Index: firmware/App/Controllers/DialInFlow.c =================================================================== diff -u -r6463655c18b173e335b6d475ac7289336f1bf092 -r4ebc1f7e1aeb3a332e91fcdd1bbbe1a01873d93a --- firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision 6463655c18b173e335b6d475ac7289336f1bf092) +++ firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision 4ebc1f7e1aeb3a332e91fcdd1bbbe1a01873d93a) @@ -32,105 +32,119 @@ #include "Timers.h" #include "DialInFlow.h" +/** + * @addtogroup DialysateInletFlow + * @{ + */ + // ********** private definitions ********** -#define DIAL_IN_FLOW_DATA_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) // interval (ms/task time) at which the dialIn flow data is published on the CAN bus +#define DIAL_IN_FLOW_DATA_PUB_INTERVAL ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) ///> interval (ms/task time) at which the dialIn flow data is published on the CAN bus -#define MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE 0.01 // duty cycle TODO - fixed or parameterized or set in motor controller? -#define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.88 // controller will error if PWM duty cycle > 90%, so set max to 88% -#define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.12 // controller will error if PWM duty cycle < 10%, so set min to 12% +#define MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE 0.01 ///> duty cycle TODO - fixed or parameterized or set in motor controller? +#define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.88 ///> controller will error if PWM duty cycle > 90%, so set max to 88% +#define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.12 ///> controller will error if PWM duty cycle < 10%, so set min to 12% -#define DIP_CONTROL_INTERVAL ( 1000 / TASK_GENERAL_INTERVAL ) // interval (ms/task time) at which the dialIn pump is controlled -#define DIP_P_COEFFICIENT 0.00005 // P term for dialIn pump control -#define DIP_I_COEFFICIENT 0.00015 // I term for dialIn pump control +#define DIP_CONTROL_INTERVAL ( 1000 / TASK_GENERAL_INTERVAL ) ///> interval (ms/task time) at which the dialIn pump is controlled +#define DIP_P_COEFFICIENT 0.00005 ///> P term for dialIn pump control +#define DIP_I_COEFFICIENT 0.00015 ///> I term for dialIn pump control -#define DIP_MAX_CURR_WHEN_STOPPED_MA 150.0 // motor controller current should not exceed this when pump should be stopped -#define DIP_MIN_CURR_WHEN_RUNNING_MA 150.0 // motor controller current should always exceed this when pump should be running -#define DIP_MAX_CURR_WHEN_RUNNING_MA 1000.0 // motor controller current should not exceed this when pump should be running -#define DIP_MAX_CURR_ERROR_DURATION_MS 2000 // motor controller current errors persisting beyond this duration will trigger an alarm +#define DIP_HOME_RATE 50 ///< target pump speed (in estimate mL/min) for homing. +#define DIP_HOME_TIMEOUT_MS 10000 ///< maximum time allowed for homing to complete (in ms). -#define DIP_SPEED_ADC_TO_RPM_FACTOR 1.280938 // conversion factor from ADC counts to RPM for dialIn pump motor -#define DIP_CURRENT_ADC_TO_MA_FACTOR 3.002 // conversion factor from ADC counts to mA for dialIn pump motor +#define DIP_MAX_CURR_WHEN_STOPPED_MA 150.0 ///> motor controller current should not exceed this when pump should be stopped +#define DIP_MIN_CURR_WHEN_RUNNING_MA 150.0 ///> motor controller current should always exceed this when pump should be running +#define DIP_MAX_CURR_WHEN_RUNNING_MA 1000.0 ///> motor controller current should not exceed this when pump should be running +#define DIP_MAX_CURR_ERROR_DURATION_MS 2000 ///> motor controller current errors persisting beyond this duration will trigger an alarm -#define DIP_REV_PER_LITER 150.24 // rotor revolutions per liter -#define DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR ( DIP_REV_PER_LITER / ML_PER_LITER ) -#define DIP_GEAR_RATIO 32.0 // dialIn pump motor to dialIn pump gear ratio -#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.00035 // ~28 BP motor RPM = 1% PWM duty cycle -#define DIP_PWM_ZERO_OFFSET 0.1 // 10% PWM duty cycle = zero speed -#define DIP_PWM_FROM_ML_PER_MIN(rate) ( (rate) * DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * DIP_GEAR_RATIO * DIP_MOTOR_RPM_TO_PWM_DC_FACTOR + DIP_PWM_ZERO_OFFSET ) +#define DIP_SPEED_ADC_TO_RPM_FACTOR 1.280938 ///> conversion factor from ADC counts to RPM for dialIn pump motor +#define DIP_CURRENT_ADC_TO_MA_FACTOR 3.002 ///> conversion factor