Index: firmware/App/Controllers/BloodFlow.c =================================================================== diff -u -r206e45dff167966b800a628d1708f74e597f1772 -r3aed94a6a0af49bed46f25c900f74e98997ac2e7 --- firmware/App/Controllers/BloodFlow.c (.../BloodFlow.c) (revision 206e45dff167966b800a628d1708f74e597f1772) +++ firmware/App/Controllers/BloodFlow.c (.../BloodFlow.c) (revision 3aed94a6a0af49bed46f25c900f74e98997ac2e7) @@ -14,85 +14,84 @@ * @date (original) 07-Nov-2019 * ***************************************************************************/ - -#include // Used for fabs() and pow() functions - -#include "can.h" -#include "etpwm.h" - + +#include // Used for fabs() and pow() functions + +#include "can.h" +#include "etpwm.h" + #include "BloodFlow.h" -#include "FPGA.h" +#include "FPGA.h" #include "InternalADC.h" -#include "NVDataMgmt.h" -#include "OperationModes.h" +#include "NVDataMgmt.h" +#include "OperationModes.h" #include "PersistentAlarm.h" #include "PIControllers.h" -#include "SafetyShutdown.h" -#include "SystemCommMessages.h" -#include "TaskGeneral.h" -#include "TaskPriority.h" +#include "SafetyShutdown.h" +#include "SystemCommMessages.h" +#include "TaskGeneral.h" +#include "TaskPriority.h" #include "Timers.h" -#include "Utilities.h" - -/** - * @addtogroup BloodFlow - * @{ - */ - -// ********** private definitions ********** +#include "Utilities.h" -/// Interval (ms/task time) at which the blood flow data is published on the CAN bus. -#define BLOOD_FLOW_DATA_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) - -#define MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE 0.008F ///< Max duty cycle change when ramping up ~ 100 mL/min/s. -#define MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE 0.016F ///< Max duty cycle change when ramping down ~ 200 mL/min/s. -#define MAX_BLOOD_PUMP_PWM_DUTY_CYCLE 0.89F ///< Controller will error if PWM duty cycle > 90%, so set max to 89% -#define MIN_BLOOD_PUMP_PWM_DUTY_CYCLE 0.10F ///< Controller will error if PWM duty cycle < 10%, so set min to 10% +/** + * @addtogroup BloodFlow + * @{ + */ +// ********** private definitions ********** + +/// Interval (ms/task time) at which the blood flow data is published on the CAN bus. +#define BLOOD_FLOW_DATA_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) + +#define MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE 0.008F ///< Max duty cycle change when ramping up ~ 100 mL/min/s. +#define MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE 0.016F ///< Max duty cycle change when ramping down ~ 200 mL/min/s. +#define MAX_BLOOD_PUMP_PWM_DUTY_CYCLE 0.89F ///< Controller will error if PWM duty cycle > 90%, so set max to 89% +#define MIN_BLOOD_PUMP_PWM_DUTY_CYCLE 0.10F ///< Controller will error if PWM duty cycle < 10%, so set min to 10% + #define BP_CONTROL_INTERVAL_SEC 10 ///< Blood pump control interval (in seconds). -/// Interval (ms/task time) at which the blood pump is controlled. +/// Interval (ms/task time) at which the blood pump is controlled. static const U32 BP_CONTROL_INTERVAL = ( BP_CONTROL_INTERVAL_SEC * MS_PER_SECOND / TASK_GENERAL_INTERVAL ); - -#define BP_P_COEFFICIENT 0.0001F ///< P term for blood pump control -#define BP_I_COEFFICIENT 0.00075F ///< I term for blood pump control - -#define BP_HOME_RATE 100 ///< Target pump speed (in estimate mL/min) for homing. + +#define BP_P_COEFFICIENT 0.0001F ///< P term for blood pump control +#define BP_I_COEFFICIENT 0.00075F ///< I term for blood pump control + +#define BP_HOME_RATE 100 ///< Target pump speed (in estimate mL/min) for homing. #define BP_HOME_TIMEOUT_MS 10000 ///< Maximum time (in ms) allowed for homing to complete. #define BP_MAX_ROTOR_HALL_INTERVAL_MS 20000 ///< Maximum time (in ms) allowed between rotor hall sensor detects (50 mL/min worst case). - + /// Interval (ms/task time) at which the blood pump speed is calculated (every 40 ms). #define BP_SPEED_CALC_INTERVAL ( 40 / TASK_PRIORITY_INTERVAL ) - + /// Number of hall sensor counts kept in buffer to hold last 1 second of count data. #define BP_SPEED_CALC_BUFFER_LEN ( MS_PER_SECOND / BP_SPEED_CALC_INTERVAL / TASK_PRIORITY_INTERVAL ) -#define BP_MAX_ROTOR_SPEED_RPM 100.0F ///< Maximum rotor speed allowed for blood pump. +#define BP_MAX_ROTOR_SPEED_RPM 100.0F ///< Maximum rotor speed allowed for blood pump. #define BP_MAX_FLOW_RATE 1320.0F ///< Maximum measured BP flow rate allowed. -#define BP_MIN_FLOW_RATE -1320.0F ///< Minimum measured BP flow rate allowed. -#define BP_MAX_MOTOR_SPEED_WHILE_OFF_RPM 100.0F ///< Maximum motor speed (RPM) while motor is commanded off. -#define BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM 5.0F ///< Maximum difference in speed between motor and rotor (in rotor RPM). +#define BP_MIN_FLOW_RATE -1320.0F ///< Minimum measured BP flow rate allowed. +#define BP_MAX_MOTOR_SPEED_WHILE_OFF_RPM 100.0F ///< Maximum motor speed (RPM) while motor is commanded off. +#define BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM 5.0F ///< Maximum difference in speed between motor and rotor (in rotor RPM). #define BP_MAX_MOTOR_SPEED_ERROR_RPM 300.0F ///< Maximum difference in speed between measured and commanded RPM. -#define BP_MAX_FLOW_VS_SPEED_DIFF_RPM 200.0F ///< Maximum difference between measured speed and speed implied by measured flow. -/// Persist time (task intervals) for motor off error condition. +/// Persist time (task intervals) for motor off error condition. static const U32 BP_OFF_ERROR_PERSIST = ( 5 * MS_PER_SECOND ); -/// Persist time (task intervals) motor speed error condition. +/// Persist time (task intervals) motor speed error condition. static const U32 BP_MOTOR_SPEED_ERROR_PERSIST = ( 5 * MS_PER_SECOND ); -/// Persist time (task intervals) rotor speed error condition. +/// Persist time (task intervals) rotor speed error condition. static const U32 BP_ROTOR_SPEED_ERROR_PERSIST = ( 22 * MS_PER_SECOND ); /// Persist time (task intervals) pump direction error condition. static const U32 BP_DIRECTION_ERROR_PERSIST = ( 250 ); /// Persist time period blood pump rotor speed too fast error condition. -static const U32 BP_MAX_ROTOR_SPEED_ERROR_PERSIST = ( 1 * MS_PER_SECOND ); +static const U32 BP_MAX_ROTOR_SPEED_ERROR_PERSIST = ( 1 * MS_PER_SECOND ); /// Persist time (task intervals) blood flow rate out of range error condition. static const U32 BP_MAX_FLOW_RATE_OUT_OF_RANGE_PERSIST = (1 * MS_PER_SECOND); - -#define BP_MAX_CURR_WHEN_STOPPED_MA 150.0F ///< Motor controller current should not exceed this when pump should be stopped. -#define BP_MAX_CURR_WHEN_RUNNING_MA 2000.0F ///< Motor controller current should not exceed this when pump should be running. -#define BP_MAX_CURR_ERROR_DURATION_MS 2000 ///< Motor controller current errors persisting beyond this duration will trigger an alarm. +#define BP_MAX_CURR_WHEN_STOPPED_MA 150.0F ///< Motor controller current should not exceed this when pump should be stopped. +#define BP_MAX_CURR_WHEN_RUNNING_MA 2000.0F ///< Motor controller current should not exceed this when pump should be running. +#define BP_MAX_CURR_ERROR_DURATION_MS 2000 ///< Motor controller current errors persisting beyond this duration will trigger an alarm. + #define BLOODPUMP_ADC_FULL_SCALE_V 3.0F ///< BP analog signals are 0-3V (while int. ADC ref may be different). #define BLOODPUMP_ADC_ZERO 1998 ///< Blood pump ADC channel zero offset. @@ -101,20 +100,20 @@ #define BP_SPEED_ADC_TO_RPM_FACTOR 1.751752F ///< Conversion factor from ADC counts to RPM for blood pump motor (3500 RPM/1998 counts). #define BP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.000238F ///< ~42 BP motor RPM = 1% PWM duty cycle. -#define BP_CURRENT_ADC_TO_MA_FACTOR 3.002F ///< Conversion factor from ADC counts to mA for blood pump motor. - +#define BP_CURRENT_ADC_TO_MA_FACTOR 3.002F ///< Conversion factor from ADC counts to mA for blood pump motor. + #define BP_REV_PER_LITER 146.84F ///< Rotor revolutions per liter. -#define BP_ML_PER_ROTOR_REV 6.81F ///< Milliliters per rotor revolusion. -#define BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR ( BP_REV_PER_LITER / ML_PER_LITER ) ///< Conversion factor from mL/min to motor RPM. -#define BP_GEAR_RATIO 32.0F ///< Blood pump motor to blood pump gear ratio. +#define BP_ML_PER_ROTOR_REV 6.81F ///< Milliliters per rotor revolusion. +#define BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR ( BP_REV_PER_LITER / ML_PER_LITER ) ///< Conversion factor from mL/min to motor RPM. +#define BP_GEAR_RATIO 32.0F ///< Blood pump motor to blood pump gear ratio. #define BP_PWM_ZERO_OFFSET 0.1F ///< 10 pct PWM duty cycle = zero speed. - + /// Conversion macro from mL/min to estimated PWM duty cycle %. #define BP_PWM_FROM_ML_PER_MIN(rate) ( (rate) * BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * BP_GEAR_RATIO * BP_MOTOR_RPM_TO_PWM_DC_FACTOR + BP_PWM_ZERO_OFFSET ) /// Conversion from PWM duty cycle % to commanded pump motor speed. -#define BP_PWM_TO_MOTOR_SPEED_RPM(pwm) ( ((pwm) - BP_PWM_ZERO_OFFSET) * 4000.0F ) - -/// Measured blood flow is filtered w/ moving average. +#define BP_PWM_TO_MOTOR_SPEED_RPM(pwm) ( ((pwm) - BP_PWM_ZERO_OFFSET) * 4000.0F ) + +/// Measured blood flow is filtered w/ moving average. #define SIZE_OF_ROLLING_AVG ( ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) * 1 ) #define PUMP_DIR_ERROR_COUNT_MASK 0x3F ///< Bit mask for pump direction error counter. @@ -124,115 +123,115 @@ #define BP_FLOW_WEAR_B_TERM 0.000745F ///< B term used for wear portion of alpha flow coefficient. #define BP_MAX_ROTOR_COUNT_FOR_WEAR 25000 ///< Maximum rotor count for determining wear of the cartridge (negligible affect beyond this threshold). #define DATA_PUBLISH_COUNTER_START_COUNT 20 ///< Data publish counter start count. - -/// Enumeration of blood pump controller states. -typedef enum BloodPump_States -{ - BLOOD_PUMP_OFF_STATE = 0, ///< Blood pump off state - BLOOD_PUMP_RAMPING_UP_STATE, ///< Blood pump ramping up state - BLOOD_PUMP_RAMPING_DOWN_STATE, ///< Blood pump ramping down state - BLOOD_PUMP_CONTROL_TO_TARGET_STATE, ///< Blood pump controlling to target state - NUM_OF_BLOOD_PUMP_STATES ///< Number of blood pump states -} BLOOD_PUMP_STATE_T; - -/// Enumeration of blood pump self-test states. -typedef enum BloodFlow_Self_Test_States -{ - BLOOD_FLOW_SELF_TEST_STATE_START = 0, ///< Blood pump self-test start state - BLOOD_FLOW_TEST_STATE_IN_PROGRESS, ///< Blood pump self-test in progress state - BLOOD_FLOW_TEST_STATE_COMPLETE, ///< Blood pump self-test completed state - NUM_OF_BLOOD_FLOW_SELF_TEST_STATES ///< Number of blood pump self-test states -} BLOOD_FLOW_SELF_TEST_STATE_T; - -// Pin assignments for pump stop and direction outputs -#define STOP_CAN3_PORT_MASK 0x00000002 // (Tx - re-purposed as output GPIO for blood pump stop signal) -#define DIR_CAN3_PORT_MASK 0x00000002 // (Rx - re-purposed as output GPIO for blood pump direction signal) -// Blood pump stop and direction macros -#define SET_BP_DIR() {canREG3->RIOC |= DIR_CAN3_PORT_MASK;} // Macro to set blood pump direction signal high. -#define CLR_BP_DIR() {canREG3->RIOC &= ~DIR_CAN3_PORT_MASK;} // Macro to set blood pump direction