Index: firmware/App/Controllers/ConcentratePumps.c =================================================================== diff -u -r75f5cf4a8484f0c08b90edfb4b49a6268e51de65 -r7d0fd5ed6b9db0479af90477e5108f6d3fa8df17 --- firmware/App/Controllers/ConcentratePumps.c (.../ConcentratePumps.c) (revision 75f5cf4a8484f0c08b90edfb4b49a6268e51de65) +++ firmware/App/Controllers/ConcentratePumps.c (.../ConcentratePumps.c) (revision 7d0fd5ed6b9db0479af90477e5108f6d3fa8df17) @@ -1,14 +1,14 @@ /************************************************************************** * -* Copyright (c) 2020-2023 Diality Inc. - All Rights Reserved. +* Copyright (c) 2020-2024 Diality Inc. - All Rights Reserved. * * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. * * @file ConcentratePumps.c * -* @author (last) Bill Bracken -* @date (last) 21-Jun-2023 +* @author (last) Dara Navaei +* @date (last) 09-Apr-2024 * * @author (original) Quang Nguyen * @date (original) 22-Oct-2020 @@ -19,6 +19,7 @@ #include "ConcentratePumps.h" #include "FPGA.h" #include "MessageSupport.h" +#include "OperationModes.h" #include "PersistentAlarm.h" #include "SystemCommMessages.h" #include "TaskGeneral.h" @@ -64,7 +65,6 @@ #define NUMBER_OF_ACID_AND_BICARB_NV_DATA_TO_CHECK 1 ///< Number of acid and bicarb non-volatile data to check. #define DATA_PUBLISH_COUNTER_START_COUNT 0 ///< Data publish counter start count. -#define CONENTREATE_PUMP_PARK_FAULT_TIMEOUT_MS ( 1 * MS_PER_SECOND ) ///< Concentrate pump park fault timeout in milliseconds. #define CONCENTRATE_PUMP_FAULT_PERSISTENCE_PERIOD 500 ///< Concentrate pump fault persistence period in milliseconds. #define CONCENTRATE_PUMP_TRANS_TO_RAMP_SPEED_THRESHOLD_MLPM 5.0F ///< Concentrate pump transition to ramp to target speed threshold in mL/min. @@ -118,6 +118,7 @@ F32 pulseWidthUS; ///< Concentrate pump pulse width in microseconds. OVERRIDE_U32_T parked; ///< Concentrate pump is currently parked (T/F). OVERRIDE_U32_T parkFaulted; ///< Concentrate pump park command has faulted (T/F). + BOOL isConcPumpParkInProgress; ///< Concentrate pump park progress boolean flag (T/F). } CONCENTRATE_PUMP_T; // ********** private data ********** @@ -143,6 +144,7 @@ static BOOL stepConcentratePumpToTargetSpeed( CONCENTRATE_PUMPS_T pumpId ); static void calcMeasuredPumpsSpeed( void ); static void monitorPumpSpeed( CONCENTRATE_PUMPS_T pumpId, ALARM_ID_T alarm ); +static void checkConcentratePumpControlSet( CONCENTRATE_PUMPS_T pumpId ); /*********************************************************************//** * @brief @@ -155,11 +157,11 @@ { CONCENTRATE_PUMPS_T pumpId; - concentratePumpMonitorTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT; - acidConcentratePumpParkPersistenceClear = FALSE; ///< Boolean acid park persistence clearing. + concentratePumpMonitorTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT; + acidConcentratePumpParkPersistenceClear = FALSE; bicarbConcentratePumpParkPersistenceClear = FALSE; - for ( pumpId = CONCENTRATEPUMPS_CP1_ACID; pumpId < NUM_OF_CONCENTRATE_PUMPS; ++pumpId ) + for ( pumpId = CONCENTRATEPUMPS_CP1_ACID; pumpId < NUM_OF_CONCENTRATE_PUMPS; pumpId++ ) { concentratePumps[ pumpId ].controlTimerCounter = 0; concentratePumps[ pumpId ].execState = CONCENTRATE_PUMP_OFF_STATE; @@ -171,14 +173,13 @@ concentratePumps[ pumpId ].pumpTargetSpeed = 0.0F; concentratePumps[ pumpId ].direction = CONCENTRATE_PUMP_FORWARD_DIR; // For V3 concentratePumps[ pumpId ].controlSet = CONCENTRATE_PUMP_CONTROL_FORWARD; // For DVT + concentratePumps[ pumpId ].isConcPumpParkInProgress = FALSE; stopConcentratePump( pumpId ); } - initPersistentAlarm( ALARM_ID_DG_CP1_SPEED_CONTROL_ERROR, CONCENTRATE_PUMP_SPEED_OUT_OF_RANGE_TIMEOUT_MS, CONCENTRATE_PUMP_SPEED_OUT_OF_RANGE_TIMEOUT_MS ); - initPersistentAlarm( ALARM_ID_DG_CP2_SPEED_CONTROL_ERROR, CONCENTRATE_PUMP_SPEED_OUT_OF_RANGE_TIMEOUT_MS, CONCENTRATE_PUMP_SPEED_OUT_OF_RANGE_TIMEOUT_MS ); + initPersistentAlarm( ALARM_ID_DG_CP1_SPEED_CONTROL_ERROR, 0, CONCENTRATE_PUMP_SPEED_OUT_OF_RANGE_TIMEOUT_MS ); + initPersistentAlarm( ALARM_ID_DG_CP2_SPEED_CONTROL_ERROR, 0, CONCENTRATE_PUMP_SPEED_OUT_OF_RANGE_TIMEOUT_MS ); initPersistentAlarm( ALARM_ID_DG_CONC_PUMP_HALL_SENSOR_OUT_OF_RANGE, CONCENTRATE_PUMP_HALL_SENSORS_OUT_OF_RANGE_TIME_MS, CONCENTRATE_PUMP_HALL_SENSORS_OUT_OF_RANGE_TIME_MS ); - initPersistentAlarm( ALARM_ID_DG_ACID_CONCENTRATE_PUMP_PARK_FAULT, CONENTREATE_PUMP_PARK_FAULT_TIMEOUT_MS, CONENTREATE_PUMP_PARK_FAULT_TIMEOUT_MS ); - initPersistentAlarm( ALARM_ID_DG_BICARB_CONCENTRATE_PUMP_PARK_FAULT, CONENTREATE_PUMP_PARK_FAULT_TIMEOUT_MS, CONENTREATE_PUMP_PARK_FAULT_TIMEOUT_MS ); initPersistentAlarm( ALARM_ID_DG_CONCENTRATE_PUMP_FAULT, CONCENTRATE_PUMP_FAULT_PERSISTENCE_PERIOD, CONCENTRATE_PUMP_FAULT_PERSISTENCE_PERIOD ); } @@ -212,6 +213,16 @@ concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].parkFaulted.data = (U32)getFPGAAcidPumpParkFault(); concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].parkFaulted.data = (U32)getFPGABicarbPumpParkFault(); + if ( ( TRUE == getConcPumpIsParked( CONCENTRATEPUMPS_CP1_ACID ) ) || ( TRUE == getConcPumpParkIsFaulted( CONCENTRATEPUMPS_CP1_ACID ) ) ) + { + // If the pump has parked or faulted during the park, then it is not in progress + concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].isConcPumpParkInProgress = FALSE; + } + if ( ( TRUE == getConcPumpIsParked( CONCENTRATEPUMPS_CP2_BICARB ) ) || ( TRUE == getConcPumpParkIsFaulted( CONCENTRATEPUMPS_CP2_BICARB ) ) ) + { + concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].isConcPumpParkInProgress = FALSE; + } + // Don't monitor persistence for cp speed alarms if we parked. if ( TRUE == acidConcentratePumpParkPersistenceClear ) { @@ -248,17 +259,6 @@ monitorPumpSpeed( CONCENTRATEPUMPS_CP2_BICARB, ALARM_ID_DG_CP2_SPEED_CONTROL_ERROR ); } -#ifndef _RELEASE_ - if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_CONCENTRATE_PUMPS_PARK ) != SW_CONFIG_ENABLE_VALUE ) -#endif - { - BOOL isAcidPumpParked = getConcPumpParkIsFaulted( CONCENTRATEPUMPS_CP1_ACID ); - BOOL isBicarbPumpParked = getConcPumpParkIsFaulted( CONCENTRATEPUMPS_CP2_BICARB ); - - checkPersistentAlarm( ALARM_ID_DG_ACID_CONCENTRATE_PUMP_PARK_FAULT, isAcidPumpParked, isAcidPumpParked, CONENTREATE_PUMP_PARK_FAULT_TIMEOUT_MS ); - checkPersistentAlarm( ALARM_ID_DG_BICARB_CONCENTRATE_PUMP_PARK_FAULT, isBicarbPumpParked, isBicarbPumpParked, CONENTREATE_PUMP_PARK_FAULT_TIMEOUT_MS ); - } - checkPersistentAlarm( ALARM_ID_DG_CONCENTRATE_PUMP_FAULT, isConcPumpFault, fpgaConcPumpsFault, CONCENTRATE_PUMP_FAULT_PERSISTENCE_PERIOD ); if ( ++concentratePumpMonitorTimerCounter >= getU32OverrideValue( &concentratePumpDataPublishInterval ) ) @@ -267,21 +267,17 @@ U08 cp1Direction = concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].direction; F32 cp1SetSpeed = concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].currentPumpSpeed; - F32 cp1Speed = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP1_ACID ); F32 cp1TgtSpeed = concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].pumpTargetSpeed; - BOOL cp1Parked = getConcPumpIsParked( CONCENTRATEPUMPS_CP1_ACID ); - BOOL cp2ParkFault = getConcPumpParkIsFaulted( CONCENTRATEPUMPS_CP1_ACID ); U08 cp2Direction = concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].direction; F32 cp2SetSpeed = concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].currentPumpSpeed; - F32 cp2Speed = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP2_BICARB ); F32 cp2TgtSpeed = concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].pumpTargetSpeed; // Use the above values to prepare the broadcast data data.cp1CurrentSetSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp1Direction ? cp1SetSpeed * -1.0F : cp1SetSpeed ); - data.cp1MeasuredSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp1Direction ? cp1Speed * -1.0F : cp1Speed ); + data.cp1MeasuredSpeed = getMeasuredPumpSpeedMLPM( CONCENTRATEPUMPS_CP1_ACID ); data.cp1TargetSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp1Direction ? cp1TgtSpeed * -1.0F : cp1TgtSpeed ); data.cp2CurrentSetSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp2Direction ? cp2SetSpeed * -1.0F : cp2SetSpeed ); - data.cp2MeasuredSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp2Direction ? cp2Speed * -1.0F : cp2Speed ); + data.cp2MeasuredSpeed = getMeasuredPumpSpeedMLPM( CONCENTRATEPUMPS_CP2_BICARB ); data.cp2TargetSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp2Direction ? cp2TgtSpeed * -1.0F : cp2TgtSpeed ); data.cp1State = concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].execState; data.cp2State = concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].execState; @@ -308,7 +304,7 @@ { CONCENTRATE_PUMPS_T pumpId; - for ( pumpId = CONCENTRATEPUMPS_CP1_ACID; pumpId < NUM_OF_CONCENTRATE_PUMPS; ++pumpId ) + for ( pumpId = CONCENTRATEPUMPS_CP1_ACID; pumpId < NUM_OF_CONCENTRATE_PUMPS; pumpId++ ) { switch ( concentratePumps[ pumpId ].execState ) { @@ -380,6 +376,8 @@ #endif { concentratePumps[ pumpId ].hasTurnOnPumpsBeenRequested = TRUE; + acidConcentratePumpParkPersistenceClear = FALSE; + bicarbConcentratePumpParkPersistenceClear = FALSE; } } else @@ -390,6 +388,72 @@ /*********************************************************************//** * @brief + * The handleConcentratePumpParkRequest function accepts/rejects the park + * concentrate pumps request. + * @details Inputs: Pump state and DG operating mode + * @details Outputs: command response set to true if able to perform parking pump. + * @return result as true if park is accomplished. + *************************************************************************/ +BOOL handleConcentratePumpParkRequest( void ) +{ + DG_CMD_RESPONSE_T cmdResponse; + BOOL result = FALSE; + DG_OP_MODE_T opMode = getCurrentOperationMode(); + + cmdResponse.commandID = DG_CMD_PARK_CONCENTRATE_PUMPS; + cmdResponse.rejected = FALSE; + cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE; + + // pumps should be not ON and DG operation mode is not in filling and fault mode + if ( ( concentratePumps[CONCENTRATEPUMPS_CP1_ACID].execState == CONCENTRATE_PUMP_OFF_STATE ) && + ( concentratePumps[CONCENTRATEPUMPS_CP2_BICARB].execState == CONCENTRATE_PUMP_OFF_STATE ) && + ( DG_MODE_FILL != opMode ) && + ( DG_MODE_FAUL != opMode ) ) + { + // Park concentrate pump + requestConcentratePumpOff( CONCENTRATEPUMPS_CP1_ACID, PARK_CONC_PUMPS ); + requestConcentratePumpOff( CONCENTRATEPUMPS_CP2_BICARB, PARK_CONC_PUMPS ); + result = TRUE; + } + else + { + cmdResponse.rejected = TRUE; + cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_MODE; + result = FALSE; + } + + sendCommandResponseMsg( &cmdResponse ); + + return result; +} + +/*********************************************************************//** + * @brief + * The