from ADC counts to mA for dialIn pump motor -#define DIAL_IN_PUMP_ADC_FULL_SCALE_V 3.0 // BP analog signals are 0-3V (while int. ADC ref V may be different) -#define DIAL_IN_PUMP_ADC_ZERO ( (F32)( INT_ADC_ZERO ) * ( DIAL_IN_PUMP_ADC_FULL_SCALE_V / INT_ADC_REF_V ) ) -#define SIGN_FROM_12_BIT_VALUE(v) ( (S16)(v) - (S16)DIAL_IN_PUMP_ADC_ZERO ) +#define DIP_REV_PER_LITER 150.24 ///> rotor revolutions per liter +#define DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR ( DIP_REV_PER_LITER / ML_PER_LITER ) ///> +#define DIP_GEAR_RATIO 32.0 ///> dialIn pump motor to dialIn pump gear ratio +#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.00035 ///> ~28 BP motor RPM = 1% PWM duty cycle +#define DIP_PWM_ZERO_OFFSET 0.1 ///> 10% PWM duty cycle = zero speed +#define DIP_PWM_FROM_ML_PER_MIN(rate) ( (rate) * DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * DIP_GEAR_RATIO * DIP_MOTOR_RPM_TO_PWM_DC_FACTOR + DIP_PWM_ZERO_OFFSET ) ///> -#define DIAL_IN_FLOW_SAMPLE_FREQ ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) -#define SIZE_OF_ROLLING_AVG ( DIAL_IN_FLOW_SAMPLE_FREQ * 2 ) // measured dialIn flow is filtered w/ moving average -#define MAX_FLOW_FILTER_INTERVAL 5 // slowest sample interval for filter is every 5th sample +#define DIAL_IN_PUMP_ADC_FULL_SCALE_V 3.0 ///> BP analog signals are 0-3V (while int. ADC ref V may be different) +#define DIAL_IN_PUMP_ADC_ZERO ( (F32)( INT_ADC_ZERO ) * ( DIAL_IN_PUMP_ADC_FULL_SCALE_V / INT_ADC_REF_V ) ) ///> +#define SIGN_FROM_12_BIT_VALUE(v) ( (S16)(v) - (S16)DIAL_IN_PUMP_ADC_ZERO ) ///> +#define DIAL_IN_FLOW_SAMPLE_FREQ ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) ///> +#define SIZE_OF_ROLLING_AVG ( DIAL_IN_FLOW_SAMPLE_FREQ * 2 ) ///> measured dialIn flow is filtered w/ moving average +#define MAX_FLOW_FILTER_INTERVAL 5 ///> slowest sample interval for filter is every 5th sample + +/// Enumeration of dialysate inlet pump states. typedef enum DialInPump_States { - DIAL_IN_PUMP_OFF_STATE = 0, - DIAL_IN_PUMP_RAMPING_UP_STATE, - DIAL_IN_PUMP_RAMPING_DOWN_STATE, - DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE, - NUM_OF_DIAL_IN_PUMP_STATES + DIAL_IN_PUMP_OFF_STATE = 0, ///< Off state for the dialysate inlet pump. + DIAL_IN_PUMP_RAMPING_UP_STATE, ///< Ramping up state for the dialysate inlet pump. + DIAL_IN_PUMP_RAMPING_DOWN_STATE, ///< Ramping down state for the dialysate inlet pump. + DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE, ///< Control to target state for the dialysate inlet pump. + NUM_OF_DIAL_IN_PUMP_STATES ///< Number of dialysate inlet pump states. } DIAL_IN_PUMP_STATE_T; +/// Enumeration of dialysate inlet self test states. typedef enum DialInFlow_Self_Test_States { - DIAL_IN_FLOW_SELF_TEST_STATE_START = 0, - DIAL_IN_FLOW_TEST_STATE_IN_PROGRESS, - DIAL_IN_FLOW_TEST_STATE_COMPLETE, - NUM_OF_DIAL_IN_FLOW_SELF_TEST_STATES + DIAL_IN_FLOW_SELF_TEST_STATE_START = 0, ///< Start state for the dialysate inlet pump self test. + DIAL_IN_FLOW_TEST_STATE_IN_PROGRESS, ///< Test in progress state for the dialysate inlet pump self test. + DIAL_IN_FLOW_TEST_STATE_COMPLETE, ///< Test completed state for the dialysate inlet pump self test. + NUM_OF_DIAL_IN_FLOW_SELF_TEST_STATES ///< Number of dialysate inlet pump self test states. } DIAL_IN_FLOW_SELF_TEST_STATE_T; // pin assignments for pump stop and direction outputs -#define STOP_DI_PUMP_GIO_PORT_PIN 2U -#define DIR_DI_PUMP_SPI5_PORT_MASK 0x00000100 // (ENA - re-purposed as output GPIO) +#define STOP_DI_PUMP_GIO_PORT_PIN 2U ///< Pin # on GIO A for stopping the dialysate inlet pump. +#define DIR_DI_PUMP_SPI5_PORT_MASK 0x00000100 ///< Pin on unused SPI5 peripheral (ENA) - re-purposed as output GPIO to set dialysate inlet pump direction. // dialIn pump stop and direction macros -#define SET_DIP_DIR() {mibspiREG5->PC3 |= DIR_DI_PUMP_SPI5_PORT_MASK;} -#define CLR_DIP_DIR() {mibspiREG5->PC3 &= ~DIR_DI_PUMP_SPI5_PORT_MASK;} +#define SET_DIP_DIR() {mibspiREG5->PC3 |= DIR_DI_PUMP_SPI5_PORT_MASK;} ///< Macro for setting the dialysate inlet pump direction pin high. +#define CLR_DIP_DIR() {mibspiREG5->PC3 &= ~DIR_DI_PUMP_SPI5_PORT_MASK;} ///< Macro for setting the dialysate inlet pump direction pin low. #ifndef BREADBOARD_TARGET - #define SET_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_LOW ) - #define CLR_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_HIGH ) + #define SET_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_LOW ) ///< Macro for setting the dialysate inlet