signal low. -#define SET_BP_STOP() {canREG3->TIOC &= ~STOP_CAN3_PORT_MASK;} // Macro to set blood pump stop signal (active low). -#define CLR_BP_STOP() {canREG3->TIOC |= STOP_CAN3_PORT_MASK;} // Macro to clear blood pump stop signal (active low). - -// ********** private data ********** - -static BLOOD_PUMP_STATE_T bloodPumpState = BLOOD_PUMP_OFF_STATE; ///< Current state of blood flow controller state machine -static U32 bloodFlowDataPublicationTimerCounter; ///< Used to schedule blood flow data publication to CAN bus -static BOOL isBloodPumpOn = FALSE; ///< Blood pump is currently running -static F32 bloodPumpPWMDutyCyclePct = 0.0; ///< Initial blood pump PWM duty cycle -static F32 bloodPumpPWMDutyCyclePctSet = 0.0; ///< Currently set blood pump PWM duty cycle -static MOTOR_DIR_T bloodPumpDirection = MOTOR_DIR_FORWARD; ///< Requested blood flow direction -static MOTOR_DIR_T bloodPumpDirectionSet = MOTOR_DIR_FORWARD; ///< Currently set blood flow direction -static PUMP_CONTROL_MODE_T bloodPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< Requested blood pump control mode. + +/// Enumeration of blood pump controller states. +typedef enum BloodPump_States +{ + BLOOD_PUMP_OFF_STATE = 0, ///< Blood pump off state + BLOOD_PUMP_RAMPING_UP_STATE, ///< Blood pump ramping up state + BLOOD_PUMP_RAMPING_DOWN_STATE, ///< Blood pump ramping down state + BLOOD_PUMP_CONTROL_TO_TARGET_STATE, ///< Blood pump controlling to target state + NUM_OF_BLOOD_PUMP_STATES ///< Number of blood pump states +} BLOOD_PUMP_STATE_T; + +/// Enumeration of blood pump self-test states. +typedef enum BloodFlow_Self_Test_States +{ + BLOOD_FLOW_SELF_TEST_STATE_START = 0, ///< Blood pump self-test start state + BLOOD_FLOW_TEST_STATE_IN_PROGRESS, ///< Blood pump self-test in progress state + BLOOD_FLOW_TEST_STATE_COMPLETE, ///< Blood pump self-test completed state + NUM_OF_BLOOD_FLOW_SELF_TEST_STATES ///< Number of blood pump self-test states +} BLOOD_FLOW_SELF_TEST_STATE_T; + +// Pin assignments for pump stop and direction outputs +#define STOP_CAN3_PORT_MASK 0x00000002 // (Tx - re-purposed as output GPIO for blood pump stop signal) +#define DIR_CAN3_PORT_MASK 0x00000002 // (Rx - re-purposed as output GPIO for blood pump direction signal) +// Blood pump stop and direction macros +#define SET_BP_DIR() {canREG3->RIOC |= DIR_CAN3_PORT_MASK;} // Macro to set blood pump direction signal high. +#define CLR_BP_DIR() {canREG3->RIOC &= ~DIR_CAN3_PORT_MASK;} // Macro to set blood pump direction signal low. +#define SET_BP_STOP() {canREG3->TIOC &= ~STOP_CAN3_PORT_MASK;} // Macro to set blood pump stop signal (active low). +#define CLR_BP_STOP() {canREG3->TIOC |= STOP_CAN3_PORT_MASK;} // Macro to clear blood pump stop signal (active low). + +// ********** private data ********** + +static BLOOD_PUMP_STATE_T bloodPumpState = BLOOD_PUMP_OFF_STATE; ///< Current state of blood flow controller state machine +static U32 bloodFlowDataPublicationTimerCounter; ///< Used to schedule blood flow data publication to CAN bus +static BOOL isBloodPumpOn = FALSE; ///< Blood pump is currently running +static F32 bloodPumpPWMDutyCyclePct = 0.0; ///< Initial blood pump PWM duty cycle +static F32 bloodPumpPWMDutyCyclePctSet = 0.0; ///< Currently set blood pump PWM duty cycle +static MOTOR_DIR_T bloodPumpDirection = MOTOR_DIR_FORWARD; ///< Requested blood flow direction +static MOTOR_DIR_T bloodPumpDirectionSet = MOTOR_DIR_FORWARD; ///< Currently set blood flow direction +static PUMP_CONTROL_MODE_T bloodPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< Requested blood pump control mode. static PUMP_CONTROL_MODE_T bloodPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< Currently set blood pump control mode. - + /// Interval (in task intervals) at which to publish blood flow data to CAN bus. -static OVERRIDE_U32_T bloodFlowDataPublishInterval = { BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, 0 }; -static S32 targetBloodFlowRate = 0; ///< Requested blood flow rate. -static OVERRIDE_F32_T measuredBloodFlowRate = { 0.0, 0.0, 0.0, 0 }; ///< Measured (calculated now) blood flow rate. -static OVERRIDE_F32_T bloodPumpRotorSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< Measured blood pump rotor speed. -static OVERRIDE_F32_T bloodPumpSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< Measured blood pump motor speed. -static OVERRIDE_F32_T adcBloodPumpMCSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< Measured blood pump motor controller speed. +static OVERRIDE_U32_T bloodFlowDataPublishInterval = { BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, 0 }; +static S32 targetBloodFlowRate = 0; ///< Requested blood flow rate. +static OVERRIDE_F32_T measuredBloodFlowRate = { 0.0, 0.0, 0.0, 0 }; ///< Measured (calculated now) blood flow rate. +static OVERRIDE_F32_T bloodPumpRotorSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< Measured blood pump rotor speed. +static OVERRIDE_F32_T bloodPumpSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< Measured blood pump motor speed. +static OVERRIDE_F32_T adcBloodPumpMCSpeedRPM = { 0.0, 0.0, 0.0, 0 }; ///< Measured blood pump motor controller speed. static OVERRIDE_F32_T adcBloodPumpMCCurrentmA = { 0.0, 0.0, 0.0, 0 }; ///< Measured blood pump motor controller current. - + static U08 lastBloodPumpDirectionCount = 0; ///< Previous pump direction error count reported by FPGA. - + static F32 rpmReadings[ SIZE_OF_ROLLING_AVG ]; ///< Holds RPM samples for a rolling average. static U32 rpmReadingsIdx = 0; ///< Index for next sample in rolling average array. static F32 rpmReadingsTotal = 0.0; ///< Rolling total - used to calc average. static U32 rpmReadingsCount = 0; ///< Number of samples in RPM rolling average buffer. static F32 filteredBloodPumpSpeed = 0.0; ///< Filtered blood pump speed used in blood flow estimation. -static U32 bpControlTimerCounter = 0; ///< Determines when to perform control on blood flow - +static U32 bpControlTimerCounter = 0; ///< Determines when to perform control on blood flow + static U32 bpRotorRevStartTime = 0; ///< Blood pump rotor rotation start time (in ms) -static OVERRIDE_U32_T bloodPumpRotorCounter = { 0, 0, 0, 0 }; ///< Running counter for blood pump rotor revolutions -static BOOL bpStopAtHomePosition = FALSE; ///< Stop blood pump at next home position -static U32 bpHomeStartTime = 0; ///< When did blood pump home command begin? (in ms) - +static OVERRIDE_U32_T bloodPumpRotorCounter = { 0, 0, 0, 0 }; ///< Running counter for blood pump rotor revolutions +static BOOL bpStopAtHomePosition = FALSE; ///< Stop blood pump at next home position +static U32 bpHomeStartTime = 0; ///< When did blood pump home command begin? (in ms) + static U32 bloodPumpMotorEdgeCount = 0; ///< Running counter for blood pump motor revolutions -static U16 bpLastMotorHallSensorCounts[ BP_SPEED_CALC_BUFFER_LEN ]; ///< Last hall sensor readings for the blood pump motor +static U16 bpLastMotorHallSensorCounts[ BP_SPEED_CALC_BUFFER_LEN ]; ///< Last hall sensor readings for the blood pump motor static U32 bpMotorSpeedCalcIdx = 0; ///< Index into 1 second buffer of motor speed hall sensor counts static U32 bpMotorSpeedCalcTimerCtr = 0; ///< Counter determines interval for calculating blood pump motor speed from hall sensor count. static HD_PUMPS_CAL_RECORD_T bloodPumpCalRecord; ///< Blood pump calibration record. - -// ********** private function prototypes ********** - -static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void ); -static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void ); -static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void ); -static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void ); -static void setBloodPumpControlSignalPWM( F32 newPWM ); -static void stopBloodPump( void ); -static void releaseBloodPumpStop( void ); -static void setBloodPumpDirection( MOTOR_DIR_T dir ); -static void publishBloodFlowData( void ); -static void updateBloodPumpSpeedAndDirectionFromHallSensors( void ); -static void checkBloodPumpRotor( void ); -static void checkBloodPumpDirection( void ); -static void checkBloodPumpSpeeds( void ); + +// ********** private function prototypes ********** + +static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void ); +static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void ); +static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void ); +static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void ); +static void setBloodPumpControlSignalPWM( F32 newPWM ); +static void stopBloodPump( void ); +static void releaseBloodPumpStop( void ); +static void setBloodPumpDirection( MOTOR_DIR_T dir ); +static void publishBloodFlowData( void ); +static void updateBloodPumpSpeedAndDirectionFromHallSensors( void ); +static void checkBloodPumpRotor( void ); +static void checkBloodPumpDirection( void ); +static void checkBloodPumpSpeeds( void ); static void checkBloodPumpMCCurrent( void ); static void checkBloodPumpFlowRate( void ); static F32 calcBloodFlow( void ); static void resetBloodPumpRPMMovingAverage( void ); static void filterBloodPumpRPMReadings( F32 rpm ); -/*********************************************************************//** - * @brief - * The initBloodFlow function initializes the BloodFlow module. - * @details Inputs: none - * @details Outputs: bloodFlowDataPublicationTimerCounter - * @return none - *************************************************************************/ -void initBloodFlow( void ) +/*********************************************************************//** + * @brief + * The initBloodFlow function initializes the BloodFlow module. + * @details Inputs: none + * @details Outputs: bloodFlowDataPublicationTimerCounter + * @return none + *************************************************************************/ +void initBloodFlow( void ) { U32 i; bloodFlowDataPublicationTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT; - - signalBloodPumpHardStop(); - setBloodPumpDirection( MOTOR_DIR_FORWARD ); - + + signalBloodPumpHardStop(); + setBloodPumpDirection( MOTOR_DIR_FORWARD ); + // Zero rolling pump speed average buffer resetBloodPumpRPMMovingAverage(); @@ -241,41 +240,42 @@ for ( i = 0; i < BP_SPEED_CALC_BUFFER_LEN; i++ ) { bpLastMotorHallSensorCounts[ i ] = getFPGABloodPumpHallSensorCount(); - } + } resetBloodPumpRotorCount(); - // Initialize blood flow PI controller - initializePIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, - BP_P_COEFFICIENT, BP_I_COEFFICIENT, + // Initialize blood flow PI controller + initializePIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, + BP_P_COEFFICIENT, BP_I_COEFFICIENT, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, MAX_BLOOD_PUMP_PWM_DUTY_CYCLE ); // Initialize persistent alarm for flow sensor initPersistentAlarm( ALARM_ID_BLOOD_PUMP_OFF_CHECK, 0, BP_OFF_ERROR_PERSIST ); initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK, 0, BP_MOTOR_SPEED_ERROR_PERSIST ); initPersistentAlarm( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, 0, BP_ROTOR_SPEED_ERROR_PERSIST ); initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK, 0, BP_DIRECTION_ERROR_PERSIST ); + initPersistentAlarm( ALARM_ID_HD_PUMP_DIRECTION_STATUS_ERROR, 0, BP_DIRECTION_ERROR_PERSIST ); initPersistentAlarm( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH, 0, BP_MAX_ROTOR_SPEED_ERROR_PERSIST ); initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, 0, BP_MAX_CURR_ERROR_DURATION_MS ); initPersistentAlarm( ALARM_ID_HD_BLOOD_FLOW_OUT_OF_RANGE, 0, BP_MAX_FLOW_RATE_OUT_OF_RANGE_PERSIST ); -} - -/*********************************************************************//** - * @brief - * The setBloodPumpTargetFlowRate function sets a new target flow rate and - * pump direction. - * @details Inputs: isBloodPumpOn, bloodPumpDirectionSet - * @details Outputs: targetBloodFlowRate, bloodPumpdirection, bloodPumpPWMDutyCyclePct - * @param flowRate new target blood flow rate - * @param dir new blood flow direction - * @param mode new control mode - * @return TRUE if new flow rate & dir are set, FALSE if not - *************************************************************************/ -BOOL setBloodPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode ) -{ - BOOL result = FALSE; - - // Direction change while pump is running is not allowed - if ( ( FALSE == isBloodPumpOn ) || ( 0 == flowRate ) || ( dir == bloodPumpDirectionSet ) ) +} + +/*********************************************************************//** + * @brief + * The setBloodPumpTargetFlowRate function sets a new target flow rate and + * pump direction. + * @details Inputs: isBloodPumpOn, bloodPumpDirectionSet + * @details Outputs: targetBloodFlowRate, bloodPumpdirection, bloodPumpPWMDutyCyclePct + * @param flowRate new target blood flow rate + * @param dir new blood flow direction + * @param mode new control mode + * @return TRUE if new flow rate & dir are set, FALSE if not + *************************************************************************/ +BOOL setBloodPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode ) +{ + BOOL result = FALSE; + + // Direction change while pump is running is not allowed + if ( ( FALSE == isBloodPumpOn ) || ( 0 == flowRate ) || ( dir == bloodPumpDirectionSet ) ) { S32 dirFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 ); @@ -289,66 +289,66 @@ { isFlowInrange = TRUE; } -#endif - // Verify flow rate of if the bypass flow limit has been enabled +#endif + // Verify flow rate of if the bypass flow limit has been enabled if ( TRUE == isFlowInrange ) - { + { resetBloodPumpRPMMovingAverage(); - targetBloodFlowRate = dirFlowRate; - bloodPumpDirection = dir; - bloodPumpControlMode = mode; - // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed - bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate); // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%) - - switch ( bloodPumpState ) - { - case BLOOD_PUMP_RAMPING_UP_STATE: // See if we need to reverse direction of ramp - if ( bloodPumpPWMDutyCyclePct < bloodPumpPWMDutyCyclePctSet ) - { - bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE; - } + targetBloodFlowRate = dirFlowRate; + bloodPumpDirection = dir; + bloodPumpControlMode = mode; + // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed + bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate); // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%) + + switch ( bloodPumpState ) + { + case BLOOD_PUMP_RAMPING_UP_STATE: // See if we need to reverse direction of ramp + if ( bloodPumpPWMDutyCyclePct < bloodPumpPWMDutyCyclePctSet ) + { + bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE; + } break; - - case BLOOD_PUMP_RAMPING_DOWN_STATE: // See if we need to reverse direction of ramp - if ( bloodPumpPWMDutyCyclePct > bloodPumpPWMDutyCyclePctSet ) - { - bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE; - } + + case BLOOD_PUMP_RAMPING_DOWN_STATE: // See if we need to reverse direction of ramp + if ( bloodPumpPWMDutyCyclePct > bloodPumpPWMDutyCyclePctSet ) + { + bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE; + } break; - - case BLOOD_PUMP_CONTROL_TO_TARGET_STATE: // Start ramp to new target in appropriate direction - if ( bloodPumpPWMDutyCyclePctSet > bloodPumpPWMDutyCyclePct ) - { - bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE; - } - else - { - bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE; - } + + case BLOOD_PUMP_CONTROL_TO_TARGET_STATE: // Start ramp to new target in appropriate direction + if ( bloodPumpPWMDutyCyclePctSet > bloodPumpPWMDutyCyclePct ) + { + bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE; + } + else + { + bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE; + } break; - - default: - // Ok - not all states need to be handled here - break; - } - result = TRUE; - } - else // Requested flow rate too high + default: + // Ok - not all states need to be handled here + break; + } + result = TRUE; + } + + else // Requested flow rate too high { #ifndef _RELEASE_ if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMPS_FLOW_LIMITS ) != SW_CONFIG_ENABLE_VALUE ) #endif - { + { SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate ) - } + } } - } - } - - return result; -} - + } + } + + return result; +} + /*********************************************************************//** * @brief * The calcBloodFlow function calculates an estimated blood flow rate from @@ -376,75 +376,75 @@ return flow; } -/*********************************************************************//** - * @brief - * The signalBloodPumpHardStop function stops the blood pump immediately. - * @details Inputs: none - * @details Outputs: Blood pump stopped, set point reset, state changed to off - * @return none - *************************************************************************/ -void signalBloodPumpHardStop( void ) -{ - targetBloodFlowRate = 0; - stopBloodPump(); - bloodPumpState = BLOOD_PUMP_OFF_STATE; - bloodPumpPWMDutyCyclePct = BP_PWM_ZERO_OFFSET; - bpControlTimerCounter = 0; - resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE ); -} - -/*********************************************************************//** - * @brief - * The signalBloodPumpRotorHallSensor function handles the blood pump rotor - * hall sensor detection. Calculates rotor speed (in RPM). Stops pump if - * there is a pending request to home the pump. - * @details Inputs: bpRotorRevStartTime, bpStopAtHomePosition - * @details Outputs: bpRotorRevStartTime, bloodPumpRotorSpeedRPM, bloodPumpRotorCounter - * @return none - *************************************************************************/ -void signalBloodPumpRotorHallSensor( void ) -{ - U32 rotTime = getMSTimerCount(); +/*********************************************************************//** + * @brief + * The signalBloodPumpHardStop function stops the blood pump immediately. + * @details Inputs: none + * @details Outputs: Blood pump stopped, set point reset, state changed to off + * @return none + *************************************************************************/ +void signalBloodPumpHardStop( void ) +{ + targetBloodFlowRate = 0; + stopBloodPump(); + bloodPumpState = BLOOD_PUMP_OFF_STATE; + bloodPumpPWMDutyCyclePct = BP_PWM_ZERO_OFFSET; + bpControlTimerCounter = 0; + resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE ); +} + +/*********************************************************************//** + * @brief + * The signalBloodPumpRotorHallSensor function handles the blood pump rotor + * hall sensor detection. Calculates rotor speed (in RPM). Stops pump if + * there is a pending request to home the pump. + * @details Inputs: bpRotorRevStartTime, bpStopAtHomePosition + * @details Outputs: bpRotorRevStartTime, bloodPumpRotorSpeedRPM, bloodPumpRotorCounter + * @return none + *************************************************************************/ +void signalBloodPumpRotorHallSensor( void ) +{ + U32 rotTime = getMSTimerCount(); U32 deltaTime = calcTimeBetween( bpRotorRevStartTime, rotTime ); // Increment rotor counter - bloodPumpRotorCounter.data++; - - // Calculate rotor speed (in RPM) - bloodPumpRotorSpeedRPM.data = ( 1.0 / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN; - bpRotorRevStartTime = rotTime; - - // If we are supposed to stop pump at home position, stop pump now. - if ( TRUE == bpStopAtHomePosition ) - { - signalBloodPumpHardStop(); - bpStopAtHomePosition = FALSE; - } -} - -/*********************************************************************//** - * @brief - * The homeBloodPump function initiates a blood pump home operation. - * @details Inputs: bloodPumpState - * @details Outputs: bpStopAtHomePosition, bpHomeStartTime, blood pump started (slow) - * @return none - *************************************************************************/ -BOOL homeBloodPump( void ) -{ - BOOL result = FALSE; - - if ( BLOOD_PUMP_OFF_STATE == bloodPumpState ) - { - bpStopAtHomePosition = TRUE; - bpHomeStartTime = getMSTimerCount(); - result = setBloodPumpTargetFlowRate( BP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); - } - - return result; + bloodPumpRotorCounter.data++; + + // Calculate rotor speed (in RPM) + bloodPumpRotorSpeedRPM.data = ( 1.0 / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN; + bpRotorRevStartTime = rotTime; + + // If we are supposed to stop pump at home position, stop pump now. + if ( TRUE == bpStopAtHomePosition ) + { + signalBloodPumpHardStop(); + bpStopAtHomePosition = FALSE; + } } /*********************************************************************//** * @brief + * The homeBloodPump function initiates a blood pump home operation. + * @details Inputs: bloodPumpState + * @details Outputs: bpStopAtHomePosition, bpHomeStartTime, blood pump started (slow) + * @return none + *************************************************************************/ +BOOL homeBloodPump( void ) +{ + BOOL result = FALSE; + + if ( BLOOD_PUMP_OFF_STATE == bloodPumpState ) + { + bpStopAtHomePosition = TRUE; + bpHomeStartTime = getMSTimerCount(); + result = setBloodPumpTargetFlowRate( BP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + } + + return result; +} + +/*********************************************************************//** + * @brief * The getBloodPumpMotorCount function returns the current count for the * blood pump motor revolution counter. * @details Inputs: bloodPumpMotorCount @@ -525,297 +525,297 @@ { bloodPumpRotorCounter.data = BP_MAX_ROTOR_COUNT_FOR_WEAR; } -} - -/*********************************************************************//** - * @brief - * The execBloodFlowMonitor function executes the blood flow monitor. - * @details Inputs: none +} + +/*********************************************************************//** + * @brief + * The execBloodFlowMonitor function executes the blood flow monitor. + * @details Inputs: none * @details Outputs: measuredBloodFlowRate, adcBloodPumpMCSpeedRPM, - * adcBloodPumpMCCurrentmA - * @return none - *************************************************************************/ -void execBloodFlowMonitor( void ) + * adcBloodPumpMCCurrentmA + * @return none + *************************************************************************/ +void execBloodFlowMonitor( void ) { - HD_OP_MODE_T opMode = getCurrentOperationMode(); - U16 bpRPM = getIntADCReading( INT_ADC_BLOOD_PUMP_SPEED ); + HD_OP_MODE_T opMode = getCurrentOperationMode(); + U16 bpRPM = getIntADCReading( INT_ADC_BLOOD_PUMP_SPEED ); U16 bpmA = getIntADCReading( INT_ADC_BLOOD_PUMP_MOTOR_CURRENT ); - adcBloodPumpMCSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpRPM)) * BP_SPEED_ADC_TO_RPM_FACTOR; + adcBloodPumpMCSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpRPM)) * BP_SPEED_ADC_TO_RPM_FACTOR; adcBloodPumpMCCurrentmA.