Index: firmware/App/Services/FPGA.c
===================================================================
diff -u -rcd3f58205f4dab89291b29ee73b7fa9c31773abc -r237bd674ddef86d5137221163e74162cd12e4fb9
--- firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision cd3f58205f4dab89291b29ee73b7fa9c31773abc)
+++ firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 237bd674ddef86d5137221163e74162cd12e4fb9)
@@ -29,6 +29,7 @@
 #include "OperationModes.h"
 #include "PersistentAlarm.h"
 #include "SystemCommMessages.h"
+#include "Timers.h"
 #include "Utilities.h"
 
 /**
@@ -94,9 +95,12 @@
 #define FPGA_GPIO_POWER_STATUS_PIN      7                       ///< FPGA GPIO power status pin.
 #define FPGA_READ_V3_START_BYTE_NUM     256                     ///< FPGA V3 read sensors start byte number.
 #define FPGA_READ_V3_END_BYTE_NUM       430                     ///< FPGA V3 read sensors end byte number.
+
 /// FPGA size of V3 read bytes.
 #define FPGA_SIZE_OF_V3_READ_BYTES      ( FPGA_READ_V3_END_BYTE_NUM - FPGA_READ_V3_START_BYTE_NUM )
 
+#define PROCESSOR_FPGA_CLOCK_DIFF_TOLERANCE     1               ///< Tolerance for processor clock speed check against FPGA clock.
+
 // FPGA header struct.
 #pragma pack(push,1)
 typedef struct
@@ -343,6 +347,10 @@
 static DG_FPGA_SENSORS_T    fpgaSensorReadings;                     ///< DG FPGA sensors structure.
 static FPGA_ACTUATORS_T     fpgaActuatorSetPoints;                  ///< FPGA actuator set points structure.
 static U08 fpgaReadByteSize;                                        ///< FPGA read byte size.
+#ifndef DEBUG_ENABLED
+static U16 currentFPGATimerCount_ms;                                ///< Current FPGA timer count in ms.
+static U32 currentTimerCount_ms;                                    ///< Current processor timer count in ms.
+#endif
 
 // ********** private function prototypes **********
 
@@ -578,8 +586,6 @@
             fpgaState = handleFPGAReceiveHeaderState();
             break;
 
-        // TODO - sensor/ADC init/configuration states
-
         case FPGA_STATE_RCV_ALL_SENSORS:
             fpgaState = handleFPGAReceiveAllSensorsState();
             break;
@@ -643,8 +649,6 @@
             fpgaState = handleFPGAReadHeaderState();
             break;
 
-        // TODO - sensor/ADC init/configuration states
-
         case FPGA_STATE_WRITE_ALL_ACTUATORS:
             fpgaState = handleFPGAWriteAllActuatorsState();
             break;
@@ -891,6 +895,38 @@
 
 /*********************************************************************//**
  * @brief
+ * The execFPGAClockSpeedTest function verifies the processor clock speed
+ * against the FPGA clock.
+ * @details Inputs: fpgaHeader
+ * @details Outputs: none
+ * @return passed, or failed
+ *************************************************************************/
+void execFPGAClockSpeedTest( void )
+{
+#ifndef DEBUG_ENABLED
+    U16 const newFPGATimerCount_ms = getFPGATimerCount();
+    U32 const newTimerCount_ms = getMSTimerCount();
+    U32 const diffFPGATimerCount = (U32)u16DiffWithWrap( currentFPGATimerCount_ms, newFPGATimerCount_ms );
+    U32 const diffTimerCount = u32DiffWithWrap( currentTimerCount_ms, newTimerCount_ms );
+
+    if ( getCurrentOperationMode() != DG_MODE_INIT )
+    {
+        if ( abs( diffFPGATimerCount - diffTimerCount ) > PROCESSOR_FPGA_CLOCK_DIFF_TOLERANCE )
+        {
+            if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_CLOCK_SPEED_ERROR ) )
+            {
+                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_FPGA_CLOCK_SPEED_CHECK_FAILURE, diffFPGATimerCount, diffTimerCount );
+            }
+        }
+    }
+
+    currentFPGATimerCount_ms = newFPGATimerCount_ms;
+    currentTimerCount_ms = newTimerCount_ms;
+#endif
+}
+
+/*********************************************************************//**
+ * @brief
  * The setupDMAForWriteCmd function sets the byte count for the next DMA
  * write command to the FPGA.
  * @details Inputs: none
@@ -2031,7 +2067,8 @@
  *************************************************************************/
 U16 getFPGATimerCount( void )
 {
-    return fpgaSensorReadings.fpgaTimerCountMS;
+    //return fpgaSensorReadings.fpgaTimerCountMS; // Commented for testing ONLY. TODO: uncomment DN-20SEPT2022
+    return fpgaSensorReadings.fpgaTimerCountMS + 5; // + 5 for tetsing ONLY. TODO: remove this line. DN-20SEPT2022
 }
 
 /*********************************************************************//**