pump stop pin low. + #define CLR_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_HIGH ) ///< Macro for setting the dialysate inlet pump stop pin high. #else #define SET_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_HIGH ) #define CLR_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_LOW ) #endif // ********** private data ********** -static DIAL_IN_PUMP_STATE_T dialInPumpState = DIAL_IN_PUMP_OFF_STATE; // current state of dialIn flow controller state machine -static U32 dialInFlowDataPublicationTimerCounter = 5; // used to schedule dialIn flow data publication to CAN bus -static BOOL isDialInPumpOn = FALSE; // dialIn pump is currently running -static F32 dialInPumpPWMDutyCyclePct = 0.0; // initial dialIn pump PWM duty cycle -static F32 dialInPumpPWMDutyCyclePctSet = 0.0; // currently set dialIn pump PWM duty cycle -static MOTOR_DIR_T dialInPumpDirection = MOTOR_DIR_FORWARD; // requested dialIn flow direction -static MOTOR_DIR_T dialInPumpDirectionSet = MOTOR_DIR_FORWARD; // currently set dialIn flow direction +static DIAL_IN_PUMP_STATE_T dialInPumpState = DIAL_IN_PUMP_OFF_STATE; ///< current state of dialIn flow controller state machine +static U32 dialInFlowDataPublicationTimerCounter = 5; ///< used to schedule dialIn flow data publication to CAN bus +static BOOL isDialInPumpOn = FALSE; ///< dialIn pump is currently running +static F32 dialInPumpPWMDutyCyclePct = 0.0; ///< initial dialIn pump PWM duty cycle +static F32 dialInPumpPWMDutyCyclePctSet = 0.0; ///< currently set dialIn pump PWM duty cycle +static MOTOR_DIR_T dialInPumpDirection = MOTOR_DIR_FORWARD; ///< requested dialIn flow direction +static MOTOR_DIR_T dialInPumpDirectionSet = MOTOR_DIR_FORWARD; ///< currently set dialIn flow direction static PUMP_CONTROL_MODE_T dialInPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< requested dialIn pump control mode. static PUMP_CONTROL_MODE_T dialInPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP;///< currently set dialIn pump control mode. -DATA_DECL( U32, DialInFlowDataPub, dialInFlowDataPublishInterval, DIAL_IN_FLOW_DATA_PUB_INTERVAL, DIAL_IN_FLOW_DATA_PUB_INTERVAL ); // interval (in ms) at which to publish dialIn flow data to CAN bus -DATA_DECL( S32, TargetDialInFlowRate, targetDialInFlowRate, 0, 0 ); // requested dialIn flow rate -DATA_DECL( F32, MeasuredDialInFlowRate, measuredDialInFlowRate, 0.0, 0.0 ); // measured dialIn flow rate -DATA_DECL( F32, MeasuredDialInPumpRotorSpeed, dialInPumpRotorSpeedRPM, 0.0, 0.0 );// measured dialIn pump rotor speed -DATA_DECL( F32, MeasuredDialInPumpSpeed, dialInPumpSpeedRPM, 0.0, 0.0 ); // measured dialIn pump motor speed -DATA_DECL( F32, MeasuredDialInPumpMCSpeed, adcDialInPumpMCSpeedRPM, 0.0, 0.0 ); // measured dialIn pump motor controller speed -DATA_DECL( F32, MeasuredDialInPumpMCCurrent, adcDialInPumpMCCurrentmA, 0.0, 0.0 );// measured dialIn pump motor controller current +DATA_DECL( U32, DialInFlowDataPub, dialInFlowDataPublishInterval, DIAL_IN_FLOW_DATA_PUB_INTERVAL, DIAL_IN_FLOW_DATA_PUB_INTERVAL ); ///< interval (in ms) at which to publish dialIn flow data to CAN bus +DATA_DECL( S32, TargetDialInFlowRate, targetDialInFlowRate, 0, 0 ); ///< requested dialIn flow rate +DATA_DECL( F32, MeasuredDialInFlowRate, measuredDialInFlowRate, 0.0, 0.0 ); ///< measured dialIn flow rate +DATA_DECL( F32, MeasuredDialInPumpRotorSpeed, dialInPumpRotorSpeedRPM, 0.0, 0.0 ); ///< measured dialIn pump rotor speed +DATA_DECL( F32, MeasuredDialInPumpSpeed, dialInPumpSpeedRPM, 0.0, 0.0 ); ///< measured dialIn pump motor speed +DATA_DECL( F32, MeasuredDialInPumpMCSpeed, adcDialInPumpMCSpeedRPM, 0.0, 0.0 ); ///< measured dialIn pump motor controller speed +DATA_DECL( F32, MeasuredDialInPumpMCCurrent, adcDialInPumpMCCurrentmA, 0.0, 0.0 ); ///< measured dialIn pump motor controller current -static U32 dipControlTimerCounter = 0; // determines when to perform control on dialIn flow +static U32 dipControlTimerCounter = 0; ///< determines when to perform control on dialIn flow -static F32 flowReadings[ SIZE_OF_ROLLING_AVG ]; // holds flow samples for a rolling average -static U32 flowReadingsIdx = 0; // index for next sample in rolling average array -static F32 flowReadingsTotal = 0.0; // rolling total - used to calc average -static U32 flowReadingsCount = 0; // # of samples in flow rolling average buffer -static U32 flowReadingsTmrCtr = 0; // determines when to add samples to filter +static U32 dipRotorRevStartTime = 0; ///< dialysate inlet pump rotor