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpmA)) * BP_CURRENT_ADC_TO_MA_FACTOR; - + filterBloodPumpRPMReadings( getMeasuredBloodPumpMCSpeed() ); measuredBloodFlowRate.data = calcBloodFlow(); // Pressure and rotor speed already filtered as inputs to calc, so no need to filter flow any further - - // Calculate blood pump motor speed/direction from hall sensor count - updateBloodPumpSpeedAndDirectionFromHallSensors(); - - // Do not start enforcing checks until out of init/POST mode - if ( opMode != MODE_INIT ) - { - // Check pump direction - checkBloodPumpDirection(); - // Check pump controller current - checkBloodPumpMCCurrent(); - // Check pump speeds and flow - checkBloodPumpSpeeds(); - checkBloodPumpFlowRate(); - // Check for home position, zero/low speed + + // Calculate blood pump motor speed/direction from hall sensor count + updateBloodPumpSpeedAndDirectionFromHallSensors(); + + // Do not start enforcing checks until out of init/POST mode + if ( opMode != MODE_INIT ) + { + // Check pump direction + checkBloodPumpDirection(); + // Check pump controller current + checkBloodPumpMCCurrent(); + // Check pump speeds and flow + checkBloodPumpSpeeds(); + checkBloodPumpFlowRate(); + // Check for home position, zero/low speed checkBloodPumpRotor(); } else { lastBloodPumpDirectionCount = getFPGABloodPumpHallSensorStatus() & PUMP_DIR_ERROR_COUNT_MASK; } - - // Publish blood flow data on interval - publishBloodFlowData(); -} - -/*********************************************************************//** - * @brief - * The execBloodFlowController function executes the blood flow controller. - * @details Inputs: bloodPumpState - * @details Outputs: bloodPumpState - * @return none - *************************************************************************/ -void execBloodFlowController( void ) -{ - switch ( bloodPumpState ) - { - case BLOOD_PUMP_OFF_STATE: - bloodPumpState = handleBloodPumpOffState(); - break; - - case BLOOD_PUMP_RAMPING_UP_STATE: - bloodPumpState = handleBloodPumpRampingUpState(); - break; - - case BLOOD_PUMP_RAMPING_DOWN_STATE: - bloodPumpState = handleBloodPumpRampingDownState(); - break; - - case BLOOD_PUMP_CONTROL_TO_TARGET_STATE: - bloodPumpState = handleBloodPumpControlToTargetState(); - break; - - default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_STATE, bloodPumpState ) - break; - } -} - -/*********************************************************************//** - * @brief - * The handleBloodPumpOffState function handles the blood pump off state - * of the blood pump controller state machine. - * @details Inputs: targetBloodFlowRate, bloodPumpDirection - * @details Outputs: bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet, isBloodPumpOn - * @return next state - *************************************************************************/ -static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void ) -{ - BLOOD_PUMP_STATE_T result = BLOOD_PUMP_OFF_STATE; - - // If we have been given a flow rate, setup ramp up and transition to ramp up state - if ( targetBloodFlowRate != 0 ) - { - // Set initial PWM duty cycle - bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET + MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE; - setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); - // Allow blood pump to run in requested direction - setBloodPumpDirection( bloodPumpDirection ); - releaseBloodPumpStop(); - isBloodPumpOn = TRUE; - result = BLOOD_PUMP_RAMPING_UP_STATE; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The handleBloodPumpRampingUpState function handles the ramp up state - * of the blood pump controller state machine. - * @details Inputs: bloodPumpPWMDutyCyclePctSet - * @details Outputs: bloodPumpPWMDutyCyclePctSet - * @return next state - *************************************************************************/ -static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void ) -{ - BLOOD_PUMP_STATE_T result = BLOOD_PUMP_RAMPING_UP_STATE; - - // Have we been asked to stop the blood pump? - if ( 0 == targetBloodFlowRate ) - { - // Start ramp down to stop - bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE; - setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); - result = BLOOD_PUMP_RAMPING_DOWN_STATE; - } - // Have we reached end of ramp up? - else if ( bloodPumpPWMDutyCyclePctSet >= bloodPumpPWMDutyCyclePct ) - { + + // Publish blood flow data on interval + publishBloodFlowData(); +} + +/*********************************************************************//** + * @brief + * The execBloodFlowController function executes the blood flow controller. + * @details Inputs: bloodPumpState + * @details Outputs: bloodPumpState + * @return none + *************************************************************************/ +void execBloodFlowController( void ) +{ + switch ( bloodPumpState ) + { + case BLOOD_PUMP_OFF_STATE: + bloodPumpState = handleBloodPumpOffState(); + break; + + case BLOOD_PUMP_RAMPING_UP_STATE: + bloodPumpState = handleBloodPumpRampingUpState(); + break; + + case BLOOD_PUMP_RAMPING_DOWN_STATE: + bloodPumpState = handleBloodPumpRampingDownState(); + break; + + case BLOOD_PUMP_CONTROL_TO_TARGET_STATE: + bloodPumpState = handleBloodPumpControlToTargetState(); + break; + + default: + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_STATE, bloodPumpState ) + break; + } +} + +/*********************************************************************//** + * @brief + * The handleBloodPumpOffState function handles the blood pump off state + * of the blood pump controller state machine. + * @details Inputs: targetBloodFlowRate, bloodPumpDirection + * @details Outputs: bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet, isBloodPumpOn + * @return next state + *************************************************************************/ +static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void ) +{ + BLOOD_PUMP_STATE_T result = BLOOD_PUMP_OFF_STATE; + + // If we have been given a flow rate, setup ramp up and transition to ramp up state + if ( targetBloodFlowRate != 0 ) + { + // Set initial PWM duty cycle + bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET + MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE; + setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); + // Allow blood pump to run in requested direction + setBloodPumpDirection( bloodPumpDirection ); + releaseBloodPumpStop(); + isBloodPumpOn = TRUE; + result = BLOOD_PUMP_RAMPING_UP_STATE; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The handleBloodPumpRampingUpState function handles the ramp up state + * of the blood pump controller state machine. + * @details Inputs: bloodPumpPWMDutyCyclePctSet + * @details Outputs: bloodPumpPWMDutyCyclePctSet + * @return next state + *************************************************************************/ +static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void ) +{ + BLOOD_PUMP_STATE_T result = BLOOD_PUMP_RAMPING_UP_STATE; + + // Have we been asked to stop the blood pump? + if ( 0 == targetBloodFlowRate ) + { + // Start ramp down to stop + bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE; + setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); + result = BLOOD_PUMP_RAMPING_DOWN_STATE; + } + // Have we reached end of ramp up? + else if ( bloodPumpPWMDutyCyclePctSet >= bloodPumpPWMDutyCyclePct ) + { resetBloodPumpRPMMovingAverage(); bloodPumpPWMDutyCyclePctSet = bloodPumpPWMDutyCyclePct; - resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet ); - bloodPumpControlModeSet = bloodPumpControlMode; - setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); + resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet ); + bloodPumpControlModeSet = bloodPumpControlMode; + setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); bpControlTimerCounter = 0; - result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; - } - // Continue ramp up - else - { - bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE; - setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); - } - - return result; -} - -/*********************************************************************//** - * @brief - * The handleBloodPumpRampingDownState function handles the ramp down state - * of the blood pump controller state machine. - * @details Inputs: bloodPumpPWMDutyCyclePctSet - * @details Outputs: bloodPumpPWMDutyCyclePctSet - * @return next state - *************************************************************************/ -static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void ) -{ - BLOOD_PUMP_STATE_T result = BLOOD_PUMP_RAMPING_DOWN_STATE; - - // Have we essentially reached zero speed? - if ( bloodPumpPWMDutyCyclePctSet < (MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE + BP_PWM_ZERO_OFFSET) ) - { - signalBloodPumpHardStop(); - result = BLOOD_PUMP_OFF_STATE; - } - // Have we reached end of ramp down? - else if ( bloodPumpPWMDutyCyclePctSet <= bloodPumpPWMDutyCyclePct ) - { + result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; + } + // Continue ramp up + else + { + bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE; + setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); + } + + return result; +} + +/*********************************************************************//** + * @brief + * The handleBloodPumpRampingDownState function handles the ramp down state + * of the blood pump controller state machine. + * @details Inputs: bloodPumpPWMDutyCyclePctSet + * @details Outputs: bloodPumpPWMDutyCyclePctSet + * @return next state + *************************************************************************/ +static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void ) +{ + BLOOD_PUMP_STATE_T result = BLOOD_PUMP_RAMPING_DOWN_STATE; + + // Have we essentially reached zero speed? + if ( bloodPumpPWMDutyCyclePctSet < (MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE + BP_PWM_ZERO_OFFSET) ) + { + signalBloodPumpHardStop(); + result = BLOOD_PUMP_OFF_STATE; + } + // Have we reached end of ramp down? + else if ( bloodPumpPWMDutyCyclePctSet <= bloodPumpPWMDutyCyclePct ) + { resetBloodPumpRPMMovingAverage(); bloodPumpPWMDutyCyclePctSet = bloodPumpPWMDutyCyclePct; - resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet ); - bloodPumpControlModeSet = bloodPumpControlMode; - setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); - bpControlTimerCounter = 0; - result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; - } - // Continue ramp down - else - { - bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE; - setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); - } - - return