isConcPumpParkInProgress function requests whether the concentrate + * pump park is in progress or not. + * @details Inputs: concentratePumps + * @details Outputs: none + * @param pumpId concentrate pump id + * @return TRUE if the concentrate pump park is in progress otherwise, FALSE + *************************************************************************/ +BOOL isConcPumpParkInProgress( CONCENTRATE_PUMPS_T pumpId ) +{ + BOOL status = FALSE; + + if ( pumpId < NUM_OF_CONCENTRATE_PUMPS ) + { + status = concentratePumps[ pumpId ].isConcPumpParkInProgress; + } + else + { + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_CONCENTRATE_PUMP_INVALID_PUMP_ID, pumpId ); + } + + return status; +} + +/*********************************************************************//** + * @brief * The requestConcentratePumpOff function requests the module to turn off * the concentrate pumps. * @details Inputs: none @@ -438,6 +502,11 @@ targetSpeed_ml_min *= -1.0; } + /* + * If 3 <= speed <= 48 set it + * If speed < 3 set to 0 + * else speed > 48 set to 48 + */ if ( ( CONCENTRATE_PUMP_MIN_SPEED <= targetSpeed_ml_min ) && ( targetSpeed_ml_min <= CONCENTRATE_PUMP_MAX_SPEED ) ) { concentratePumps[ pumpId ].pumpTargetSpeed = targetSpeed_ml_min; @@ -446,7 +515,7 @@ { concentratePumps[ pumpId ].pumpTargetSpeed = 0.0; } - else if ( targetSpeed_ml_min > CONCENTRATE_PUMP_MAX_SPEED ) + else { concentratePumps[ pumpId ].pumpTargetSpeed = CONCENTRATE_PUMP_MAX_SPEED; } @@ -484,19 +553,20 @@ /*********************************************************************//** * @brief - * The getMeasuredPumpSpeed function gets the measured concentrate pump flow rate. + * The getMeasuredPumpSpeedMLPM function gets the measured concentrate pump flow rate. * @details Inputs: measuredPumpSpeed * @details Outputs: none * @param pumpId concentrate pump id to increase current step speed * @return the current concentrate pump flow rate (in mL/min). *************************************************************************/ -F32 getMeasuredPumpSpeed( CONCENTRATE_PUMPS_T pumpId ) +F32 getMeasuredPumpSpeedMLPM( CONCENTRATE_PUMPS_T pumpId ) { - F32 speed = 0.0; + F32 speed = 0.0F; if ( pumpId < NUM_OF_CONCENTRATE_PUMPS ) { speed = getF32OverrideValue( &concentratePumps[ pumpId ].measuredPumpSpeed ); + speed = ( CONCENTRATE_PUMP_REVERSE_DIR == concentratePumps[ pumpId ].direction ? speed * -1.0F : speed ); } else { @@ -632,6 +702,7 @@ setFPGABicarbPumpParkCmd(); bicarbConcentratePumpParkPersistenceClear = TRUE; } + concentratePumps[ pumpId ].isConcPumpParkInProgress = TRUE; } } #ifndef _RELEASE_ @@ -738,14 +809,15 @@ static CONCENTRATE_PUMP_STATE_T handleConcentratePumpControlTargetSpeedState( CONCENTRATE_PUMPS_T pumpId ) { CONCENTRATE_PUMP_STATE_T state = CONCENTRATE_PUMP_CONTROL_TARGET_SPEED_STATE; + F32 targetToCurreSpeedDiffMLPM = fabs( concentratePumps[ pumpId ].pumpTargetSpeed - concentratePumps[ pumpId ].currentPumpSpeed ); if ( ++concentratePumps[ pumpId ].controlTimerCounter >= CONCENTRATE_PUMP_CONTROL_INTERVAL ) { concentratePumps[ pumpId ].controlTimerCounter = 0; stepConcentratePumpToTargetSpeed( pumpId ); } - if ( concentratePumps[ pumpId ].pumpTargetSpeed >= CONCENTRATE_PUMP_TRANS_TO_RAMP_SPEED_THRESHOLD_MLPM ) + if ( targetToCurreSpeedDiffMLPM >= CONCENTRATE_PUMP_TRANS_TO_RAMP_SPEED_THRESHOLD_MLPM ) { // If the requested target speed is greater than the threshold, transition back to ramp state regardless of the status of the // control interval @@ -816,6 +888,8 @@ concentratePumps[ pumpId ].togglePeriodCount = CONCENTRATE_PUMP_ZERO_FLOW_RATE; } + // Check if the control set