rotation start time (in ms) +static BOOL dipStopAtHomePosition = FALSE; ///< stop dialysate inlet pump at next home position +static U32 dipHomeStartTime = 0; ///< when did dialysate inlet pump home command begin? (in ms) -static U32 dipCurrErrorDurationCtr = 0; // used for tracking persistence of dip current errors +static F32 flowReadings[ SIZE_OF_ROLLING_AVG ]; ///< holds flow samples for a rolling average +static U32 flowReadingsIdx = 0; ///< index for next sample in rolling average array +static F32 flowReadingsTotal = 0.0; ///< rolling total - used to calc average +static U32 flowReadingsCount = 0; ///< # of samples in flow rolling average buffer +static U32 flowReadingsTmrCtr = 0; ///< determines when to add samples to filter -static DIAL_IN_FLOW_SELF_TEST_STATE_T dialInPumpSelfTestState = DIAL_IN_FLOW_SELF_TEST_STATE_START; // current dialIn pump self test state -static U32 dialInPumpSelfTestTimerCount = 0; // timer counter for dialIn pump self test +static U32 dipCurrErrorDurationCtr = 0; ///< used for tracking persistence of dip current errors +static DIAL_IN_FLOW_SELF_TEST_STATE_T dialInPumpSelfTestState = DIAL_IN_FLOW_SELF_TEST_STATE_START; ///< current dialIn pump self test state +static U32 dialInPumpSelfTestTimerCount = 0; ///< timer counter for dialIn pump self test + // ********** private function prototypes ********** static DIAL_IN_PUMP_STATE_T handleDialInPumpOffState( void ); @@ -148,13 +162,12 @@ static void checkDialInPumpMCCurrent( void ); static DATA_GET_PROTOTYPE( U32, getPublishDialInFlowDataInterval ); -/************************************************************************* - * @brief initDialInFlow +/*********************************************************************//** + * @brief * The initDialInFlow function initializes the DialInFlow module. * @details * Inputs : none * Outputs : DialInFlow module initialized. - * @param none * @return none *************************************************************************/ void initDialInFlow( void ) @@ -171,8 +184,8 @@ MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE, MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE ); } -/************************************************************************* - * @brief setDialInPumpTargetFlowRate +/*********************************************************************//** + * @brief * The setDialInPumpTargetFlowRate function sets a new target flow rate and * pump direction. * @details @@ -239,13 +252,12 @@ return result; } -/************************************************************************* - * @brief signalDialInPumpHardStop +/*********************************************************************//** + * @brief * The signalDialInPumpHardStop function stops the dialIn pump immediately. * @details * Inputs : none * Outputs : DialIn pump stopped, set point reset, state changed to off - * @param none * @return none *************************************************************************/ void signalDialInPumpHardStop( void ) @@ -258,13 +270,61 @@ resetPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE ); } -/************************************************************************* - * @brief execDialInFlowMonitor +/*********************************************************************//** + * @brief + * The signalDialInPumpRotorHallSensor function handles the dialysate inlet pump rotor \n + * hall sensor detection. Calculates rotor speed (in RPM). Stops pump if \n + * there is a pending request to home the pump. + * @details + * Inputs : dipRotorRevStartTime, dipStopAtHomePosition + * Outputs : dipRotorRevStartTime, dialInPumpRotorSpeedRPM + * @return none + *************************************************************************/ +void signalDialInPumpRotorHallSensor( void ) +{ + U32 rotTime = getMSTimerCount(); + U32 deltaTime = calcTimeBetween( dipRotorRevStartTime, rotTime ); + + // calculate rotor speed (in RPM) + dialInPumpRotorSpeedRPM.data = ( 1.0 / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN; + dipRotorRevStartTime = rotTime; + + // if we're supposed to stop pump at home position, stop pump now. + if ( TRUE == dipStopAtHomePosition ) + { + signalDialInPumpHardStop(); + dipStopAtHomePosition = FALSE; + } +} + +/*********************************************************************//** + * @brief + * The homeDialInPump function initiates a dialysate inlet pump home operation. + * @details + * Inputs : dialInPumpState + * Outputs : dipStopAtHomePosition, dipHomeStartTime, dialysate inlet pump started (slow) + * @return none + *************************************************************************/ +BOOL homeDialInPump( void ) +{ + BOOL result = FALSE; + + if ( DIAL_IN_PUMP_OFF_STATE == dialInPumpState ) + { + dipStopAtHomePosition = TRUE; + dipHomeStartTime = getMSTimerCount(); + result = setDialInPumpTargetFlowRate( DIP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + } + + return result; +} + +/*********************************************************************//** + * @brief * The execDialInFlowMonitor function executes the dialIn flow monitor. * @details * Inputs : none * Outputs : measuredDialInFlowRate, adcDialInPumpMCSpeedRPM, adcDialInPumpMCCurrentmA - * @param none * @return none *************************************************************************/ void execDialInFlowMonitor( void ) @@ -285,17 +345,24 @@ checkDialInPumpMCCurrent(); } + // if homing, check timeout + if ( ( TRUE == dipStopAtHomePosition ) && ( TRUE == didTimeout( dipHomeStartTime, DIP_HOME_TIMEOUT_MS ) ) ) + { + signalDialInPumpHardStop(); + dipStopAtHomePosition = FALSE; + // TODO - alarm??? + } + // publish dialIn flow data on interval publishDialInFlowData(); } -/************************************************************************* - * @brief execDialInFlowController +/*********************************************************************//** + * @brief * The execDialInFlowController function executes the dialIn flow controller. * @details * Inputs : dialInPumpState * Outputs : dialInPumpState - * @param none * @return none *************************************************************************/ void execDialInFlowController( void ) @@ -324,14 +391,13 @@ } } -/************************************************************************* - * @brief handleDialInPumpOffState +/*********************************************************************//** + * @brief * The handleDialInPumpOffState function handles the dialIn pump off state \n * of the dialIn pump controller state machine. * @details * Inputs : targetDialInFlowRate, dialInPumpDirection * Outputs : dialInPumpPWMDutyCyclePctSet, dialInPumpDirectionSet, isDialInPumpOn - * @param none * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpOffState( void ) @@ -354,14 +420,13 @@ return result; } -/************************************************************************* - * @brief handleDialInPumpRampingUpState +/*********************************************************************//** + * @brief * The handleDialInPumpRampingUpState function handles the ramp up state \n * of the dialIn pump controller state machine. * @details * Inputs : dialInPumpPWMDutyCyclePctSet * Outputs : dialInPumpPWMDutyCyclePctSet - * @param none * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpRampingUpState( void ) @@ -400,14 +465,13 @@ return result; } -/************************************************************************* - * @brief handleDialInPumpRampingDownState +/*********************************************************************//** + * @brief * The handleDialInPumpRampingDownState function handles the ramp down state \n * of the dialIn pump controller state machine. * @details * Inputs : dialInPumpPWMDutyCyclePctSet * Outputs : dialInPumpPWMDutyCyclePctSet - * @param none * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpRampingDownState( void ) @@ -444,14 +508,13 @@ return result; } -/************************************************************************* - * @brief handleDialInPumpControlToTargetState +/*********************************************************************//** + * @brief * The handleDialInPumpControlToTargetState function handles the "control to \n * target" state of the dialIn pump controller state machine. * @details * Inputs : none * Outputs : dialInPumpState - * @param none * @return next state *************************************************************************/ static DIAL_IN_PUMP_STATE_T handleDialInPumpControlToTargetState( void ) @@ -477,8 +540,8 @@ return result; } -/************************************************************************* - * @brief setDialInPumpControlSignalPWM +/*********************************************************************//** + * @brief * The setDialInPumpControlSignalPWM function sets the PWM duty cycle for \n * the dialysate inlet pump to a given %. * @details @@ -492,13 +555,12 @@ etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( newPWM * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) ); } -/************************************************************************* - * @brief stopDialInPump +/*********************************************************************//** + * @brief * The stopDialInPump function sets the dialIn pump stop signal. * @details * Inputs : none * Outputs : dialIn pump stop signal activated, PWM duty cycle zeroed - * @param none * @return none *************************************************************************/ static void stopDialInPump( void ) @@ -509,22 +571,21 @@ SET_DIP_STOP(); } -/************************************************************************* - * @brief releaseDialInPumpStop +/*********************************************************************//** + * @brief * The releaseDialInPumpStop function clears the dialIn pump stop signal. * @details * Inputs : none * Outputs : dialIn pump stop signal - * @param none * @return none *************************************************************************/ static void releaseDialInPumpStop( void ) { CLR_DIP_STOP(); } -/************************************************************************* - * @brief setDialInPumpDirection +/*********************************************************************//** + * @brief * The setDialInPumpDirection function sets the set dialIn pump direction to \n * the given direction. * @details @@ -553,99 +614,91 @@ } } -/************************************************************************* - * @brief getPublishDialInFlowDataInterval +/*********************************************************************//** + * @brief * The getPublishDialInFlowDataInterval function gets the dialIn flow data \n * publication interval. * @details * Inputs : dialInFlowDataPublishInterval * Outputs : none - * @param none * @return the current dialIn flow data publication interval (in ms). *************************************************************************/ DATA_GET( U32, getPublishDialInFlowDataInterval, dialInFlowDataPublishInterval ) -/************************************************************************* - * @brief getTargetDialInFlowRate +/*********************************************************************//** + * @brief * The getTargetDialInFlowRate function gets the current target dialIn flow \n * rate. * @details * Inputs : targetDialInFlowRate * Outputs : none - * @param none * @return the current target dialIn flow rate (in mL/min). *************************************************************************/ DATA_GET( S32, getTargetDialInFlowRate, targetDialInFlowRate ) -/************************************************************************* - * @brief getMeasuredDialInFlowRate +/*********************************************************************//** + * @brief * The getMeasuredDialInFlowRate function gets the measured dialIn flow \n * rate. * @details * Inputs : measuredDialInFlowRate * Outputs : none - * @param none - * @return the current dialIn flow rate (in mL/min). +/ * @return the current dialIn flow rate (in mL/min). *************************************************************************/ DATA_GET( F32, getMeasuredDialInFlowRate, measuredDialInFlowRate ) -/************************************************************************* - * @brief getMeasuredDialInPumpRotorSpeed +/*********************************************************************//** + * @brief * The getMeasuredDialInPumpRotorSpeed function gets the measured dialIn flow \n * rate. * @details * Inputs : dialInPumpRotorSpeedRPM * Outputs : none - * @param none * @return the current dialIn flow rate (in mL/min). *************************************************************************/ DATA_GET( F32, getMeasuredDialInPumpRotorSpeed, dialInPumpRotorSpeedRPM ) -/************************************************************************* - * @brief getMeasuredDialInPumpSpeed +/*********************************************************************//** + * @brief * The getMeasuredDialInPumpSpeed function gets the measured dialIn flow \n * rate. * @details * Inputs : dialInPumpSpeedRPM * Outputs : none - * @param none * @return the current dialIn flow rate (in mL/min). *************************************************************************/ DATA_GET( F32, getMeasuredDialInPumpSpeed, dialInPumpSpeedRPM ) -/************************************************************************* - * @brief getMeasuredDialInPumpMCSpeed +/*********************************************************************//** + * @brief * The getMeasuredDialInPumpMCSpeed function gets the measured dialIn pump \n * speed. * @details * Inputs : adcDialInPumpMCSpeedRPM * Outputs : none - * @param none * @return the current dialIn pump speed (in RPM). *************************************************************************/ DATA_GET( F32, getMeasuredDialInPumpMCSpeed, adcDialInPumpMCSpeedRPM ) -/************************************************************************* - * @brief getMeasuredDialInPumpMCCurrent +/*********************************************************************//** + * @brief * The getMeasuredDialInPumpMCCurrent function gets the measured dialIn pump \n * current. * @details * Inputs : adcDialInPumpMCCurrentmA * Outputs : none - * @param none - * @return the current dialIn pump current (in mA). +/ * @return the current dialIn pump current (in mA). *************************************************************************/ DATA_GET( F32, getMeasuredDialInPumpMCCurrent, adcDialInPumpMCCurrentmA ) -/************************************************************************* - * @brief publishDialInFlowData +/*********************************************************************//** + * @brief * The publishDialInFlowData function publishes dialIn flow data at the set \n * interval. * @details * Inputs : target flow rate, measured flow rate, measured MC speed, \n * measured MC current * Outputs : DialIn flow data is published to CAN bus. - * @param none * @return none *************************************************************************/ static void publishDialInFlowData( void ) @@ -664,27 +717,18 @@ F32 measMCSpd = getMeasuredDialInPumpMCSpeed(); F32 measMCCurr = getMeasuredDialInPumpMCCurrent(); F32 pumpPWMPctDutyCycle = dialInPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR; -#ifdef DEBUG_ENABLED -// // TODO - temporary debug code - remove later -// char debugFlowStr[ 256 ]; -// -// sprintf( debugFlowStr, "Dial. Set Pt:%5d, Meas. Flow:%5d, Speed:%5d RPM, Current:%5d mA, PWM:%5d \n", flowStPt, (S32)measFlow, (S32)measMCSpd, (S32)measMCCurr, (S32)pumpPWMPctDutyCycle ); -// sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) ); -#endif broadcastDialInFlowData( flowStPt, measFlow, measRotSpd, measSpd, measMCSpd, measMCCurr, pumpPWMPctDutyCycle ); dialInFlowDataPublicationTimerCounter = 0; } } -/************************************************************************* - * @brief resetDialInFlowMovingAverage +/*********************************************************************//** + * @brief * The resetDialInFlowMovingAverage function resets the properties of the \n * dialIn flow moving average sample buffer. * @details * Inputs : none * Outputs : flowReadingsTotal, flowReadingsIdx, flowReadingsCount all set to zero. - * @param none - * @return none *************************************************************************/ static void resetDialInFlowMovingAverage( void ) { @@ -695,8 +739,8 @@ dipControlTimerCounter = 0; } -/************************************************************************* - * @brief filterDialInFlowReadings +/*********************************************************************//** + * @brief * The filterDialInFlowReadings function adds a new flow sample to the filter \n * if decimation rate for current set point calls for it. * @details @@ -752,6 +796,7 @@ } } + // if it's time to add sample to filter, add it. if ( TRUE == addSampleToFilter ) { if ( flowReadingsCount >= SIZE_OF_ROLLING_AVG ) @@ -764,18 +809,16 @@ flowReadingsCount = INC_CAP( flowReadingsCount, SIZE_OF_ROLLING_AVG ); measuredDialInFlowRate.data = flowReadingsTotal / (F32)flowReadingsCount; } - flowReadingsTmrCtr = INC_WRAP( flowReadingsTmrCtr, 0, MAX_FLOW_FILTER_INTERVAL - 1 ); } -/************************************************************************* - * @brief checkDialInPumpDirection +/*********************************************************************//** + * @brief * The checkDialInPumpDirection function checks the set direction vs. \n * the direction implied by the sign of the measured MC speed. * @details * Inputs : adcDialInPumpMCSpeedRPM, dialInPumpDirectionSet, dialInPumpState * Outputs : none - * @param none * @return none *************************************************************************/ static void checkDialInPumpDirection( void ) @@ -793,14 +836,13 @@ } } -/************************************************************************* - * @brief