result; -} - -/*********************************************************************//** - * @brief - * The handleBloodPumpControlToTargetState function handles the "control to - * target" state of the blood pump controller state machine. - * @details Inputs: none - * @details Outputs: bloodPumpState - * @return next state - *************************************************************************/ -static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void ) -{ - BLOOD_PUMP_STATE_T result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; - - // Control at set interval - if ( ++bpControlTimerCounter >= BP_CONTROL_INTERVAL ) - { - if ( bloodPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP ) - { - F32 tgtFlow = (F32)targetBloodFlowRate; - F32 actFlow = getMeasuredBloodFlowRate(); - F32 newPWM; - - newPWM = runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow ); - bloodPumpPWMDutyCyclePctSet = newPWM; - setBloodPumpControlSignalPWM( newPWM ); - } - bpControlTimerCounter = 0; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The setBloodPumpControlSignalPWM function sets the PWM duty cycle for - * the blood pump to a given %. - * @details Inputs: none - * @details Outputs: blood pump stop signal activated, PWM duty cycle zeroed - * @param newPWM new duty cycle % to apply to PWM - * @return none - *************************************************************************/ -static void setBloodPumpControlSignalPWM( F32 newPWM ) -{ - etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( newPWM * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) ); -} - -/*********************************************************************//** - * @brief - * The stopBloodPump function sets the blood pump stop signal. - * @details Inputs: none - * @details Outputs: blood pump stop signal activated, PWM duty cycle zeroed - * @return none - *************************************************************************/ -static void stopBloodPump( void ) -{ - isBloodPumpOn = FALSE; - bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET; - etpwmSetCmpA( etpwmREG1, 0 ); - SET_BP_STOP(); -} - -/*********************************************************************//** - * @brief - * The releaseBloodPumpStop function clears the blood pump stop signal. - * @details Inputs: none - * @details Outputs: blood pump stop signal - * @return none - *************************************************************************/ -static void releaseBloodPumpStop( void ) -{ - CLR_BP_STOP(); -} - -/*********************************************************************//** - * @brief - * The setBloodPumpDirection function sets the set blood pump direction to - * the given direction. - * @details Inputs: bloodPumpState - * @details Outputs: bloodPumpState - * @param dir blood pump direction to set - * @return none - *************************************************************************/ -static void setBloodPumpDirection( MOTOR_DIR_T dir ) -{ - switch ( dir ) - { - case MOTOR_DIR_FORWARD: - bloodPumpDirectionSet = dir; - SET_BP_DIR(); - break; - - case MOTOR_DIR_REVERSE: - bloodPumpDirectionSet = dir; - CLR_BP_DIR(); - break; - - default: - SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_DIRECTION, dir ) - break; - } + resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet ); + bloodPumpControlModeSet = bloodPumpControlMode; + setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); + bpControlTimerCounter = 0; + result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; + } + // Continue ramp down + else + { + bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE; + setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet ); + } + + return result; } /*********************************************************************//** * @brief + * The handleBloodPumpControlToTargetState function handles the "control to + * target" state of the blood pump controller state machine. + * @details Inputs: none + * @details Outputs: bloodPumpState + * @return next state + *************************************************************************/ +static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void ) +{ + BLOOD_PUMP_STATE_T result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE; + + // Control at set interval + if ( ++bpControlTimerCounter >= BP_CONTROL_INTERVAL ) + { + if ( bloodPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP ) + { + F32 tgtFlow = (F32)targetBloodFlowRate; + F32 actFlow = getMeasuredBloodFlowRate(); + F32 newPWM; + + newPWM = runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow ); + bloodPumpPWMDutyCyclePctSet = newPWM; + setBloodPumpControlSignalPWM( newPWM ); + } + bpControlTimerCounter = 0; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The setBloodPumpControlSignalPWM function sets the PWM duty cycle for + * the blood pump to a given %. + * @details Inputs: none + * @details Outputs: blood pump stop signal activated, PWM duty cycle zeroed + * @param newPWM new duty cycle % to apply to PWM + * @return none + *************************************************************************/ +static void setBloodPumpControlSignalPWM( F32 newPWM ) +{ + etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( newPWM * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) ); +} + +/*********************************************************************//** + * @brief + * The stopBloodPump function sets the blood pump stop signal. + * @details Inputs: none + * @details Outputs: blood pump stop signal activated, PWM duty cycle zeroed + * @return none + *************************************************************************/ +static void stopBloodPump( void ) +{ + isBloodPumpOn = FALSE; + bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET; + etpwmSetCmpA( etpwmREG1, 0 ); + SET_BP_STOP(); +} + +/*********************************************************************//** + * @brief + * The releaseBloodPumpStop function clears the blood pump stop signal. + * @details Inputs: none + * @details Outputs: blood pump stop signal + * @return none + *************************************************************************/ +static void releaseBloodPumpStop( void ) +{ + CLR_BP_STOP(); +} + +/*********************************************************************//** + * @brief + * The setBloodPumpDirection function sets the set blood pump direction to + * the given direction. + * @details Inputs: bloodPumpState + * @details Outputs: bloodPumpState + * @param dir blood pump direction to set + * @return none + *************************************************************************/ +static void setBloodPumpDirection( MOTOR_DIR_T dir ) +{ + switch ( dir ) + { + case MOTOR_DIR_FORWARD: + bloodPumpDirectionSet = dir; + SET_BP_DIR(); + break; + + case MOTOR_DIR_REVERSE: + bloodPumpDirectionSet = dir; + CLR_BP_DIR(); + break; + + default: + SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_DIRECTION, dir ) + break; + } +} + +/*********************************************************************//** + * @brief * The getTargetBloodFlowRate function gets the target blood flow rate. * @details Inputs: targetBloodFlowRate * @details Outputs: none @@ -824,121 +824,121 @@ S32 getTargetBloodFlowRate( void ) { return targetBloodFlowRate; -} - -/*********************************************************************//** - * @brief - * The getMeasuredBloodFlowRate function gets the measured blood flow - * rate. - * @details Inputs: measuredBloodFlowRate - * @details Outputs: none - * @return the current blood flow rate (in mL/min). - *************************************************************************/ -F32 getMeasuredBloodFlowRate( void ) -{ - F32 result = measuredBloodFlowRate.data; - - if ( OVERRIDE_KEY == measuredBloodFlowRate.override ) - { - result = measuredBloodFlowRate.ovData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The getMeasuredBloodPumpRotorSpeed function gets the measured blood flow - * rate. - * @details Inputs: bloodPumpRotorSpeedRPM - * @details Outputs: none - * @return the current blood flow rate (in mL/min). - *************************************************************************/ -F32 getMeasuredBloodPumpRotorSpeed( void ) -{ - F32 result = bloodPumpRotorSpeedRPM.data; - - if ( OVERRIDE_KEY == bloodPumpRotorSpeedRPM.override ) - { - result = bloodPumpRotorSpeedRPM.ovData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The getMeasuredBloodPumpSpeed function gets the measured blood flow - * rate. - * @details Inputs: bloodPumpSpeedRPM - * @details Outputs: none - * @return the current blood flow rate (in mL/min). - *************************************************************************/ -F32 getMeasuredBloodPumpSpeed( void ) -{ - F32 result = bloodPumpSpeedRPM.data; - - if ( OVERRIDE_KEY == bloodPumpSpeedRPM.override ) - { - result = bloodPumpSpeedRPM.ovData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The getMeasuredBloodPumpMCSpeed function gets the measured blood pump - * speed. - * @details Inputs: adcBloodPumpMCSpeedRPM - * @details Outputs: none - * @return the current blood pump speed (in RPM). - *************************************************************************/ -F32 getMeasuredBloodPumpMCSpeed( void ) -{ - F32 result = adcBloodPumpMCSpeedRPM.data; - - if ( OVERRIDE_KEY == adcBloodPumpMCSpeedRPM.override ) - { - result = adcBloodPumpMCSpeedRPM.ovData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The getMeasuredBloodPumpMCCurrent function gets the measured blood pump - * current. - * @details Inputs: adcBloodPumpMCCurrentmA - * @details Outputs: none - * @return the current blood pump current (in mA). - *************************************************************************/ -F32 getMeasuredBloodPumpMCCurrent( void ) -{ - F32 result = adcBloodPumpMCCurrentmA.data; - - if ( OVERRIDE_KEY == adcBloodPumpMCCurrentmA.override ) - { - result = adcBloodPumpMCCurrentmA.ovData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The publishBloodFlowData function publishes blood flow data at the set - * interval. - * @details Inputs: target flow rate, measured flow rate, measured MC speed, - * measured MC current - * @details Outputs: Blood flow data is published to CAN bus. - * @return none - *************************************************************************/ -static void publishBloodFlowData( void ) -{ +} + +/*********************************************************************//** + * @brief + * The getMeasuredBloodFlowRate function gets the measured blood flow + * rate. + * @details Inputs: measuredBloodFlowRate + * @details Outputs: none + * @return the current blood flow rate (in mL/min). + *************************************************************************/ +F32 getMeasuredBloodFlowRate( void ) +{ + F32 result = measuredBloodFlowRate.data; + + if ( OVERRIDE_KEY == measuredBloodFlowRate.override ) + { + result = measuredBloodFlowRate.