Index: firmware/App/Controllers/ConcentratePumps.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Controllers/ConcentratePumps.c (.../ConcentratePumps.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Controllers/ConcentratePumps.c (.../ConcentratePumps.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -55,7 +55,9 @@ #define CONCENTRATE_PUMP_VOLUME_PER_PULSE ( CONCENTRATE_PUMP_VOLUME_PER_REV / CONCENTRATE_PUMP_PULSE_PER_REV ) #define CONCENTRATE_PUMP_DATA_PUBLISH_INTERVAL ( 500 / TASK_GENERAL_INTERVAL ) ///< Interval (ms/task time) at which the concentrate pump is monitored. + #define CONCENTRATE_PUMP_CONTROL_INTERVAL ( 50 / TASK_GENERAL_INTERVAL ) ///< Interval (ms/task time) at which the concentrate pump is controlled. + #define CONCENTRATE_PUMP_SPEED_CONTROL_PERSISTENCE_PERIOD ( 5 * MS_PER_SECOND ) ///< Persistence period for concentrate pump speed control error. #define NUMBER_OF_ACID_AND_BICARB_NV_DATA_TO_CHECK 1 ///< Number of acid and bicarb non-volatile data to check. Index: firmware/App/Controllers/Heaters.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Controllers/Heaters.c (.../Heaters.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Controllers/Heaters.c (.../Heaters.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -178,6 +178,7 @@ { if( heater < NUM_OF_DG_HEATERS ) { +#ifndef DISABLE_HEATERS_AND_TEMPS // Assume the target temperature has not changed heatersStatus[ heater ].hasTargetTempChanged = FALSE; @@ -188,6 +189,7 @@ heatersStatus[ heater ].hasTargetTempChanged = TRUE; // TODO alarm if temperature if out of range or just reject? } +#endif } else { @@ -219,13 +221,16 @@ { BOOL status = FALSE; + if( heater < NUM_OF_DG_HEATERS ) { +#ifndef DISABLE_HEATERS_AND_TEMPS if ( TRUE == heatersStatus[ heater ].hasTargetTempChanged ) { status = TRUE; heatersStatus[ heater ].startHeaterSignal = TRUE; } +#endif } else { @@ -903,12 +908,12 @@ if ( trimmerHeaterInternalTemp > HEATERS_MAX_ALLOWED_INTERNAL_TEMPERATURE_C ) { isTempOut = TRUE; - SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_TRIMMER_HEATER_INTERNAL_TEMP_OUT_OF_RANGE, trimmerHeaterInternalTemp ); + //SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_TRIMMER_HEATER_INTERNAL_TEMP_OUT_OF_RANGE, trimmerHeaterInternalTemp ); } else if ( trimmerHeaterColdJunctionTemp > HEATERS_MAX_ALLOWED_COLD_JUNCTION_TEMPERATURE_C ) { isTempOut = TRUE; - SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_TRIMMER_HEATER_CJ_TEMP_OUT_OF_RANGE, trimmerHeaterColdJunctionTemp ); + //SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_TRIMMER_HEATER_CJ_TEMP_OUT_OF_RANGE, trimmerHeaterColdJunctionTemp ); } #ifndef IGNORE_HEATERS_MONITOR Index: firmware/App/Controllers/LoadCell.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Controllers/LoadCell.c (.../LoadCell.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Controllers/LoadCell.c (.../LoadCell.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -95,7 +95,7 @@ * @details Outputs: LoadCell module initialized. * @return none *************************************************************************/ - void initLoadCell( void ) +void initLoadCell( void ) { U32 i; U32 j; Index: firmware/App/Controllers/ROPump.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Controllers/ROPump.c (.../ROPump.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Controllers/ROPump.c (.../ROPump.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -367,12 +367,11 @@ measuredROFlowRateLPM.data = flow - ( getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP1_ACID ) / ML_PER_LITER ) - ( getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP2_BICARB ) / ML_PER_LITER ); - // If the flow is less than a certain value, FPGA will return 0xFFFF meaning that - // the flow is 0. - if ( FLOW_SENSOR_ZERO_READING == roFlowReading ) - { - measuredROFlowRateLPM.data = 0.0; - } + // If the flow is less than a certain value, FPGA will return 0xFFFF meaning that the flow is 0. + if ( FLOW_SENSOR_ZERO_READING == roFlowReading ) + { + measuredROFlowRateLPM.data = 0.0; + } measuredFlowReadingsSum = 0; flowFilterCounter = 0; Index: firmware/App/Controllers/Switches.