checkDialInPumpMCCurrent +/*********************************************************************//** + * @brief * The checkDialInPumpMCCurrent function checks the measured MC current vs. \n * the set state of the dialIn pump (stopped or running). * @details * Inputs : dialInPumpState, dipCurrErrorDurationCtr, adcDialInPumpMCCurrentmA * Outputs : none - * @param none * @return none *************************************************************************/ static void checkDialInPumpMCCurrent( void ) @@ -847,14 +889,13 @@ } } -/************************************************************************* - * @brief execDialInFlowTest +/*********************************************************************//** + * @brief * The execDialInFlowTest function executes the state machine for the \n * DialInFlow self test. * @details * Inputs : none * Outputs : none - * @param none * @return the current state of the DialInFlow self test. *************************************************************************/ SELF_TEST_STATUS_T execDialInFlowTest( void ) @@ -872,8 +913,8 @@ *************************************************************************/ -/************************************************************************* - * @brief testSetDialInFlowDataPublishIntervalOverride +/*********************************************************************//** + * @brief * The testSetDialInFlowDataPublishIntervalOverride function overrides the \n * dialIn flow data publish interval. * @details @@ -898,8 +939,8 @@ return result; } -/************************************************************************* - * @brief testResetDialInFlowDataPublishIntervalOverride +/*********************************************************************//** + * @brief * The testResetDialInFlowDataPublishIntervalOverride function resets the override \n * of the dialIn flow data publish interval. * @details @@ -921,7 +962,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testSetTargetDialInFlowRateOverride function overrides the target \n * dialysate inlet flow rate. \n @@ -956,14 +997,13 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testResetTargetDialInFlowRateOverride function resets the override of the \n * target dialysate inlet flow rate. * @details * Inputs : none * Outputs : targetDialInFlowRate - * @param none * @return TRUE if override reset successful, FALSE if not *************************************************************************/ BOOL testResetTargetDialInFlowRateOverride( void ) @@ -982,7 +1022,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testResetMeasuredDialInFlowRateOverride function overrides the measured \n * dialIn flow rate. @@ -1006,7 +1046,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testResetMeasuredDialInFlowRateOverride function resets the override of the \n * measured dialIn flow rate. @@ -1029,7 +1069,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testSetMeasuredDialInPumpRotorSpeedOverride function overrides the measured \n * dialIn pump rotor speed. @@ -1053,7 +1093,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testResetMeasuredDialInPumpRotorSpeedOverride function resets the override of the \n * measured dialIn pump rotor speed. @@ -1076,7 +1116,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testSetMeasuredDialInPumpSpeedOverride function overrides the measured \n * dialIn pump motor speed. @@ -1100,7 +1140,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testResetMeasuredDialInPumpSpeedOverride function resets the override of the \n * measured dialIn pump motor speed. @@ -1123,7 +1163,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testSetMeasuredDialInPumpMCSpeedOverride function overrides the measured \n * dialIn pump motor speed. @@ -1147,7 +1187,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testResetMeasuredDialInPumpMCSpeedOverride function resets the override of the \n * measured dialIn pump motor speed. @@ -1170,7 +1210,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testSetMeasuredDialInPumpMCCurrentOverride function overrides the measured \n * dialIn pump motor current. @@ -1194,7 +1234,7 @@ return result; } -/************************************************************************* +/*********************************************************************//** * @brief * The testResetMeasuredDialInPumpMCCurrentOverride function resets the override of the \n * measured dialIn pump motor current. @@ -1217,4 +1257,4 @@ return result; } - +/**@}*/