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getMeasuredBloodPumpRotorSpeed function gets the measured blood flow + * rate. + * @details Inputs: bloodPumpRotorSpeedRPM + * @details Outputs: none + * @return the current blood flow rate (in mL/min). + *************************************************************************/ +F32 getMeasuredBloodPumpRotorSpeed( void ) +{ + F32 result = bloodPumpRotorSpeedRPM.data; + + if ( OVERRIDE_KEY == bloodPumpRotorSpeedRPM.override ) + { + result = bloodPumpRotorSpeedRPM.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getMeasuredBloodPumpSpeed function gets the measured blood flow + * rate. + * @details Inputs: bloodPumpSpeedRPM + * @details Outputs: none + * @return the current blood flow rate (in mL/min). + *************************************************************************/ +F32 getMeasuredBloodPumpSpeed( void ) +{ + F32 result = bloodPumpSpeedRPM.data; + + if ( OVERRIDE_KEY == bloodPumpSpeedRPM.override ) + { + result = bloodPumpSpeedRPM.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getMeasuredBloodPumpMCSpeed function gets the measured blood pump + * speed. + * @details Inputs: adcBloodPumpMCSpeedRPM + * @details Outputs: none + * @return the current blood pump speed (in RPM). + *************************************************************************/ +F32 getMeasuredBloodPumpMCSpeed( void ) +{ + F32 result = adcBloodPumpMCSpeedRPM.data; + + if ( OVERRIDE_KEY == adcBloodPumpMCSpeedRPM.override ) + { + result = adcBloodPumpMCSpeedRPM.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The getMeasuredBloodPumpMCCurrent function gets the measured blood pump + * current. + * @details Inputs: adcBloodPumpMCCurrentmA + * @details Outputs: none + * @return the current blood pump current (in mA). + *************************************************************************/ +F32 getMeasuredBloodPumpMCCurrent( void ) +{ + F32 result = adcBloodPumpMCCurrentmA.data; + + if ( OVERRIDE_KEY == adcBloodPumpMCCurrentmA.override ) + { + result = adcBloodPumpMCCurrentmA.ovData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The publishBloodFlowData function publishes blood flow data at the set + * interval. + * @details Inputs: target flow rate, measured flow rate, measured MC speed, + * measured MC current + * @details Outputs: Blood flow data is published to CAN bus. + * @return none + *************************************************************************/ +static void publishBloodFlowData( void ) +{ // Publish blood flow data on interval - if ( ++bloodFlowDataPublicationTimerCounter >= getU32OverrideValue( &bloodFlowDataPublishInterval ) ) + if ( ++bloodFlowDataPublicationTimerCounter >= getU32OverrideValue( &bloodFlowDataPublishInterval ) ) { BLOOD_PUMP_STATUS_PAYLOAD_T payload; @@ -951,10 +951,10 @@ payload.pwmDC = bloodPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR; payload.rotorCount = getBloodPumpRotorCount(); broadcastData( MSG_ID_BLOOD_FLOW_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&payload, sizeof( BLOOD_PUMP_STATUS_PAYLOAD_T ) ); - bloodFlowDataPublicationTimerCounter = 0; - } -} - + bloodFlowDataPublicationTimerCounter = 0; + } +} + /*********************************************************************//** * @brief * The resetBloodPumpRPMMovingAverage function re-initializes the pump speed @@ -993,116 +993,116 @@ filteredBloodPumpSpeed = rpmReadingsTotal / (F32)rpmReadingsCount; } -/*********************************************************************//** - * @brief - * The updateBloodPumpSpeedAndDirectionFromHallSensors function calculates - * the blood pump motor speed and direction from hall sensor counter on - * a 1 second interval. - * @details Inputs: bpLastMotorHallSensorCount, bpMotorSpeedCalcTimerCtr, current count from FPGA - * @details Outputs: bpMotorDirectionFromHallSensors, bloodPumpSpeedRPM - * @return none - *************************************************************************/ -static void updateBloodPumpSpeedAndDirectionFromHallSensors( void ) -{ - if ( ++bpMotorSpeedCalcTimerCtr >= BP_SPEED_CALC_INTERVAL ) - { +/*********************************************************************//** + * @brief + * The updateBloodPumpSpeedAndDirectionFromHallSensors function calculates + * the blood pump motor speed and direction from hall sensor counter on + * a 1 second interval. + * @details Inputs: bpLastMotorHallSensorCount, bpMotorSpeedCalcTimerCtr, current count from FPGA + * @details Outputs: bpMotorDirectionFromHallSensors, bloodPumpSpeedRPM + * @return none + *************************************************************************/ +static void updateBloodPumpSpeedAndDirectionFromHallSensors( void ) +{ + if ( ++bpMotorSpeedCalcTimerCtr >= BP_SPEED_CALC_INTERVAL ) + { U16 bpMotorHallSensorCount = getFPGABloodPumpHallSensorCount(); U16 last = bpLastMotorHallSensorCounts[ bpMotorSpeedCalcIdx ]; U32 nextIdx = INC_WRAP( bpMotorSpeedCalcIdx, 0, BP_SPEED_CALC_BUFFER_LEN - 1 ); - U16 incDelta = u16DiffWithWrap( bpLastMotorHallSensorCounts[ nextIdx ], bpMotorHallSensorCount ); - U16 decDelta = ( 0 == incDelta ? 0xFFFF : HEX_64_K - incDelta ); - U16 spdDelta; + U16 incDelta = u16DiffWithWrap( bpLastMotorHallSensorCounts[ nextIdx ], bpMotorHallSensorCount ); + U16 decDelta = ( 0 == incDelta ? 0xFFFF : HEX_64_K - incDelta ); + U16 spdDelta; S16 delta; - // Determine blood pump speed/direction from delta hall sensor count since last interval - if ( incDelta < decDelta ) - { - spdDelta = incDelta; + // Determine blood pump speed/direction from delta hall sensor count since last interval + if ( incDelta < decDelta ) + { + spdDelta = incDelta; bloodPumpSpeedRPM.data = ( (F32)spdDelta / (F32)BP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN; - } - else - { - spdDelta = decDelta; + } + else + { + spdDelta = decDelta; bloodPumpSpeedRPM.data = ( (F32)spdDelta / (F32)BP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN * -1.0; } // Keep a running 32-bit edge count used for safety check on volume in some functions delta = u16BiDiffWithWrap( last, bpMotorHallSensorCount ); bloodPumpMotorEdgeCount += ( delta >= 0 ? (U16)delta : 0 ); - - // Update last count for next time + + // Update last count for next time bpLastMotorHallSensorCounts[ nextIdx ] = bpMotorHallSensorCount; - bpMotorSpeedCalcIdx = nextIdx; - bpMotorSpeedCalcTimerCtr = 0; - } -} - -/*********************************************************************//** - * @brief - * The checkBloodPumpRotor function checks the rotor for the blood - * pump. If homing, this function will stop when hall sensor detected. If pump - * is off or running very slowly, rotor speed will be set to zero. - * @details Inputs: bpStopAtHomePosition, bpHomeStartTime, bpRotorRevStartTime - * @details Outputs: pump may be stopped if homing, bloodPumpRotorSpeedRPM may be set to zero. - * @return none - *************************************************************************/ -static void checkBloodPumpRotor( void ) -{ - F32 rotorSpeed = getMeasuredBloodPumpRotorSpeed(); - - // If homing, check timeout - if ( ( TRUE == bpStopAtHomePosition ) && ( TRUE == didTimeout( bpHomeStartTime, BP_HOME_TIMEOUT_MS ) ) ) - { - signalBloodPumpHardStop(); - bpStopAtHomePosition = FALSE; - // TODO - alarm??? - } - + bpMotorSpeedCalcIdx = nextIdx; + bpMotorSpeedCalcTimerCtr = 0; + } +} + +/*********************************************************************//** + * @brief + * The checkBloodPumpRotor function checks the rotor for the blood + * pump. If homing, this function will stop when hall sensor detected. If pump + * is off or running very slowly, rotor speed will be set to zero. + * @details Inputs: bpStopAtHomePosition, bpHomeStartTime, bpRotorRevStartTime + * @details Outputs: pump may be stopped if homing, bloodPumpRotorSpeedRPM may be set to zero. + * @return none + *************************************************************************/ +static void checkBloodPumpRotor( void ) +{ + F32 rotorSpeed = getMeasuredBloodPumpRotorSpeed(); + + // If homing, check timeout + if ( ( TRUE == bpStopAtHomePosition ) && ( TRUE == didTimeout( bpHomeStartTime, BP_HOME_TIMEOUT_MS ) ) ) + { + signalBloodPumpHardStop(); + bpStopAtHomePosition = FALSE; + // TODO - alarm??? + } + // Ensure rotor speed below maximum if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH, rotorSpeed > BP_MAX_ROTOR_SPEED_RPM ) ) { SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH, rotorSpeed ) - } - - // If pump is stopped or running very slowly, set rotor speed to zero - if ( TRUE == didTimeout( bpRotorRevStartTime, BP_MAX_ROTOR_HALL_INTERVAL_MS ) ) - { - bloodPumpRotorSpeedRPM.data = 0.0; - } -} - -/*********************************************************************//** - * @brief - * The checkBloodPumpDirection function checks the set direction vs. - * the direction implied by the sign of the measured MC speed. - * @details Inputs: - * @details Outputs: - * @return none - *************************************************************************/ -static void checkBloodPumpDirection( void ) -{ - if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState ) - { + } + + // If pump is stopped or running very slowly, set rotor speed to zero + if ( TRUE == didTimeout( bpRotorRevStartTime, BP_MAX_ROTOR_HALL_INTERVAL_MS ) ) + { + bloodPumpRotorSpeedRPM.data = 0.0; + } +} + +/*********************************************************************//** + * @brief + * The checkBloodPumpDirection function checks the set direction vs. + * the direction implied by the sign of the measured MC speed. + * @details Inputs: + * @details Outputs: + * @return none + *************************************************************************/ +static void checkBloodPumpDirection( void ) +{ + if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState ) + { MOTOR_DIR_T bpMCDir, bpDir; BOOL isDirIncorrect; - U08 dirErrorCnt = getFPGABloodPumpHallSensorStatus() & PUMP_DIR_ERROR_COUNT_MASK; + BOOL isHallSensorFailed = ( lastBloodPumpDirectionCount != dirErrorCnt ? TRUE : FALSE ); // Check pump direction error count - if ( lastBloodPumpDirectionCount != dirErrorCnt ) + if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_PUMP_DIRECTION_STATUS_ERROR, isHallSensorFailed ) ) { #ifndef _RELEASE_ if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_DIRECTION_CHECKS ) != SW_CONFIG_ENABLE_VALUE ) #endif { - lastBloodPumpDirectionCount = dirErrorCnt; SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_PUMP_DIRECTION_STATUS_ERROR, (U32)HD_PUMP_BLOOD_PUMP ) } } + lastBloodPumpDirectionCount = dirErrorCnt; bpMCDir = ( getMeasuredBloodPumpMCSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE ); bpDir = ( getMeasuredBloodPumpSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE ); - + // Check set direction vs. direction from hall sensors vs. direction from sign of motor controller speed isDirIncorrect = ( bloodPumpDirectionSet != bpDir ) || ( bloodPumpDirectionSet != bpMCDir ); if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK, isDirIncorrect ) ) @@ -1126,26 +1126,26 @@ { resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK ); } -} - -/*********************************************************************//** - * @brief - * The checkBloodPumpSpeeds function checks several aspects of the blood pump - * speed. - * 1. while pump is commanded off, measured motor speed should be < limit. - * 2. while pump