Index: firmware/App/Modes/StateTxBloodPrime.c =================================================================== diff -u -ra4c24675ae7b241eedf2487b6c55edb97f8d59c7 -radb1e343d9d707ea451eb842cd6e0baa0ddbde35 --- firmware/App/Modes/StateTxBloodPrime.c (.../StateTxBloodPrime.c) (revision a4c24675ae7b241eedf2487b6c55edb97f8d59c7) +++ firmware/App/Modes/StateTxBloodPrime.c (.../StateTxBloodPrime.c) (revision adb1e343d9d707ea451eb842cd6e0baa0ddbde35) @@ -17,6 +17,9 @@ #include "AirTrap.h" #include "BloodFlow.h" +#include "Buttons.h" +#include "DDInterface.h" +#include "Messaging.h" #include "ModeTreatment.h" #include "TxParams.h" #include "OperationModes.h" @@ -49,16 +52,25 @@ /// Multiplier to convert flow (mL/min) into volume (mL) for period of general task interval. static const F32 BLOOD_PRIME_FLOW_INTEGRATOR = 1.0F / (F32)( SEC_PER_MIN * ( MS_PER_SECOND / TASK_GENERAL_INTERVAL ) ); +/// Tubing portion of blood prime volume to prime the blood side circuit (in mL). +#define TUBING_BLOOD_PRIME_VOLUME_ML 106.6F + // ********** private data ********** static BLOOD_PRIME_STATE_T bloodPrimeState; ///< Current state of the blood prime sub-mode. +static BLOOD_PRIME_STATE_T bloodPrimeResumeState; ///< Blood prime sub-state prior to pause. +static BOOL pendingPauseRequest; ///< Flag indicating UI has requested blood prime pause. +static BOOL pendingResumeRequest; ///< Flag indicating UI has requested blood prime resume. +static BOOL pendingFlowChangeRequest; ///< Flag indicating UI has requested blood prime flow change static F32 bloodPrimeRampFlowRate_mL_min; ///< Current blood pump ramp flow rate. static F32 bloodPrimeRampStep_mL; ///< Blood pump volume step size for ramping. static F32 bloodPrimeTargetVolume_mL; ///< Calculated target blood prime volume (based on selected dialyzer and fixed tubing volume). static U32 bloodPrimeRampControlTimerCtr; ///< Timer counter for determining interval for controlling BP ramp. static U32 bloodPrimePublishTimerCtr; ///< Timer counter for determining interval for blood prime status to be published. +static U32 lastBloodPrimeFlowRate_mL_min; ///< Flow rate prior to pausing blood prime. +static U32 requestedBloodFlowRate_mL_min; ///< Requested blood flow rate from UI. /// Interval (in task intervals) at which to publish blood prime data to CAN bus. static OVERRIDE_U32_T bloodPrimePublishInterval = { BLOOD_PRIME_DATA_PUBLISH_INTERVAL, BLOOD_PRIME_DATA_PUBLISH_INTERVAL, BLOOD_PRIME_DATA_PUBLISH_INTERVAL, 0 }; @@ -70,6 +82,8 @@ static void resetBloodPrimeFlags( void ); static F32 getBloodPrimeVolume( void ); static BLOOD_PRIME_STATE_T handleBloodPrimeRampState( void ); +static BLOOD_PRIME_STATE_T handleBloodPrimeRunState( void ); +static BLOOD_PRIME_STATE_T handleBloodPrimePausedState( void ); static void publishBloodPrimeData( void ); /*********************************************************************//** @@ -86,6 +100,7 @@ F32 estRampSeconds = 0.0F; bloodPrimeState = BLOOD_PRIME_RAMP_STATE; + bloodPrimeResumeState = BLOOD_PRIME_RAMP_STATE; bloodPrimeRampControlTimerCtr = 0; bloodPrimePublishTimerCtr = BLOOD_PRIME_DATA_PUBLISH_INTERVAL - 2; // setup so publish will occur time after next cumulativeBloodPrimeVolume_mL.data = 0.0; @@ -137,12 +152,15 @@ startAirTrapControl(); // Ensure Heparin pump is stopped - //stopSyringePump(); + //stopSyringePump(); // TODO // start blood pump setBloodPumpTargetFlowRate( (U32)bloodPrimeRampFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); - // TODO - direct DD to bypass dialysate and perform no ultrafiltration + // Direct DD to bypass dialysate and perform no ultrafiltration + cmdBypassDialyzer( TRUE ); + cmdChangeQd( getTreatmentParameterU32( TREATMENT_PARAM_DIALYSATE_FLOW ) ); + cmdChangeQuf( 0.0F ); setCurrentSubState( (U32)bloodPrimeState ); } @@ -156,7 +174,9 @@ *************************************************************************/ static void resetBloodPrimeFlags( void ) { - // No flags for now + pendingPauseRequest = FALSE; + pendingResumeRequest = FALSE; + pendingFlowChangeRequest = FALSE; } /*********************************************************************//** @@ -194,6 +214,14 @@ bloodPrimeState = handleBloodPrimeRampState(); break; + case BLOOD_PRIME_RUN_STATE: + bloodPrimeState = handleBloodPrimeRunState(); + break; + + case BLOOD_PRIME_PAUSED_STATE: + bloodPrimeState = handleBloodPrimePausedState(); + break; + default: SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_PRIME_INVALID_STATE, bloodPrimeState ); break; @@ -218,40 +246,129 @@ { BLOOD_PRIME_STATE_T result = BLOOD_PRIME_RAMP_STATE; - // Update blood prime volume delivered so far + //Update blood prime volume delivered so far cumulativeBloodPrimeVolume_mL.data += ( getMeasuredBloodFlowRate() * BLOOD_PRIME_FLOW_INTEGRATOR ); if ( TRUE == getTestConfigStatus( TEST_CONFIG_SKIP_BLOOD_PRIME ) ) { - // If the skip blood prime is enabled, set the cumulative volume to the target blood prime volume cumulativeBloodPrimeVolume_mL.data = bloodPrimeTargetVolume_mL; } - // Has blood prime completed? + // Volume reached to Dialysis if ( getBloodPrimeVolume() >= bloodPrimeTargetVolume_mL ) { - initBloodPrime(); // Reset blood prime so that we start anew next time we transition to this sub-mode - setBloodIsPrimed( TRUE ); // Signal treatment mode that blood prime is completed - signalBloodPrimeToDialysis(); // Signal treatment mode that it's time to start dialysis + initBloodPrime(); + setBloodIsPrimed( TRUE ); + signalBloodPrimeToDialysis(); } + // Soft pause from UI + else if ( TRUE == pendingPauseRequest ) + { + pendingPauseRequest = FALSE; + bloodPrimeResumeState = BLOOD_PRIME_RAMP_STATE; + lastBloodPrimeFlowRate_mL_min = (F32)getTargetBloodFlowRate(); + setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + // Close art/ven pinch valves + setValvePosition( H1_VALV, VALVE_POSITION_C_CLOSE ); + setValvePosition( H19_VALV, VALVE_POSITION_C_CLOSE ); + result = BLOOD_PRIME_PAUSED_STATE; + } + // When UI changes blood flow rate + else if ( TRUE == pendingFlowChangeRequest ) + { + pendingFlowChangeRequest = FALSE; + bloodPrimeRampFlowRate_mL_min = (F32)requestedBloodFlowRate_mL_min; + // To ensure resume returns to RUN state + bloodPrimeResumeState = BLOOD_PRIME_RUN_STATE; + result = BLOOD_PRIME_RUN_STATE; + } else { - // ramp blood pump on ramp interval + // Continue ramping if ( ++bloodPrimeRampControlTimerCtr >= BLOOD_PRIME_RAMPING_INTERVAL ) { - U32 setBPRate = getTreatmentParameterU32( TREATMENT_PARAM_BLOOD_FLOW ); - - bloodPrimeRampControlTimerCtr = 0; - bloodPrimeRampFlowRate_mL_min += bloodPrimeRampStep_mL; - setBloodPumpTargetFlowRate( (U32)bloodPrimeRampFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + bloodPrimeRampControlTimerCtr = 0; + bloodPrimeRampFlowRate_mL_min += bloodPrimeRampStep_mL; + setBloodPumpTargetFlowRate( (U32)bloodPrimeRampFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); } } + return result; +} + +/*********************************************************************//** + * @brief + * The handleBloodPrimeRunState function handles the blood prime run + * state operations. + * @details \b Inputs: cumulativeBloodPrimevolume_mL + * @details \b Outputs: cumulativeBloodPrimevolume_mL + * @return next blood prime state + *************************************************************************/ +static BLOOD_PRIME_STATE_T