Index: firmware/App/Controllers/DialInFlow.c =================================================================== diff -u -re7c4a51e6057f0cc83fabc72f2df9bb5dffee391 -rcd5be724d5a3ba7457e761191d82f278654d7f5c --- firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision e7c4a51e6057f0cc83fabc72f2df9bb5dffee391) +++ firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision cd5be724d5a3ba7457e761191d82f278654d7f5c) @@ -1,14 +1,14 @@ /************************************************************************** * -* Copyright (c) 2019-2023 Diality Inc. - All Rights Reserved. +* Copyright (c) 2019-2024 Diality Inc. - All Rights Reserved. * * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER. * * @file DialInFlow.c * -* @author (last) Sean Nash -* @date (last) 20-Jul-2023 +* @author (last) Dara Navaei +* @date (last) 10-Oct-2023 * * @author (original) Sean * @date (original) 16-Dec-2019 @@ -49,17 +49,17 @@ #define MAX_SETTABLE_DIAL_IN_FLOW_RATE 700 ///< Maximum settable dialysate inlet flow rate (in mL/min). -#define MAX_DIAL_IN_PUMP_PWM_STEP_UP_CHANGE 0.0133F ///< Max duty cycle change when ramping up ~ 200 mL/min/s. -#define MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE 0.02F ///< Max duty cycle change when ramping down ~ 300 mL/min/s. +#define MAX_DIAL_IN_PUMP_PWM_STEP_UP_CHANGE 0.01064F ///< Max duty cycle change when ramping up. +#define MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE 0.016F ///< Max duty cycle change when ramping down. #define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.90F ///< Controller will error if PWM duty cycle > 90%, so set max to 90%. #define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE 0.10F ///< Controller will error if PWM duty cycle < 10%, so set min to 10%. #define MIN_DG_DIAL_FLOW_RATE 10.0F ///< Minimum DG Dialysate Flow Rate (mL/Min) #define DIP_CONTROL_INTERVAL_SEC 4 ///< Dialysate inlet pump control interval (in seconds). /// Interval (ms/task time) at which the dialIn pump is controlled. static const U32 DIP_CONTROL_INTERVAL = ( DIP_CONTROL_INTERVAL_SEC * MS_PER_SECOND / TASK_GENERAL_INTERVAL ); -#define DIP_P_COEFFICIENT 0.0001F ///< P term for dialIn pump control. -#define DIP_I_COEFFICIENT 0.00075F ///< I term for dialIn pump control. +#define DIP_P_COEFFICIENT 0.00008F ///< P term for dialIn pump control. +#define DIP_I_COEFFICIENT 0.00060F ///< I term for dialIn pump control. #define DIP_HOME_SPEED 400 ///< Target pump speed (in RPM) for homing. #define DIP_HOME_TIMEOUT_MS 10000 ///< Maximum time allowed for homing to complete (in ms). @@ -100,16 +100,16 @@ ///< Macro converts a 12-bit ADC reading to a signed 16-bit value. #define SIGN_FROM_12_BIT_VALUE(v) ( (S16)(v) - (S16)DIAL_IN_PUMP_ADC_ZERO ) -#define DIP_SPEED_ADC_TO_RPM_FACTOR 1.751752F ///< Conversion factor from ADC counts to RPM for dialIn pump motor (3500 RPM/1998 counts). -#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.000238F ///< ~42 BP motor RPM = 1% PWM duty cycle +#define DIP_SPEED_ADC_TO_RPM_FACTOR 2.152152F ///< Conversion factor from ADC counts to RPM for dialIn pump motor (4300 RPM/1998 counts). +#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR 0.0002F ///< ~50 BP motor RPM = 1% PWM duty cycle #define DIP_CURRENT_ADC_TO_MA_FACTOR 3.002F ///< Conversion factor from ADC counts to mA for dialIn pump motor. #define DIP_REV_PER_LITER 146.84F ///< Rotor revolutions per liter. /// Macro converts flow rate to motor RPM. #define DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR ( DIP_REV_PER_LITER / ML_PER_LITER ) #define DIP_GEAR_RATIO 32.0F ///< DialIn pump motor to dialIn pump gear ratio. #define DIP_PWM_ZERO_OFFSET 0.1F ///< 10% PWM duty cycle = zero speed. -#define DIP_100_PCT_PWM_RPM_RANGE 4000.0F ///< 10-90% PWM range yields 0-3,200 RPM range. Full 100% PWM range would yield 4,000 RPM range. +#define DIP_100_PCT_PWM_RPM_RANGE 5000.0F ///< 10-90% PWM range yields 0-4,000 RPM range. Full 100% PWM range would yield 5,000 RPM range. /// Conversion from PWM duty cycle % to commanded pump motor speed. PWM range is 10% to 90%. RPM range is 0 to 3200. 3200 / 0.8 = 4000. #define DIP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir) ( ( ((pwm) - DIP_PWM_ZERO_OFFSET) * DIP_100_PCT_PWM_RPM_RANGE ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) ) @@ -166,10 +166,10 @@ #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. #define DIP_ROTOR_HALL_SENSOR_NHET_ID 0x0000001E ///< NHET pin number associated with DPi rotor hall sensor input // DialIn pump stop and direction macros -#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. -#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. +#define SET_DIP_DIR() {mibspiREG5->PC3 |= DIR_DI_PUMP_SPI5_PORT_MASK;} ///< Macro for setting the dialysate inlet pump direction pin high (forward). +#define CLR_DIP_DIR() {mibspiREG5->PC3 &= ~DIR_DI_PUMP_SPI5_PORT_MASK;} ///< Macro for setting the dialysate inlet pump direction pin low (reverse). +#define SET_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_LOW ) ///< Macro for setting the dialysate inlet pump disable pin low (disable). +#define CLR_DIP_STOP() gioSetBit( gioPORTA, STOP_DI_PUMP_GIO_PORT_PIN, PIN_SIGNAL_HIGH ) ///< Macro for setting the dialysate inlet pump disable pin high (enable). // ********** private data ********** @@ -837,7 +837,7 @@ F32 calculatedFlow = ( motorRPM * 2 * DIAL_IN_STROKE_VOLUME/DIAL_IN_GEAR_RATIO ) * alphaTerm; - if ( ( QdTarget < DIAL_IN_FLOW_QHIGHTRANSITION ) && ( QdTarget > DIAL_IN_FLOW_QLOWTRANSITION ) ) + if ( QdTarget > DIAL_IN_FLOW_QLOWTRANSITION ) { // use blended flow rate calculation estimatedFlow = ( ( QdTarget - DIAL_IN_FLOW_QLOWTRANSITION ) / ( DIAL_IN_FLOW_QHIGHTRANSITION - DIAL_IN_FLOW_QLOWTRANSITION ) ) * filteredDialInFlowMeterReading + ( ( DIAL_IN_FLOW_QHIGHTRANSITION - QdTarget ) / ( DIAL_IN_FLOW_QHIGHTRANSITION - DIAL_IN_FLOW_QLOWTRANSITION ) ) * calculatedFlow;