is controlling, measured motor speed should be within allowed range of commanded speed. - * 3. measured motor speed should be within allowed range of measured rotor speed. - * All 3 checks have a persistence time that must be met before an alarm is triggered. - * @details Inputs: targetBloodFlowRate, bloodPumpSpeedRPM, bloodPumpRotorSpeedRPM - * @details Outputs: alarm(s) may be triggered - * @return none - *************************************************************************/ -static void checkBloodPumpSpeeds( void ) -{ +} + +/*********************************************************************//** + * @brief + * The checkBloodPumpSpeeds function checks several aspects of the blood pump + * speed. + * 1. while pump is commanded off, measured motor speed should be < limit. + * 2. while pump is controlling, measured motor speed should be within allowed range of commanded speed. + * 3. measured motor speed should be within allowed range of measured rotor speed. + * All 3 checks have a persistence time that must be met before an alarm is triggered. + * @details Inputs: targetBloodFlowRate, bloodPumpSpeedRPM, bloodPumpRotorSpeedRPM + * @details Outputs: alarm(s) may be triggered + * @return none + *************************************************************************/ +static void checkBloodPumpSpeeds( void ) +{ F32 measMotorSpeed = fabs( getMeasuredBloodPumpSpeed() ); F32 measMCMotorSpeed = fabs( getMeasuredBloodPumpMCSpeed() ); - - // Check for pump running while commanded off + + // Check for pump running while commanded off if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_OFF_CHECK, ( 0 == targetBloodFlowRate ) && ( measMotorSpeed > BP_MAX_MOTOR_SPEED_WHILE_OFF_RPM ) ) ) ) { @@ -1155,19 +1155,19 @@ { SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_OFF_CHECK, measMotorSpeed ); activateSafetyShutdown(); - } - } - + } + } + // Checks that only occur when pump is running (and beyond ramp). - if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState ) - { - F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet ); + if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState ) + { + F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet ); F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed ); - F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed ); - F32 measRotorSpeed = getMeasuredBloodPumpRotorSpeed(); - F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO; - F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM ); - + F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed ); + F32 measRotorSpeed = getMeasuredBloodPumpRotorSpeed(); + F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO; + F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM ); + // Check measured motor speed vs. commanded motor speed while controlling to target if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK, ( deltaMotorSpeed > BP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > BP_MAX_MOTOR_SPEED_ERROR_RPM ) ) ) ) @@ -1178,8 +1178,8 @@ { SET_ALARM_WITH_2_F32_DATA( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK, cmdMotorSpeed, measMotorSpeed ); } - } - + } + // Check measured rotor speed vs. measured motor speed while controlling to target if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) ) ) { @@ -1189,26 +1189,26 @@ { SET_ALARM_WITH_2_F32_DATA( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, measRotorSpeed, measMotorSpeed ); } - } + } } else { resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK ); - resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK ); - } -} - -/*********************************************************************//** - * @brief - * The checkBloodPumpMCCurrent function checks the measured MC current vs. - * the set state of the blood pump (stopped or running). - * @details Inputs: BP motor controller measured current. - * @details Outputs: Alarm triggered it current too high. - * @return none - *************************************************************************/ -static void checkBloodPumpMCCurrent( void ) -{ - F32 const bpCurr = fabs( getMeasuredBloodPumpMCCurrent() ); + resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK ); + } +} + +/*********************************************************************//** + * @brief + * The checkBloodPumpMCCurrent function checks the measured MC current vs. + * the set state of the blood pump (stopped or running). + * @details Inputs: BP motor controller measured current. + * @details Outputs: Alarm triggered it current too high. + * @return none + *************************************************************************/ +static void checkBloodPumpMCCurrent( void ) +{ + F32 const bpCurr = fabs( getMeasuredBloodPumpMCCurrent() ); // Check blood pump current during off state BOOL const isOffMCCurrentBad = ( ( BLOOD_PUMP_OFF_STATE == bloodPumpState ) && ( bpCurr > BP_MAX_CURR_WHEN_STOPPED_MA ) ? TRUE : FALSE ); // Check blood pump current during running state @@ -1222,7 +1222,7 @@ { SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, bpCurr ); } - } + } } /*********************************************************************//** @@ -1248,16 +1248,16 @@ } } } - -/*********************************************************************//** - * @brief - * The execBloodFlowTest function executes the state machine for the - * BloodFlow self-test. - * @details Inputs: bloodPumpCalRecord - * @details Outputs: none - * @return the current state of the BloodFlow self-test. - *************************************************************************/ -SELF_TEST_STATUS_T execBloodFlowTest( void ) + +/*********************************************************************//** + * @brief + * The execBloodFlowTest function executes the state machine for the + * BloodFlow self-test. + * @details Inputs: bloodPumpCalRecord + * @details Outputs: none + * @return the current state of the BloodFlow self-test. + *************************************************************************/ +SELF_TEST_STATUS_T execBloodFlowTest( void ) { SELF_TEST_STATUS_T result = SELF_TEST_STATUS_PASSED; @@ -1272,325 +1272,325 @@ { result = SELF_TEST_STATUS_FAILED; } - - return result; -} - - -/************************************************************************* - * TEST SUPPORT FUNCTIONS - *************************************************************************/ + return result; +} -/*********************************************************************//** - * @brief - * The testSetBloodFlowDataPublishIntervalOverride function overrides the - * blood flow data publish interval. - * @details Inputs: none - * @details Outputs: bloodFlowDataPublishInterval - * @param value override blood flow data publish interval with (in ms) - * @return TRUE if override successful, FALSE if not - *************************************************************************/ -BOOL testSetBloodFlowDataPublishIntervalOverride( U32 value ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - U32 intvl = value / TASK_PRIORITY_INTERVAL; - - result = TRUE; - bloodFlowDataPublishInterval.ovData = intvl; - bloodFlowDataPublishInterval.override = OVERRIDE_KEY; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testResetBloodFlowDataPublishIntervalOverride function resets the override - * of the blood flow data publish interval. - * @details Inputs: none - * @details Outputs: bloodFlowDataPublishInterval - * @return TRUE if override reset successful, FALSE if not - *************************************************************************/ -BOOL testResetBloodFlowDataPublishIntervalOverride( void ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - bloodFlowDataPublishInterval.override = OVERRIDE_RESET; - bloodFlowDataPublishInterval.ovData = bloodFlowDataPublishInterval.ovInitData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testSetTargetBloodFlowRateOverride function overrides the target - * blood flow rate. - * @details Inputs: none - * @details Outputs: targetBloodFlowRate + +/************************************************************************* + * TEST SUPPORT FUNCTIONS + *************************************************************************/ + + +/*********************************************************************//** + * @brief + * The testSetBloodFlowDataPublishIntervalOverride function overrides the + * blood flow data publish interval. + * @details Inputs: none + * @details Outputs: bloodFlowDataPublishInterval + * @param value override blood flow data publish interval with (in ms) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetBloodFlowDataPublishIntervalOverride( U32 value ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + U32 intvl = value / TASK_PRIORITY_INTERVAL; + + result = TRUE; + bloodFlowDataPublishInterval.ovData = intvl; + bloodFlowDataPublishInterval.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetBloodFlowDataPublishIntervalOverride function resets the override + * of the blood flow data publish interval. + * @details Inputs: none + * @details Outputs: bloodFlowDataPublishInterval + * @return TRUE if override reset successful, FALSE if not + *************************************************************************/ +BOOL testResetBloodFlowDataPublishIntervalOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + bloodFlowDataPublishInterval.override = OVERRIDE_RESET; + bloodFlowDataPublishInterval.ovData = bloodFlowDataPublishInterval.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetTargetBloodFlowRateOverride function overrides the target + * blood flow rate. + * @details Inputs: none + * @details Outputs: targetBloodFlowRate * @param value override target blood flow rate (in mL/min) - * @param ctrlMode override pump control mode to this mode (0 = closed loop, 1 = open loop) - * @return TRUE if override successful, FALSE if not - *************************************************************************/ -BOOL testSetTargetBloodFlowRateOverride( S32 value, U32 ctrlMode ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - MOTOR_DIR_T dir; - - if ( value < 0 ) - { - dir = MOTOR_DIR_REVERSE; - } - else - { - dir = MOTOR_DIR_FORWARD; + * @param ctrlMode override pump control mode to this mode (0 = closed loop, 1 = open loop) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetTargetBloodFlowRateOverride( S32 value, U32 ctrlMode ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + MOTOR_DIR_T dir; + + if ( value < 0 ) + { + dir = MOTOR_DIR_REVERSE; } + else + { + dir = MOTOR_DIR_FORWARD; + } if ( ctrlMode < NUM_OF_PUMP_CONTROL_MODES ) { result = setBloodPumpTargetFlowRate( abs(value), dir, (PUMP_CONTROL_MODE_T)ctrlMode ); - } - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testResetMeasuredBloodFlowRateOverride function overrides the measured - * blood flow rate. - * @details Inputs: none - * @details Outputs: measuredBloodFlowRate - * @param value override measured blood flow rate (in mL/min) - * @return TRUE if override successful, FALSE if not - *************************************************************************/ -BOOL testSetMeasuredBloodFlowRateOverride( F32 value ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - measuredBloodFlowRate.ovData = value; - measuredBloodFlowRate.override = OVERRIDE_KEY; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testResetMeasuredBloodFlowRateOverride function resets the override of the - * measured blood flow rate. - * @details Inputs: none - * @details Outputs: measuredBloodFlowRate - * @return TRUE if reset successful, FALSE if not - *************************************************************************/ -BOOL testResetMeasuredBloodFlowRateOverride( void ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - measuredBloodFlowRate.override = OVERRIDE_RESET; - measuredBloodFlowRate.ovData = measuredBloodFlowRate.ovInitData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testSetMeasuredBloodPumpRotorSpeedOverride function overrides the measured - * blood pump rotor speed. - * @details Inputs: none - * @details Outputs: bloodPumpRotorSpeedRPM - * @param value override measured blood pump rotor speed (in RPM) - * @return TRUE if override successful, FALSE if not - *************************************************************************/ -BOOL testSetMeasuredBloodPumpRotorSpeedOverride( F32 value ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - bloodPumpRotorSpeedRPM.ovData = value; - bloodPumpRotorSpeedRPM.override = OVERRIDE_KEY; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testResetMeasuredBloodPumpRotorSpeedOverride function resets the override of the - * measured blood pump rotor speed. - * @details Inputs: none - * @details Outputs: bloodPumpRotorSpeedRPM - * @return TRUE if reset successful, FALSE if not - *************************************************************************/ -BOOL testResetMeasuredBloodPumpRotorSpeedOverride( void ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - bloodPumpRotorSpeedRPM.override = OVERRIDE_RESET; - bloodPumpRotorSpeedRPM.ovData = bloodPumpRotorSpeedRPM.ovInitData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testSetMeasuredBloodPumpSpeedOverride function overrides the measured - * blood pump motor speed. - * @details Inputs: none - * @details Outputs: bloodPumpSpeedRPM - * @param value override measured blood pump motor speed (in RPM) - * @return TRUE if override successful, FALSE if not - *************************************************************************/ -BOOL testSetMeasuredBloodPumpSpeedOverride( F32 value ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - bloodPumpSpeedRPM.ovData = value; - bloodPumpSpeedRPM.override = OVERRIDE_KEY; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testResetMeasuredBloodPumpSpeedOverride function resets the override of the - * measured blood pump motor speed. - * @details Inputs: none - * @details Outputs: bloodPumpSpeedRPM - * @return TRUE if reset successful, FALSE if not - *************************************************************************/ -BOOL testResetMeasuredBloodPumpSpeedOverride( void ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - bloodPumpSpeedRPM.override = OVERRIDE_RESET; - bloodPumpSpeedRPM.ovData = bloodPumpSpeedRPM.ovInitData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testSetMeasuredBloodPumpMCSpeedOverride function overrides the measured - * blood pump motor speed. - * @details Inputs: none - * @details Outputs: adcBloodPumpMCSpeedRPM - * @param value override measured blood pump speed (in RPM) - * @return TRUE if override successful, FALSE if not - *************************************************************************/ -BOOL testSetMeasuredBloodPumpMCSpeedOverride( F32 value ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - adcBloodPumpMCSpeedRPM.ovData = value; - adcBloodPumpMCSpeedRPM.override = OVERRIDE_KEY; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testResetMeasuredBloodPumpMCSpeedOverride function resets the override of the - * measured blood pump motor speed. - * @details Inputs: none - * @details Outputs: adcBloodPumpMCSpeedRPM - * @return TRUE if reset successful, FALSE if not - *************************************************************************/ -BOOL testResetMeasuredBloodPumpMCSpeedOverride( void ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - adcBloodPumpMCSpeedRPM.override = OVERRIDE_RESET; - adcBloodPumpMCSpeedRPM.ovData = adcBloodPumpMCSpeedRPM.ovInitData; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testSetMeasuredBloodPumpMCCurrentOverride function overrides the measured - * blood pump motor current. - * @details Inputs: none - * @details Outputs: adcBloodPumpMCCurrentmA - * @param value override measured blood pump current (in mA) - * @return TRUE if override successful, FALSE if not - *************************************************************************/ -BOOL testSetMeasuredBloodPumpMCCurrentOverride( F32 value ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - adcBloodPumpMCCurrentmA.ovData = value; - adcBloodPumpMCCurrentmA.override = OVERRIDE_KEY; - } - - return result; -} - -/*********************************************************************//** - * @brief - * The testResetMeasuredBloodPumpMCCurrentOverride function resets the override of the - * measured blood pump motor current. - * @details Inputs: none - * @details Outputs: adcBloodPumpMCCurrentmA - * @return TRUE if reset successful, FALSE if not - *************************************************************************/ -BOOL testResetMeasuredBloodPumpMCCurrentOverride( void ) -{ - BOOL result = FALSE; - - if ( TRUE == isTestingActivated() ) - { - result = TRUE; - adcBloodPumpMCCurrentmA.override = OVERRIDE_RESET; - adcBloodPumpMCCurrentmA.ovData = adcBloodPumpMCCurrentmA.ovInitData; - } - - return result; -} + } + } + return result; +} + /*********************************************************************//** * @brief + * The testResetMeasuredBloodFlowRateOverride function overrides the measured + * blood flow rate. + * @details Inputs: none + * @details Outputs: measuredBloodFlowRate + * @param value override measured blood flow rate (in mL/min) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetMeasuredBloodFlowRateOverride( F32 value ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + measuredBloodFlowRate.ovData = value; + measuredBloodFlowRate.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredBloodFlowRateOverride function resets the override of the + * measured blood flow rate. + * @details Inputs: none + * @details Outputs: measuredBloodFlowRate + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredBloodFlowRateOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + measuredBloodFlowRate.override = OVERRIDE_RESET; + measuredBloodFlowRate.ovData = measuredBloodFlowRate.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredBloodPumpRotorSpeedOverride function overrides the measured + * blood pump rotor speed. + * @details Inputs: none + * @details Outputs: bloodPumpRotorSpeedRPM + * @param value override measured blood pump rotor speed (in RPM) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetMeasuredBloodPumpRotorSpeedOverride( F32 value ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + bloodPumpRotorSpeedRPM.ovData = value; + bloodPumpRotorSpeedRPM.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredBloodPumpRotorSpeedOverride function resets the override of the + * measured blood pump rotor speed. + * @details Inputs: none + * @details Outputs: bloodPumpRotorSpeedRPM + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredBloodPumpRotorSpeedOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + bloodPumpRotorSpeedRPM.override = OVERRIDE_RESET; + bloodPumpRotorSpeedRPM.ovData = bloodPumpRotorSpeedRPM.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredBloodPumpSpeedOverride function overrides the measured + * blood pump motor speed. + * @details Inputs: none + * @details Outputs: bloodPumpSpeedRPM + * @param value override measured blood pump motor speed (in RPM) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetMeasuredBloodPumpSpeedOverride( F32 value ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + bloodPumpSpeedRPM.ovData = value; + bloodPumpSpeedRPM.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredBloodPumpSpeedOverride function resets the override of the + * measured blood pump motor speed. + * @details Inputs: none + * @details Outputs: bloodPumpSpeedRPM + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredBloodPumpSpeedOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + bloodPumpSpeedRPM.override = OVERRIDE_RESET; + bloodPumpSpeedRPM.ovData = bloodPumpSpeedRPM.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredBloodPumpMCSpeedOverride function overrides the measured + * blood pump motor speed. + * @details Inputs: none + * @details Outputs: adcBloodPumpMCSpeedRPM + * @param value override measured blood pump speed (in RPM) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetMeasuredBloodPumpMCSpeedOverride( F32 value ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcBloodPumpMCSpeedRPM.ovData = value; + adcBloodPumpMCSpeedRPM.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredBloodPumpMCSpeedOverride function resets the override of the + * measured blood pump motor speed. + * @details Inputs: none + * @details Outputs: adcBloodPumpMCSpeedRPM + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredBloodPumpMCSpeedOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcBloodPumpMCSpeedRPM.override = OVERRIDE_RESET; + adcBloodPumpMCSpeedRPM.ovData = adcBloodPumpMCSpeedRPM.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testSetMeasuredBloodPumpMCCurrentOverride function overrides the measured + * blood pump motor current. + * @details Inputs: none + * @details Outputs: adcBloodPumpMCCurrentmA + * @param value override measured blood pump current (in mA) + * @return TRUE if override successful, FALSE if not + *************************************************************************/ +BOOL testSetMeasuredBloodPumpMCCurrentOverride( F32 value ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcBloodPumpMCCurrentmA.ovData = value; + adcBloodPumpMCCurrentmA.override = OVERRIDE_KEY; + } + + return result; +} + +/*********************************************************************//** + * @brief + * The testResetMeasuredBloodPumpMCCurrentOverride function resets the override of the + * measured blood pump motor current. + * @details Inputs: none + * @details Outputs: adcBloodPumpMCCurrentmA + * @return TRUE if reset successful, FALSE if not + *************************************************************************/ +BOOL testResetMeasuredBloodPumpMCCurrentOverride( void ) +{ + BOOL result = FALSE; + + if ( TRUE == isTestingActivated() ) + { + result = TRUE; + adcBloodPumpMCCurrentmA.override = OVERRIDE_RESET; + adcBloodPumpMCCurrentmA.ovData = adcBloodPumpMCCurrentmA.ovInitData; + } + + return result; +} + +/*********************************************************************//** + * @brief * The testSetBloodPumpRotorCountOverride function overrides the blood pump * rotor counter value. * @details Inputs: none @@ -1633,5 +1633,5 @@ return result; } - -/**@}*/ + +/**@}*/