Index: firmware/App/Controllers/BloodFlow.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Controllers/BloodFlow.c (.../BloodFlow.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Controllers/BloodFlow.c (.../BloodFlow.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -1651,7 +1651,7 @@ if ( TRUE == isTestingActivated() ) { - setBloodPumpTargetFlowRate( (S32)BP_ML_PER_MIN_FROM_PWM( value ), MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + setBloodPumpTargetFlowRate( (U32)BP_ML_PER_MIN_FROM_PWM( value ), MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); result = TRUE; } Index: firmware/App/Controllers/DialInFlow.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Controllers/DialInFlow.c (.../DialInFlow.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -268,7 +268,7 @@ * @param pwm PWM duty cycle to set pump controller to (optional for open loop) * @return TRUE if new flow rate & dir are set, FALSE if not *************************************************************************/ -BOOL setDialInPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode, F32 pwm ) +BOOL setDialInPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode) { BOOL result = FALSE; @@ -278,7 +278,7 @@ S32 dirFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 ); // Don't interrupt pump control unless rate or mode is changing - if ( ( dirFlowRate != targetDialInFlowRate ) || ( mode != dialInPumpControlMode ) || ( fabs(pwm) > NEARLY_ZERO ) ) + if ( ( dirFlowRate != targetDialInFlowRate ) || ( mode != dialInPumpControlMode ) ) { BOOL isFlowRateInRange = ( flowRate <= MAX_DIAL_IN_FLOW_RATE ? TRUE : FALSE ); @@ -297,14 +297,7 @@ dialInPumpDirection = dir; dialInPumpControlMode = 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 - if ( PUMP_CONTROL_MODE_CLOSED_LOOP == mode || fabs(pwm) < NEARLY_ZERO ) - { - dialInPumpPWMDutyCyclePct = ( 0 == flowRate ? DIP_PWM_ZERO_OFFSET : DIP_PWM_FROM_ML_PER_MIN( (F32)flowRate ) ); - } - else // Dialin command to open loop w/ set PWM duty cycle - { - dialInPumpPWMDutyCyclePct = pwm; - } + dialInPumpPWMDutyCyclePct = ( 0 == flowRate ? DIP_PWM_ZERO_OFFSET : DIP_PWM_FROM_ML_PER_MIN( (F32)flowRate ) ); switch ( dialInPumpState ) { @@ -414,7 +407,7 @@ { dipStopAtHomePosition = TRUE; dipHomeStartTime = getMSTimerCount(); - result = setDialInPumpTargetFlowRate( DIP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + result = setDialInPumpTargetFlowRate( DIP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); } return result; @@ -1418,7 +1411,7 @@ } else { - result = setDialInPumpTargetFlowRate( abs(value), dir, (PUMP_CONTROL_MODE_T)ctrlMode, 0.0F ); + result = setDialInPumpTargetFlowRate( abs(value), dir, (PUMP_CONTROL_MODE_T)ctrlMode ); } } } @@ -1665,7 +1658,7 @@ if ( TRUE == isTestingActivated() ) { - setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, value ); + setDialInPumpTargetFlowRate( (U32)DIP_ML_PER_MIN_FROM_PWM(value), MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); result = TRUE; } Index: firmware/App/Controllers/DialInFlow.h =================================================================== diff -u -rd28280f1054fc9ddf9304a11373dc9ee963425e3 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Controllers/DialInFlow.h (.../DialInFlow.h) (revision d28280f1054fc9ddf9304a11373dc9ee963425e3) +++ firmware/App/Controllers/DialInFlow.h (.../DialInFlow.h) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -54,7 +54,7 @@ void execDialInFlowMonitor( void ); void execDialInFlowController( void ); -BOOL setDialInPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode, F32 pwm ); +BOOL setDialInPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode ); void signalDialInPumpHardStop( void ); void signalDialInPumpRotorHallSensor( void ); BOOL homeDialInPump( void ); Index: firmware/App/Controllers/DialOutFlow.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Controllers/DialOutFlow.c (.../DialOutFlow.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Controllers/DialOutFlow.c (.../DialOutFlow.