbDeltaConductivity.override ) + { + result = dryBiCartBicarbDeltaConductivity.ovData; + } + + 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. + *************************************************************************/ +F32 getBicarbTargetConductivity( void ) +{ + F32 result = dryBiCartBicarbTargetConductivity.data; + + if ( OVERRIDE_KEY == dryBiCartBicarbTargetConductivity.override ) + { + result = dryBiCartBicarbTargetConductivity.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidBicarbDeltaConductivity function gets the acid bicarb delta target conductivity + * flag values + * @details \b Inputs: dryBiCartAcidBicarbMixDeltaConductivity + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getAcidBicarbDeltaConductivity( void ) +{ + F32 result = dryBiCartAcidBicarbMixDeltaConductivity.data; + + if ( OVERRIDE_KEY == dryBiCartAcidBicarbMixDeltaConductivity.override ) + { + result = dryBiCartAcidBicarbMixDeltaConductivity.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidBicarbTargetConductivity function gets the acid bicarb delta target conductivity + * flag values + * @details \b Inputs: dryBiCartAcidBicarbMixTargetConductivity + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getAcidBicarbTargetConductivity( void ) +{ + F32 result = dryBiCartAcidBicarbMixTargetConductivity.data; + + if ( OVERRIDE_KEY == dryBiCartAcidBicarbMixTargetConductivity.override ) + { + result = dryBiCartAcidBicarbMixTargetConductivity.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getBicarbKpGainCoefficient function gets the Kp Gain for closed loop + * bicarb dose volume control + * flag values + * @details \b Inputs: dryBiCartBicarbDoseVolumeKpGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getBicarbKpGainCoefficient( void ) +{ + F32 result = dryBiCartBicarbDoseVolumeKpGain.data; + + if ( OVERRIDE_KEY == dryBiCartBicarbDoseVolumeKpGain.override ) + { + result = dryBiCartBicarbDoseVolumeKpGain.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getBicarbKiGainCoefficient function gets the Kp Gain for closed loop + * bicarb dose volume control + * flag values + * @details \b Inputs: dryBiCartBicarbDoseVolumeKiGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getBicarbKiGainCoefficient( void ) +{ + F32 result = dryBiCartBicarbDoseVolumeKiGain.data; + + if ( OVERRIDE_KEY == dryBiCartBicarbDoseVolumeKiGain.override ) + { + result = dryBiCartBicarbDoseVolumeKiGain.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidKpGainCoefficient function gets the Kp Gain for closed loop + * acid dose volume control + * flag values + * @details \b Inputs: dryBiCartAcidDoseVolumeKpGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getAcidKpGainCoefficient( void ) +{ + F32 result = dryBiCartAcidDoseVolumeKpGain.data; + + if ( OVERRIDE_KEY == dryBiCartAcidDoseVolumeKpGain.override ) + { + result = dryBiCartAcidDoseVolumeKpGain.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getAcidKiGainCoefficient function gets the Ki Gain for closed loop + * acid dose volume control + * flag values + * @details \b Inputs: dryBiCartAcidDoseVolumeKiGain + * @details \b Outputs: none + * @return TRUE if successful, FALSE if not. + *************************************************************************/ +F32 getAcidKiGainCoefficient( void ) +{ + F32 result = dryBiCartAcidDoseVolumeKiGain.data; + + if ( OVERRIDE_KEY == dryBiCartAcidDoseVolumeKiGain.override ) + { + result = dryBiCartAcidDoseVolumeKiGain.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief * The setBicarbChamberFillRequested function sets the chmaberFillRequest * flag value to be True. * @details \b Inputs: dryBiCartFillRequested, dryBiCartDrainRequested @@ -555,6 +993,149 @@ /*********************************************************************//** * @brief + * The handleDialysateOpenLoopState function handles the dialysate open loop state of + * the dialysate dose controller state machine. + * @details \b Inputs: D17_COND, D29_COND + * @details \b Outputs: none + * @param doseId dialysate dose id to run the dialysate dose + * @return next state for the controller state machine + *************************************************************************/ +static DIALYSATE_DOSING_STATE_T handleDialysateOpenLoopState( DIALYSATE_DOSING_T doseId ) +{ + DIALYSATE_DOSING_STATE_T result = DIALYSATE_OPEN_LOOP_STATE; + + if ( BICARB_DOSE == doseId ) + { +#ifdef __TEENSY_CONDUCTIVITY_DRIVER__ + F32 measuredBicarbConductivity = getFilteredConductivity( D17_COND ); +#else + F32 biCarbConductivity = getConductivityValue( D17_COND ); +#endif + // if measured conductivity crossed (targetConductivity- deltaConuctivity) , switch to closed loop + if ( measuredBicarbConductivity >= ( getBicarbTargetConductivity() - getBicarbDeltaConductivity() ) ) + { + result = DIALYSATE_DOSING_RAMP_UP_STATE; + } + } + else if ( ACID_DOSE == doseId ) + { +#ifdef __TEENSY_CONDUCTIVITY_DRIVER__ + F32 measuredAcidBicarbMixConductivity = getFilteredConductivity( D29_COND ); +#else + F32 acidBicarbMixConductivity = getConductivityValue( D29_COND ); +#endif + // if measured conductivity crossed (targetConductivity- deltaConuctivity) , switch to closed loop + if ( measuredAcidBicarbMixConductivity >= ( getAcidBicarbTargetConductivity() - getAcidBicarbDeltaConductivity() ) ) + { + result = DIALYSATE_DOSING_RAMP_UP_STATE; + } + } + + return result; +} + +/*********************************************************************//** + * @brief + * The handleDialysatePumpRampToTargetState function handles the dialysate ramp to target state of + * the dialysate dose controller state machine. + * @details \b Inputs: none + * @details \b Outputs: none + * @param doseId dose id to + * @return next state for the controller state machine + *************************************************************************/ +static DIALYSATE_DOSING_STATE_T handleDialysateDoseRampToTargetState( DIALYSATE_DOSING_T doseId ) +{ + DIALYSATE_DOSING_STATE_T state = DIALYSATE_DOSING_RAMP_UP_STATE; + + //if ( TRUE == stepDialysatePumpToTargetSpeed( pumpId ) ) + { + if ( BICARB_DOSE == doseId ) + { + resetPIController( PI_CONTROLLER_ID_BICARB_VOL, STD_BICARB_DOSING, DOSING_NO_FEED_FORWARD ); + + state = DIALYSATE_DOSING_CONTROL_TO_TARGET_STATE; + } + else if ( ACID_DOSE == doseId ) + { + resetPIController( PI_CONTROLLER_ID_ACID_VOL, STD_ACID_DOSING, DOSING_NO_FEED_FORWARD ); + + state = DIALYSATE_DOSING_CONTROL_TO_TARGET_STATE; + } + } + + return state; +} + +/*********************************************************************//** + * @brief + * The handleDialysatePumpControlToTargetState function handles the control to + * target state of the dialysate dose 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_DOSING_STATE_T handleDialysateDoseControlToTargetState( DIALYSATE_DOSING_T doseId ) +{ + DIALYSATE_DOSING_STATE_T state = DIALYSATE_DOSING_CONTROL_TO_TARGET_STATE; + + // control at set minimum interval or interval is expired and balance chamber fill is complete + if ( ( ( ++dialysateDose[ doseId ].controlTimerCounter >= DOSE_CONTROL_INTERVAL ) /*|| + ( TRUE == dialPumpsReadyToControl ) ) && ( TRUE != isDialPumpOpenLoopEnabled[ pumpId ] )*/ ) ) + { + dialysateDose[ doseId ].controlTimerCounter = 0; + //dialPumpsReadyToControl = TRUE; + + // Control happen only when balancing chamber fill is complete. + //if ( FALSE == getBalancingChamberFillinProgressStatus() ) + { + // Control based on the measured and target conductivity + if ( BICARB_DOSE == doseId ) + { +#ifdef __TEENSY_CONDUCTIVITY_DRIVER__ + F32 measuredBicarbConductivity = getFilteredConductivity( D17_COND ); +#else + F32 biCarbConductivity = getConductivityValue( D17_COND ); +#endif + F32 bicarbDoseVol = runPIController(PI_CONTROLLER_ID_BICARB_VOL, getBicarbTargetConductivity(), measuredBicarbConductivity); + //Set bicarb dosing vol + setBicarbDoseVol( bicarbDoseVol ); + U32 i; + + for ( i = 0; i < NUM_OF_CONTROLLER_SIGNAL; i++ ) + { + pIControlSignal[ i ] = getPIControllerSignals( PI_CONTROLLER_ID_BICARB_VOL, (PI_CONTROLLER_SIGNALS_ID)i ); + } + + memcpy((void*)&bicarbControlSignals, (void*)&pIControlSignal, sizeof(PI_CONTROLLER_SIGNALS_DATA)); + } + // ACID dose + else if ( ACID_DOSE == doseId ) + { +#ifdef __TEENSY_CONDUCTIVITY_DRIVER__ + F32 measuredAcidBicarbMixConductivity = getFilteredConductivity( D29_COND ); +#else + F32 acidBicarbMixConductivity = getFilteredConductivity( D29_COND ); +#endif + F32 acidDoseVol = runPIController(PI_CONTROLLER_ID_ACID_VOL, getAcidBicarbTargetConductivity(), measuredAcidBicarbMixConductivity); + //Set acid dosing vol + setAcidDoseVol( acidDoseVol ); + U32 i; + + for ( i = 0; i < NUM_OF_CONTROLLER_SIGNAL; i++ ) + { + pIControlSignal[ i ] = getPIControllerSignals( PI_CONTROLLER_ID_ACID_VOL, (PI_CONTROLLER_SIGNALS_ID)i ); + } + + memcpy((void*)&acidControlSignals, (void*)&pIControlSignal, 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 @@ -1236,9 +1817,22 @@ 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.dryBiCartAcidDoseVolume = getAcidDoseVol(); + data.dryBiCartBicarbDoseVolume = getBicarbDoseVol(); + + // TODO: remove after feature testing + data.dryBiCartBicarbDosingKPgain = getBicarbKpGainCoefficient(); + // TODO: remove after feature testing + data.dryBiCartBicarbDosingKIgain = getBicarbKiGainCoefficient(); broadcastData( MSG_ID_DD_DRY_BICART_DATA, COMM_BUFFER_OUT_CAN_DD_BROADCAST, (U08*)&data, sizeof( DRY_BICART_DATA_T ) ); @@ -1352,4 +1946,196 @@ return result; } +/*********************************************************************//** + * @brief + * The testAcidDoseVolumeOverride function sets the override value + * of the acid concentrate dosing volume. + * @details Inputs: dryBiCartAcidDoseVolume + * @details Outputs: dryBiCartAcidDoseVolume + * @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 testDryBiCartAcidDoseVolumeOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartAcidDoseVolume ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testBicarbDoseVolumeOverride function sets the override value + * of the bicarb concentrate dosing volume. + * @details Inputs: dryBiCartBicarbDoseVolume + * @details Outputs: dryBiCartBicarbDoseVolume + * @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 testDryBiCartBicarbDoseVolumeOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbDoseVolume ); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartBicarbKpGainBicarbDoseVolumeOverride function sets the override value + * of the Kp gain coefficient for closed loop bicarb dosing volume control + * @details Inputs: dryBiCartBicarbDoseVolumeKpGain + * @details Outputs: dryBiCartBicarbDoseVolumeKpGain + * @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 testDryBiCartBicarbDoseVolControlKpGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbDoseVolumeKpGain ); + + initializePIController(PI_CONTROLLER_ID_BICARB_VOL, MIN_BICARB_VOLUME_MLPM,\ + getBicarbKpGainCoefficient(), getBicarbKiGainCoefficient(),\ + MIN_BICARB_VOLUME_MLPM, MAX_BICARB_VOLUME_MLPM, FALSE, DOSING_NO_FEED_FORWARD ); + + resetPIController(PI_CONTROLLER_ID_BICARB_VOL, STD_BICARB_DOSING, DOSING_NO_FEED_FORWARD); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartBicarbKiGainBicarbDoseVolumeOverride function sets the override value + * of the Ki gain coefficient for closed loop bicarb concentrate dosing volume control + * @details Inputs: dryBiCartBicarbDoseVolumeKiGain + * @details Outputs: dryBiCartBicarbDoseVolumeKiGain + * @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 testDryBiCartBicarbDoseVolControlKiGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartBicarbDoseVolumeKiGain ); + + initializePIController(PI_CONTROLLER_ID_BICARB_VOL, MIN_BICARB_VOLUME_MLPM,\ + getBicarbKpGainCoefficient(), getBicarbKiGainCoefficient(),\ + MIN_BICARB_VOLUME_MLPM, MAX_BICARB_VOLUME_MLPM, FALSE, DOSING_NO_FEED_FORWARD ); + resetPIController(PI_CONTROLLER_ID_BICARB_VOL, STD_BICARB_DOSING, DOSING_NO_FEED_FORWARD); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartBicarbKpGainBicarbDoseVolumeOverride function sets the override value + * of the Kp gain coefficient for closed loop acid concentrate dosing volume control + * @details Inputs: dryBiCartAcidDoseVolumeKpGain + * @details Outputs: dryBiCartAcidDoseVolumeKpGain + * @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 testDryBiCartAcidDoseVolControlKpGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartAcidDoseVolumeKpGain ); + + initializePIController(PI_CONTROLLER_ID_ACID_VOL, MIN_ACID_VOLUME_MLPM, \ + getAcidKpGainCoefficient(), getAcidKiGainCoefficient(),\ + MIN_ACID_VOLUME_MLPM, MAX_ACID_VOLUME_MLPM, FALSE, DOSING_NO_FEED_FORWARD ); + resetPIController(PI_CONTROLLER_ID_ACID_VOL, STD_ACID_DOSING, DOSING_NO_FEED_FORWARD); + + return result; +} + +/*********************************************************************//** + * @brief + * The testDryBiCartBicarbKiGainBicarbDoseVolumeOverride function sets the override value + * of the Ki gain coefficient for closed loop acid concentrate dosing volume control + * @details Inputs: dryBiCartAcidDoseVolumeKiGain + * @details Outputs: dryBiCartAcidDoseVolumeKiGain + * @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 testDryBiCartAcidDoseVolControlKiGainOverride( MESSAGE_T *message ) +{ + BOOL result = f32Override( message, &dryBiCartAcidDoseVolumeKiGain ); + + initializePIController(PI_CONTROLLER_ID_ACID_VOL, MIN_ACID_VOLUME_MLPM, \ + getAcidKpGainCoefficient(), getAcidKiGainCoefficient(),\ + MIN_ACID_VOLUME_MLPM, MAX_ACID_VOLUME_MLPM, FALSE, DOSING_NO_FEED_FORWARD ); + resetPIController(PI_CONTROLLER_ID_ACID_VOL, STD_ACID_DOSING, DOSING_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, &dryBiCartAcidBicarbMixTargetConductivity ); + + 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, &dryBiCartAcidBicarbMixDeltaConductivity ); + + return result; +} + /**@}*/