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Controllers/Switches.c (.../Switches.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Controllers/Switches.c (.../Switches.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -95,15 +95,15 @@ switch ( i ) { case CONCENTRATE_CAP: - currentSwitchStatus = ( getFPGAConcentrateCapStatus() != 0 ? STATE_OPEN : STATE_CLOSED ); + currentSwitchStatus = getFPGAConcentrateCapStatus(); break; case DIALYSATE_CAP: - currentSwitchStatus = ( getFPGADialysateCapStatus() != 0 ? STATE_OPEN : STATE_CLOSED ); + currentSwitchStatus = getFPGADialysateCapStatus(); break; case FLUID_DOOR: - currentSwitchStatus = ( getFPGAGFluidDoorStatus() != 0 ? STATE_OPEN : STATE_CLOSED ); + currentSwitchStatus = getFPGAGFluidDoorStatus(); break; default: Index: firmware/App/Controllers/TemperatureSensors.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Controllers/TemperatureSensors.c (.../TemperatureSensors.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Controllers/TemperatureSensors.c (.../TemperatureSensors.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -166,7 +166,7 @@ static BOOL isADCReadValid( U32 sensorIndex, U32 fpgaError, U32 fpgaCount ); static void processADCRead( U32 sensorIndex, S32 adc ); static void publishTemperatureSensorsData( void ); -static void monitorTemperatureSnsrs( U32 sensorIndex ); +static void monitorTemperatureSnsrs( U32 sensorIndex, F32 temperature ); /*********************************************************************//** * @brief @@ -382,7 +382,7 @@ if ( sensorIndex < NUM_OF_TEMPERATURE_SENSORS ) { - if ( OVERRIDE_KEY == tempSensors[ sensorIndex ].temperatureValues.override ) + if ( tempSensors[ sensorIndex ].temperatureValues.override == OVERRIDE_KEY ) { temperature = tempSensors[ sensorIndex ].temperatureValues.ovData; } @@ -722,7 +722,7 @@ tempSensors[ sensorIndex ].temperatureValues.data = temperature; // Monitor the temperature value - monitorTemperatureSnsrs( sensorIndex ); + monitorTemperatureSnsrs( sensorIndex, temperature ); } /*********************************************************************//** @@ -889,14 +889,17 @@ * @details Inputs: tempSensors * @details Outputs: tempSensors * @param sensorIndex the index of the temperature sensor + * @param temperature the temperature value to be checked * @return none *************************************************************************/ -static void monitorTemperatureSnsrs( U32 sensorIndex ) +static void monitorTemperatureSnsrs( U32 sensorIndex, F32 temperature ) { - F32 temperature = getTemperatureValue( sensorIndex ); + // The maximum allowed temperature is different for the sensors that are in the fluid path + // with the ones that are not in the fluid path + F32 maxLimit = tempSensors[ sensorIndex ].maxAllowedTemperature; // Check both temperature and to be in range - if ( ( temperature < TEMP_SENSORS_MIN_ALLOWED_DEGREE_C ) || ( temperature > tempSensors[ sensorIndex ].maxAllowedTemperature ) ) + if ( ( temperature < TEMP_SENSORS_MIN_ALLOWED_DEGREE_C ) || ( temperature > maxLimit ) ) { // TODO investigate //checkPersistentAlarm( ALARM_ID_DG_TEMPERATURE_SENSOR_OUT_OF_RANGE, TRUE, sensorIndex, temperature ); @@ -925,7 +928,7 @@ if ( sensorIndex < NUM_OF_TEMPERATURE_SENSORS ) { - if ( TRUE == isTestingActivated() ) + if ( isTestingActivated() ) { result = TRUE; tempSensors[ sensorIndex ].temperatureValues.ovData = temperature; @@ -951,7 +954,7 @@ if ( sensorIndex < NUM_OF_TEMPERATURE_SENSORS ) { - if ( TRUE == isTestingActivated() ) + if ( isTestingActivated() ) { result = TRUE; tempSensors[ sensorIndex ].temperatureValues.override = OVERRIDE_RESET; @@ -975,7 +978,7 @@ { BOOL result = FALSE; - if ( TRUE == isTestingActivated() ) + if ( isTestingActivated() ) { U32 interval = value / TASK_PRIORITY_INTERVAL; @@ -999,7 +1002,7 @@ { BOOL result = FALSE; - if ( TRUE == isTestingActivated() ) + if ( isTestingActivated() ) { result = TRUE; tempSensorsPublishInterval.override = OVERRIDE_RESET; Index: firmware/App/Controllers/Thermistors.