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -109,7 +109,7 @@ /// Conversion from PWM duty cycle % to commanded pump motor speed. #define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm) ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * 4000.0F ) /// Macro converts a PWM to an estimated flow rate. -#define DOP_ML_PER_MIN_FROM_PWM(pwm) ( ( ( pwm - DOP_PWM_ZERO_OFFSET - 0.0972 ) / 0.0009 ) ) +#define DOP_ML_PER_MIN_FROM_PWM(pwm) ( ( ( pwm - DOP_PWM_ZERO_OFFSET ) - 0.0972 ) / 0.0009 ) #define PUMP_DIR_ERROR_COUNT_MASK 0x3F ///< Bit mask for pump direction error counter. #define DOP_MIN_DIR_CHECK_SPEED_RPM 10.0F ///< Minimum motor speed before we check pump direction. @@ -295,7 +295,7 @@ dialOutPumpDirection = dir; dialOutPumpControlMode = 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 - dialOutPumpPWMDutyCyclePct = pwmDC; + dialOutPumpPWMDutyCyclePct = DOP_PWM_FROM_ML_PER_MIN(pwmDC); switch ( dialOutPumpState ) { @@ -1656,10 +1656,16 @@ BOOL testSetDialOutPumpTargetDutyCycle( F32 value ) { BOOL result = FALSE; + F32 targetPWM = DOP_ML_PER_MIN_FROM_PWM(value) ; if ( TRUE == isTestingActivated() ) { - setDialOutPumpTargetRate( (S32)DOP_ML_PER_MIN_FROM_PWM( value ), MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + // currently conversion can create negative values with values <= 10%. + if ( targetPWM < 0 ) + { + targetPWM = 0; + } + setDialOutPumpTargetRate( (U32)targetPWM, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); result = TRUE; } Index: firmware/App/Modes/BloodPrime.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/BloodPrime.c (.../BloodPrime.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Modes/BloodPrime.c (.../BloodPrime.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -143,7 +143,7 @@ // start blood and dialysate inlet pumps setBloodPumpTargetFlowRate( (U32)bloodPrimeRampFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); - setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); cmdStartDGTrimmerHeater(); // Start air trap control Index: firmware/App/Modes/Dialysis.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/Dialysis.c (.../Dialysis.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Modes/Dialysis.c (.../Dialysis.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -238,7 +238,7 @@ } #endif - setDialInPumpTargetFlowRate( setDialysateFlowRate, MOTOR_DIR_FORWARD, mode, 0.0F ); + setDialInPumpTargetFlowRate( setDialysateFlowRate, MOTOR_DIR_FORWARD, mode ); setDialOutPumpTargetRate( setDialysateFlowRate + (S32)setUFRate, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); // Start Heparin pump as appropriate @@ -327,7 +327,7 @@ mode = PUMP_CONTROL_MODE_OPEN_LOOP; } #endif - setDialInPumpTargetFlowRate( setDialysateFlowRate, MOTOR_DIR_FORWARD, mode, 0.0F ); + setDialInPumpTargetFlowRate( setDialysateFlowRate, MOTOR_DIR_FORWARD, mode ); setDialOutPumpTargetRate( setDialysateFlowRate + (S32)setUFRate, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); } @@ -867,7 +867,7 @@ salineBolusStartRequested = FALSE; // Cmd all pumps to stop setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); - setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); stopSyringePump(); // Begin saline bolus @@ -909,7 +909,7 @@ #endif // Start dialysate inlet pump at re-circ rate #ifndef RUN_PUMPS_OPEN_LOOP - setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); #else setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); #endif Index: firmware/App/Modes/ModePreTreat.c =================================================================== diff -u -rd28280f1054fc9ddf9304a11373dc9ee963425e3 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/ModePreTreat.c (.../ModePreTreat.c) (revision d28280f1054fc9ddf9304a11373dc9ee963425e3) +++ firmware/App/Modes/ModePreTreat.c (.../ModePreTreat.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -598,7 +598,7 @@ signalBloodPumpHardStop(); signalDialOutPumpHardStop(); - setDialInPumpTargetFlowRate( DIP_PATIENT_CONNECTION_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIP_PATIENT_CONNECTION_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); cmdStartDGTrimmerHeater(); } Index: firmware/App/Modes/PreTreatmentRecirc.c =================================================================== diff -u -rd28280f1054fc9ddf9304a11373dc9ee963425e3 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/PreTreatmentRecirc.c (.../PreTreatmentRecirc.c) (revision d28280f1054fc9ddf9304a11373dc9ee963425e3) +++ firmware/App/Modes/PreTreatmentRecirc.c (.../PreTreatmentRecirc.