handleBloodPrimeRunState( void ) +{ + BLOOD_PRIME_STATE_T result = BLOOD_PRIME_RUN_STATE; + + // Update blood prime volume delivered so far + cumulativeBloodPrimeVolume_mL.data += ( getMeasuredBloodFlowRate() * BLOOD_PRIME_FLOW_INTEGRATOR ); + + // Volume reached to Dialysis + if ( getBloodPrimeVolume() >= bloodPrimeTargetVolume_mL ) + { + initBloodPrime(); + setBloodIsPrimed( TRUE ); + signalBloodPrimeToDialysis(); + } + // Soft pause from UI + else if ( TRUE == pendingPauseRequest ) + { + pendingPauseRequest = FALSE; + bloodPrimeResumeState = BLOOD_PRIME_RUN_STATE; + lastBloodPrimeFlowRate_mL_min = getTargetBloodFlowRate(); + setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + // Close art/ven pinch valves + setValvePosition( H1_VALV, VALVE_POSITION_C_CLOSE ); + setValvePosition( H19_VALV, VALVE_POSITION_C_CLOSE ); + result = BLOOD_PRIME_PAUSED_STATE; + } + // When UI changes blood flow rate + else if ( TRUE == pendingFlowChangeRequest ) + { + pendingFlowChangeRequest = FALSE; + setBloodPumpTargetFlowRate( requestedBloodFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + } + return result; } /*********************************************************************//** * @brief + * The handleBloodPrimePausedState function handles the blood prime paused + * state operations. + * @details \b Inputs: getCurrentOperationMode + * @details \b Outputs: flags handled + * @return none + *************************************************************************/ +static BLOOD_PRIME_STATE_T handleBloodPrimePausedState( void ) +{ + BLOOD_PRIME_STATE_T result = BLOOD_PRIME_PAUSED_STATE; + + // Soft resume from UI + if ( TRUE == pendingResumeRequest ) + { + pendingResumeRequest = FALSE; + setBloodPumpTargetFlowRate( (U32)lastBloodPrimeFlowRate_mL_min, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP ); + // Open art/ven pinch valves + setValvePosition( H1_VALV, VALVE_POSITION_B_OPEN ); + setValvePosition( H19_VALV, VALVE_POSITION_B_OPEN ); + // Return to state prior to pause + result = bloodPrimeResumeState; + } + + return result; +} + +/*********************************************************************//** + * @brief * The getCurrentBloodPrimeState function returns the current state of the * blood prime state. * @details \b Inputs: bloodPrimeState @@ -264,6 +381,105 @@ } /*********************************************************************//** +* @brief +* The bloodPrimeHandleCmdRequest function handles the UI blood prime +* command request. +* @details \b Message \b Sent: MSG_ID_UI_BLOOD_PRIME_CMD_RESPONSE +* @details \b Inputs: message containing requested blood prime user action. +* @details \b Outputs: bloodPrimeRequestedAction updated if valid. +* @return TRUE if request is accepted, FALSE if rejected. +*************************************************************************/ +BOOL bloodPrimeHandleCmdRequest( MESSAGE_T *message ) +{ + BOOL result = FALSE; + U32 action = 0; + REQUEST_REJECT_REASON_CODE_T rejReason = REQUEST_REJECT_REASON_INVALID_REQUEST_FORMAT; + UI_RESPONSE_PAYLOAD_T response; + + // Verify message payload length is valid + if ( sizeof(U32) == message->hdr.payloadLen ) + { + memcpy( &action, message->payload, sizeof( U32 ) ); + + if ( action < NUM_OF_REQUESTED_BLOOD_PRIME_USER_ACTIONS ) + { + result = TRUE; + rejReason = REQUEST_REJECT_REASON_NONE; + if ( REQUESTED_USER_ACTION_BLOOD_PRIME_PAUSE == action ) + { + pendingPauseRequest = TRUE; + } + else + { + pendingResumeRequest = TRUE; + } + } + else + { + rejReason = REQUEST_REJECT_REASON_INVALID_COMMAND; + } + } + + // Respond to request + response.accepted = result; + response.rejectionReason = rejReason; + sendMessage( MSG_ID_TD_BLOOD_PRIME_CMD_RESPONSE, COMM_BUFFER_OUT_CAN_TD_2_UI, (U08*)(&response), sizeof( UI_RESPONSE_PAYLOAD_T ) ); + + return result; +} + +/*********************************************************************//** +* @brief +* The bloodPrimeHandleBloodFlowChangeRequest function handles the UI +* treatment blood flow change request. +* @details \b Message \b Sent: MSG_ID_TD_TREATMENT_SET_POINT_BLOOD_FLOW_CHANGE_RESPONSE +* @details \b Inputs: message containing requested blood flow rate. +* @details \b Outputs: pendingFlowChangeRequest set if valid. +* @return TRUE if request is accepted, FALSE if rejected. +*************************************************************************/ +BOOL bloodPrimeHandleBloodFlowChangeRequest( MESSAGE_T *message ) +{ + BOOL result = FALSE; + U32 requestedRate = 0; + REQUEST_REJECT_REASON_CODE_T rejReason = REQUEST_REJECT_REASON_INVALID_REQUEST_FORMAT; + UI_RESPONSE_PAYLOAD_T response; + + // Verify message payload length + if ( sizeof(U32) == message->hdr.payloadLen ) + { + memcpy( &requestedRate, message->payload, sizeof( U32 ) ); + if ( ( MODE_TREA == getCurrentOperationMode() ) && ( TREATMENT_BLOOD_PRIME_STATE == getTreatmentState() ) ) + { + U32 lowerLimit = getU32TreatmentParamLowerRangeLimit( TREATMENT_PARAM_BLOOD_FLOW ); + U32 upperLimit = getU32TreatmentParamUpperRangeLimit( TREATMENT_PARAM_BLOOD_FLOW ); + + if ( ( requestedRate >= lowerLimit ) && ( requestedRate <= upperLimit ) ) + { + requestedBloodFlowRate_mL_min = requestedRate; + pendingFlowChangeRequest = TRUE; + result = TRUE; + rejReason = REQUEST_REJECT_REASON_NONE; + } + else + { + rejReason = REQUEST_REJECT_REASON_INVALID_COMMAND; + } + } + else + { + rejReason = REQUEST_REJECT_REASON_INVALID_TREATMENT_STATE; + } + } + + // Respond to request + response.accepted = result; + response.rejectionReason = rejReason; + sendMessage( MSG_ID_TD_TREATMENT_SET_POINT_BLOOD_FLOW_CHANGE_RESPONSE, COMM_BUFFER_OUT_CAN_TD_2_UI, (U08*)(&response), sizeof( UI_RESPONSE_PAYLOAD_T ) ); + + return result; +} + +/*********************************************************************//** * @brief * The publishBloodPrimeData function publishes blood prime data * at interval. Index: firmware/App/Services/Messaging.c =================================================================== diff -u -r4c5792bd60ef12c8a3cd105ff208a966ee5c8d56 -radb1e343d9d707ea451eb842cd6e0baa0ddbde35 --- firmware/App/Services/Messaging.c (.../Messaging.c) (revision 4c5792bd60ef12c8a3cd105ff208a966ee5c8d56) +++ firmware/App/Services/Messaging.c (.../Messaging.c) (revision adb1e343d9d707ea451eb842cd6e0baa0ddbde35) @@ -113,6 +113,8 @@ { MSG_ID_UI_INITIATE_TREATMENT_WORKFLOW, &signalUserInitiateTreatment }, { MSG_ID_UI_UF_PAUSE_RESUME_REQUEST, &signalPauseResumeUF }, { MSG_ID_TESTER_LOGIN_REQUEST, &handleTesterLogInRequest }, + { MSG_ID_UI_BLOOD_PRIME_CMD_REQUEST, &bloodPrimeHandleCmdRequest }, + { MSG_ID_UI_TREATMENT_SET_POINT_BLOOD_FLOW_CHANGE_REQUEST, &bloodPrimeHandleBloodFlowChangeRequest }, { MSG_ID_TD_SOFTWARE_RESET_REQUEST, &testTDSoftwareResetRequest }, { MSG_ID_TD_BUBBLE_OVERRIDE_REQUEST, &testBubbleDetectOverride }, { MSG_ID_TD_BUBBLE_PUBLISH_INTERVAL_OVERRIDE_REQUEST, &testBubblesDataPublishIntervalOverride }, @@ -182,7 +184,6 @@ { MSG_ID_TD_EJECTOR_OPT_SENSOR_OVERRIDE_REQUEST, &testEjectorOpticalSensorOverride }, { MSG_ID_TD_BLOOD_PRIME_VOLUME_OVERRIDE, &testBloodPrimeVolumeOverride }, { MSG_ID_TD_BLOOD_PRIME_PUBLISH_INTERVAL_OVERRIDE_REQUEST, &testBloodPrimePublishIntervalOverride }, - { MSG_ID_TD_ENABLE_VENOUS_BUBBLE_ALARM, &testEnableVenousBubbleAlarm }, }; #define NUM_OF_FUNCTION_HANDLERS (sizeof(MSG_FUNCTION_HANDLER_LOOKUP) / sizeof(MSG_HANDLER_LOOKUP_T))