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Controllers/Thermistors.c (.../Thermistors.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Controllers/Thermistors.c (.../Thermistors.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -39,7 +39,8 @@ #define THERMISTOR_REFERENCE_VOLTAGE 3.0 ///< Thermistors source voltage. #define THERMISTOR_REFERENCE_RESISTOR_AT_25 10000.0 ///< Thermistors reference resistor in ohms. #define THERMISTOR_REFERENCE_TEMPERATURE 298.0 ///< Thermistors reference temperature in kelvin. -#define THERMISTOR_BETA_VALUE 3380.0 ///< Thermistors beta value. +#define ONBOARD_THERMISTOR_BETA_VALUE 3380.0 ///< Onboard thermistor beta value. +#define POWER_SUPPLY_THERMISTOR_BETA_VALUE 3345.0 ///< Power supply beta value. #define CELSIUS_TO_KELVIN_CONVERSION 273.15 ///< Celsius to Kelvin temperature conversion. #define MIN_ALLOWED_TEMPERATURE 0.0 ///< Thermistors/sensors minimum allowed temperature reading. #define MAX_ALLOWED_TEMPERATURE 80.0 ///< Thermistors/sensors maximum allowed temperature reading. @@ -49,16 +50,17 @@ /// Thermistors exec states typedef enum thermistors_Exec_States { - THERMISTORS_EXEC_STATE_START_STATE = 0, ///< Thermistors exec state start state. - THERMISTORS_EXEC_STATE_GET_ADC_VALUES_STATE, ///< Thermistors exec state get ADC values state. - NUM_OF_THERMISTORS_EXEC_STATES, ///< Number of thermistors exec state. + THERMISTORS_EXEC_STATE_START_STATE = 0, ///< Thermistors exec state start state + THERMISTORS_EXEC_STATE_GET_ADC_VALUES_STATE, ///< Thermistors exec state get ADC values state + NUM_OF_THERMISTORS_EXEC_STATES, ///< Number of thermistors exec state } THERMISTORS_EXEC_STATES_T; /// Thermistor struct typedef struct { - S32 rawADCRead; ///< Thermistor raw ADC read. - OVERRIDE_F32_T temperatureValue; ///< Thermistor temperature value. + S32 rawADCRead; ///< Thermistor raw ADC read + OVERRIDE_F32_T temperatureValue; ///< Thermistor temperature value + F32 betaValue; ///< Thermistor beta value used to calculate temperature } THERMISTOR_T; static THERMISTORS_EXEC_STATES_T thermistorsExecState = THERMISTORS_EXEC_STATE_START_STATE; ///< Thermistors exec state. @@ -69,8 +71,8 @@ static U32 adcReadCounter; ///< Thermistors ADC read counter. static const F32 THERMISTOR_VOLTAGE_CONV_COEFF = THERMISTOR_REFERENCE_VOLTAGE / - (F32)TWELVE_BIT_RESOLUTION; ///< Thermistors ADC to voltage conversion coefficient. -static const F32 THERMISTOR_REF_TEMP_INV = 1 / THERMISTOR_REFERENCE_TEMPERATURE; ///< Thermistors reference inverse. + (F32)TWELVE_BIT_RESOLUTION; ///< On board thermistor ADC to voltage conversion coefficient. +static const F32 ON_BOARD_THERMISTOR_REF_TEMP_INV = 1 / THERMISTOR_REFERENCE_TEMPERATURE; ///< On board thermistor reference inverse. // ********** private function prototypes ********** @@ -79,7 +81,7 @@ static void monitorThermistors( void ); static void convertADC2Temperature( void ); -static F32 calculateThemristorTemperature( U32 adcValue ); +static F32 calculateOnBoardThemristorTemperature( U32 adcValue, F32 betaValue ); static void publishThermistorsData( void ); /*********************************************************************//** @@ -95,6 +97,11 @@ thermistorsExecState = THERMISTORS_EXEC_STATE_START_STATE; dataPublishCounter = DATA_PUBLISH_COUNTER_START_COUNT; + // Initialize the beta values of each thermistor + thermistorsStatus[ THERMISTOR_ONBOARD_NTC ].betaValue = ONBOARD_THERMISTOR_BETA_VALUE; + thermistorsStatus[ THERMISTOR_POWER_SUPPLY_1 ].betaValue = POWER_SUPPLY_THERMISTOR_BETA_VALUE; + thermistorsStatus[ THERMISTOR_POWER_SUPPLY_2 ].betaValue = POWER_SUPPLY_THERMISTOR_BETA_VALUE; + // Initialize a persistent alarm for thermistors temeprature out of range initPersistentAlarm( ALARM_ID_DG_THERMISTORS_TEMPERATURE_OUT_OF_RANGE, MAX_ALLOWED_TEMP_OUT_OF_RANGE_PERIOD, MAX_ALLOWED_TEMP_OUT_OF_RANGE_PERIOD ); } @@ -143,15 +150,6 @@ break; } - // First convert the values - convertADC2Temperature(); - - // Monitor the values for a gross range check - // Monitor is called in this function because this driver is constantly reading - // the thermistor values. Also the internal ADC values are processed with moving average in the internalADC driver - // So the thermistors drivers just gets the latest ADC value and converts it to temperature - monitorThermistors(); - // Check if it is time to publish any data publishThermistorsData(); } @@ -172,7 +170,7 @@ // Check if the thermistor of sensor is in range if ( thermistor < NUM_OF_THERMISTORS ) { - if ( OVERRIDE_KEY == thermistorsStatus[ thermistor ].temperatureValue.override ) + if ( thermistorsStatus[ thermistor ].temperatureValue.override == OVERRIDE_KEY ) { temperature = thermistorsStatus[ thermistor ].temperatureValue.ovData; } @@ -231,6 +229,12 @@ thermistorsStatus[ THERMISTOR_POWER_SUPPLY_1 ].rawADCRead = getIntADCReading( INT_ADC_POWER_SUPPLY_1_THERMISTOR ); thermistorsStatus[ THERMISTOR_POWER_SUPPLY_2 ].rawADCRead = getIntADCReading( INT_ADC_POWER_SUPPLY_2_THERMISTOR ); + // Monitor the values for a gross range check + // Monitor is called in this function because this driver is constantly reading + // the thermistor values. Also the internal ADC values are processed with moving average in the internalADC driver + // So the thermistors drivers just gets the latest ADC value and converts it to temperature + monitorThermistors(); + // Zero the counter for the next round of reading adcReadCounter = 0; } @@ -251,10 +255,13 @@ THERMISTORS_TEMP_SENSORS_T thermistor; F32 temperature; + // First convert the values + convertADC2Temperature(); + for ( thermistor = THERMISTOR_ONBOARD_NTC; thermistor < NUM_OF_THERMISTORS; thermistor++ ) { temperature = getThermistorTemperatureValue( thermistor ); - BOOL isTempOutOfRange = ( temperature > MAX_ALLOWED_TEMPERATURE ) || ( temperature < MIN_ALLOWED_TEMPERATURE ); + BOOL const isTempOutOfRange = ( temperature > MAX_ALLOWED_TEMPERATURE ) || ( temperature < MIN_ALLOWED_TEMPERATURE ); checkPersistentAlarm( ALARM_ID_DG_THERMISTORS_TEMPERATURE_OUT_OF_RANGE, isTempOutOfRange, temperature, MAX_ALLOWED_TEMPERATURE ); } @@ -264,55 +271,59 @@ * @brief * The convertADCtoTemperature function converts the ADC values of different * thermistors and temperature sensors to temperature value. - * @details Inputs: none + * @details Inputs: thermistorsStatus, fpgaBoardTempSensorConvCoeff, + * adcTempSensorsConversionCoeff1, adcTempSensorsConversionCoeff2 * @details Outputs: thermistorsStatus * @return none *************************************************************************/ static void convertADC2Temperature( void ) { THERMISTORS_TEMP_SENSORS_T thermistor; F32 temperature; - S32 rawADC; + U32 rawADC; // Loop through the list and update the temperature values for ( thermistor = THERMISTOR_ONBOARD_NTC; thermistor < NUM_OF_THERMISTORS; thermistor++ ) { - rawADC = (S32)thermistorsStatus[ thermistor ].rawADCRead; + rawADC = thermistorsStatus[ thermistor ].rawADCRead; - temperature = calculateThemristorTemperature( rawADC ); + temperature = calculateOnBoardThemristorTemperature( rawADC, thermistorsStatus[ thermistor ].betaValue ); thermistorsStatus[ thermistor ].temperatureValue.data = temperature; } } /*********************************************************************//** * @brief - * The calculateThemristorTemperature function converts the ADC value - * of thermistors into temperature in C. Below are the calculation + * The calculateOnBoardThemristorTemperature function converts the ADC value + * of the onboard thermistor into temperature in C. Below are the calculation * steps: * voltage = ADC x 3 / 2^12 * voltage = 3 x 10 / ( 10 + R(T) ) * R(T) = 10000 x e^(beta x (1/T - 1/298)) * Solve for T which is temperature in Kelvin - * @details Inputs: none + * @details Inputs: onBoardThermistorVoltageConvCoeff, + * onBoardThermistorBetaValueInv * @details Outputs: none * @param ADC value to be converted into temperature in C + * @param beta value which is used to calculate temperature from ADC * @return calculated temperature in C *************************************************************************/ -static F32 calculateThemristorTemperature( U32 adcValue ) +static F32 calculateOnBoardThemristorTemperature( U32 adcValue, F32 betaValue ) { // Voltage = ADC x 3 / 2^12 for 12 bits resolution and a 3V ADC // The value of 3 / 2^12 has been calculated in a const to prevent the division again - F32 thermistorVoltage = adcValue * THERMISTOR_VOLTAGE_CONV_COEFF; + F32 const thermistorVoltage = adcValue * THERMISTOR_VOLTAGE_CONV_COEFF; // Calculate the thermistor resistor by solving: thermistorVoltage = (3 x 10) / (10 + R(T)) - F32 thermistorResistor = ( ( THERMISTOR_REFERENCE_RESISTOR_AT_25 * THERMISTOR_REFERENCE_VOLTAGE ) - - ( THERMISTOR_REFERENCE_RESISTOR_AT_25 * thermistorVoltage ) ) / thermistorVoltage; + F32 const thermistorResistor = ( ( THERMISTOR_REFERENCE_RESISTOR_AT_25 * THERMISTOR_REFERENCE_VOLTAGE ) - + ( THERMISTOR_REFERENCE_RESISTOR_AT_25 * thermistorVoltage ) ) / thermistorVoltage; // 1/T = Ln(thermistorResistor/10000)/3380 + 1/298 - F32 invTemperature = ( logf( thermistorResistor / THERMISTOR_REFERENCE_RESISTOR_AT_25 ) / THERMISTOR_BETA_VALUE ) + THERMISTOR_REF_TEMP_INV; + F32 const invTemperature = ( logf( thermistorResistor / THERMISTOR_REFERENCE_RESISTOR_AT_25 ) / betaValue ) + + ON_BOARD_THERMISTOR_REF_TEMP_INV; // Inverse the value to get the temperature in Kelvin and then convert it to Celsius - F32 temperature = ( 1 / invTemperature ) - CELSIUS_TO_KELVIN_CONVERSION; + F32 const temperature = ( 1 / invTemperature ) - CELSIUS_TO_KELVIN_CONVERSION; return temperature; } @@ -412,11 +423,11 @@ { BOOL result = FALSE; - if ( ( thermistor < NUM_OF_THERMISTORS ) && ( TRUE == isTestingActivated() ) ) + if ( thermistor < NUM_OF_THERMISTORS && isTestingActivated() ) { // There is a temperature range that the thermistors can be set to, otherwise, the driver // will throw an alarm. Also, the fans driver depends on these values to continuously control the fans - if ( ( temperature >= MIN_ALLOWED_TEMPERATURE ) && ( temperature < MAX_ALLOWED_TEMPERATURE ) ) + if ( temperature >= MIN_ALLOWED_TEMPERATURE && temperature < MAX_ALLOWED_TEMPERATURE ) { result = TRUE; thermistorsStatus[ thermistor ].temperatureValue.ovData = temperature; @@ -440,7 +451,7 @@ { BOOL result = FALSE; - if ( TRUE == isTestingActivated() ) + if ( isTestingActivated() ) { if ( thermistor < NUM_OF_THERMISTORS ) { Index: firmware/App/Modes/OperationModes.c =================================================================== diff -u -r986abcfcf047822cad1a10c1ee0924a80dd5f512 -re7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba --- firmware/App/Modes/OperationModes.c (.../OperationModes.c) (revision 986abcfcf047822cad1a10c1ee0924a80dd5f512) +++ firmware/App/Modes/OperationModes.c (.../OperationModes.c) (revision e7dd4d4f0d9cbb0d8e7abb994a16f0389251e4ba) @@ -128,7 +128,6 @@ void execOperationModes( void ) { DG_OP_MODE_T newMode; - U32 priorSubMode = currentSubMode; priorSubMode = currentSubMode; @@ -147,7 +146,6 @@ if ( currentMode != newMode ) { // handle transition to new mode - priorSubMode = 0; lastMode = currentMode; transitionToNewOperationMode( newMode ); currentMode = newMode;