bit is set as desired and if not, correct it + checkConcentratePumpControlSet( pumpId ); if ( CONCENTRATEPUMPS_CP1_ACID == pumpId ) { @@ -840,27 +914,32 @@ *************************************************************************/ static void calcMeasuredPumpsSpeed( void ) { + CONCENTRATE_PUMPS_T pumpId; U16 pulseWidthCount = 0; F32 pulseWidthInMicroSeconds = 0.0F; BOOL isPulseWidthOut = FALSE; - CONCENTRATE_PUMPS_T pumpId; CONCENTRATE_PUMPS_T pumpInAlarm = CONCENTRATEPUMPS_FIRST; F32 pumpInAlarmPulseWidthInMicroSeconds = 0.0F; BOOL isPumpPulseWidthOut = FALSE; for ( pumpId = CONCENTRATEPUMPS_FIRST; pumpId < NUM_OF_CONCENTRATE_PUMPS; pumpId++ ) { - switch (pumpId) + switch ( pumpId ) { case CONCENTRATEPUMPS_CP1_ACID: pulseWidthCount = getFPGACP1HallSensePulseWidth(); break; + case CONCENTRATEPUMPS_CP2_BICARB: pulseWidthCount = getFPGACP2HallSensePulseWidth(); break; + +#ifndef _VECTORCAST_ + // Disabled in VectorCAST since it cannot be reached in VectorCAST because the switch case is in a for loop default: // Loop only allows for valid concentrate pump Ids. break; +#endif } pulseWidthInMicroSeconds = pulseWidthCount * CONCENTRATE_PUMP_HALL_SENSE_PERIOD_RESOLUTION; @@ -878,7 +957,7 @@ } // If pulse width is out of range capture pump out of range, pumpId and pulse width - if ( TRUE == isPumpPulseWidthOut) + if ( TRUE == isPumpPulseWidthOut ) { // Pulse width for this concentrate pump is out of range isPulseWidthOut = TRUE; @@ -888,7 +967,6 @@ } checkPersistentAlarm( ALARM_ID_DG_CONC_PUMP_HALL_SENSOR_OUT_OF_RANGE, isPulseWidthOut, pumpInAlarm, pumpInAlarmPulseWidthInMicroSeconds ); - } /*********************************************************************//** @@ -904,7 +982,7 @@ static void monitorPumpSpeed( CONCENTRATE_PUMPS_T pumpId, ALARM_ID_T alarm ) { F32 cpTargetSpeed = concentratePumps[ pumpId ].currentPumpSpeed; - F32 cpError = fabs( getMeasuredPumpSpeed( pumpId ) - cpTargetSpeed ); + F32 cpError = fabs( fabs( getMeasuredPumpSpeedMLPM( pumpId ) ) - cpTargetSpeed ); BOOL isCpSpeedOut = FALSE; F32 tolerance = CONCENTRATE_PUMP_SPD_OUT_OF_RANGE_TOL_WHEN_SLOW_MLPM; @@ -921,7 +999,47 @@ checkPersistentAlarm( alarm, isCpSpeedOut, cpError, tolerance ); } +/*********************************************************************//** + * @brief + * The checkConcentratePumpControlSet function monitors the status of the + * concentrate pumps control set bit and if they are different from the + * required set bit, they are set again. + * @details Inputs: concentratePumps + * @details Outputs: none + * @param pumpId pump id to check its control set bit + * @return none + *************************************************************************/ +static void checkConcentratePumpControlSet( CONCENTRATE_PUMPS_T pumpId ) +{ + U08 controlSetBits; + switch ( pumpId ) + { + case CONCENTRATEPUMPS_CP1_ACID: + controlSetBits = getFPGAAcidPumpControlStatus(); + + if ( controlSetBits != concentratePumps[ pumpId ].controlSet ) + { + setFPGAAcidPumpControl( concentratePumps[ pumpId ].controlSet ); + } + break; + + case CONCENTRATEPUMPS_CP2_BICARB: + controlSetBits = getFPGABicarbPumpControlStatus(); + + if ( controlSetBits != concentratePumps[ pumpId ].controlSet ) + { + setFPGABicarbPumpControl( concentratePumps[ pumpId ].controlSet ); + } + break; + + default: + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_CONCENTRATE_PUMP_INVALID_PUMP_ID, pumpId ); + break; + } +} + + /************************************************************************* * TEST SUPPORT FUNCTIONS *************************************************************************/