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -165,7 +165,7 @@ startAirTrapControl(); setBloodPumpTargetFlowRate( BLOOD_PUMP_RECIRC_FLOW_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); - setDialInPumpTargetFlowRate( DIALYSATE_PUMP_RECIRC_FLOW_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIALYSATE_PUMP_RECIRC_FLOW_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); signalDialOutPumpHardStop(); } Index: firmware/App/Modes/Prime.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/Prime.c (.../Prime.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Modes/Prime.c (.../Prime.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -592,7 +592,7 @@ setValveAirTrap( STATE_CLOSED ); signalBloodPumpHardStop(); - setDialInPumpTargetFlowRate( DIALYSATE_PUMP_PRIME_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIALYSATE_PUMP_PRIME_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); setDialOutPumpTargetRate( DIALYSATE_PUMP_PRIME_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); // Calculate the time out value that must passed prior to checking for the steady state volume in the reservoir @@ -765,7 +765,7 @@ if ( TRUE == hasDGCompletedReservoirSwitch() ) { signalBloodPumpHardStop(); - setDialInPumpTargetFlowRate( DIALYSATE_PUMP_PRIME_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIALYSATE_PUMP_PRIME_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); setValvePosition( VDI, VALVE_POSITION_C_CLOSE ); setValvePosition( VDO, VALVE_POSITION_C_CLOSE ); Index: firmware/App/Modes/Rinseback.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/Rinseback.c (.../Rinseback.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Modes/Rinseback.c (.../Rinseback.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -193,7 +193,7 @@ endAirTrapControl(); // Re-circulate dialysate side of dialyzer w/ heating to maintain temperature - setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); cmdStartDGTrimmerHeater(); } Index: firmware/App/Modes/SelfTests.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/SelfTests.c (.../SelfTests.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Modes/SelfTests.c (.../SelfTests.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -769,7 +769,7 @@ havePumpsStarted = TRUE; setBloodPumpTargetFlowRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); - setDialInPumpTargetFlowRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); setDialOutPumpTargetRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); runPumpStartTime = getMSTimerCount(); } @@ -1295,7 +1295,7 @@ { F32 bolusVol = getTreatmentParameterF32( TREATMENT_PARAM_HEPARIN_BOLUS_VOLUME ); - setDialInPumpTargetFlowRate( DIP_FLOW_RATE_SETUP_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIP_FLOW_RATE_SETUP_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); fmdIntegratedVolume = 0.0; if ( ( bolusVol > 0.0 ) && ( getSyringePumpVolumeDelivered() < bolusVol ) ) @@ -1471,7 +1471,7 @@ if ( FALSE == cmdResp.rejected ) { - setDialInPumpTargetFlowRate( DIP_FLOW_RATE_FIRST_DISPLACEMENT_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIP_FLOW_RATE_FIRST_DISPLACEMENT_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); displacementStartTime = getMSTimerCount(); fmdIntegratedVolume = 0.0; state = WET_SELF_TESTS_FIRST_DISPLACEMENT_STATE; @@ -1609,7 +1609,7 @@ if ( FALSE == cmdResp.rejected ) { - setDialInPumpTargetFlowRate( DIP_FLOW_RATE_SECOND_DISPLACEMENT_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIP_FLOW_RATE_SECOND_DISPLACEMENT_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); displacementStartTime = getMSTimerCount(); fmdIntegratedVolume = 0.0; state = WET_SELF_TESTS_SECOND_DISPLACEMENT_STATE; Index: firmware/App/Modes/TreatmentStop.c =================================================================== diff -u -rd4bc221d9817b488c2dcd00868386d7036a5c9a1 -rb20421d84b9049977c04f4752f4fc5697425f25c --- firmware/App/Modes/TreatmentStop.c (.../TreatmentStop.c) (revision d4bc221d9817b488c2dcd00868386d7036a5c9a1) +++ firmware/App/Modes/TreatmentStop.c (.../TreatmentStop.c) (revision b20421d84b9049977c04f4752f4fc5697425f25c) @@ -145,7 +145,7 @@ { // Re-circulate dialysate side of dialyzer w/ heating to maintain temperature doorClosedRequired( TRUE, TRUE ); - setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP, 0.0F ); + setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP ); cmdStartDGTrimmerHeater(); }