Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r2506bb824f04982d4cf6ad3d81853f863b2f9c11 -r863f8f88c73ee5dd285242f6e131a14862b4f5c4
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 2506bb824f04982d4cf6ad3d81853f863b2f9c11)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 863f8f88c73ee5dd285242f6e131a14862b4f5c4)
@@ -77,7 +77,7 @@
 static U32 roPumpDataPublicationTimerCounter;                                                       ///< Used to schedule RO pump data publication to CAN bus.
 static OVERRIDE_U32_T roPumpDataPublishInterval;                                                    ///< Interval (in ms) at which to publish boost pump data to CAN bus.
 static U32 roControlTimerCounter;                                                                   ///< Determines when to perform control on RO pump.
-static OVERRIDE_F32_T targetROPumpFlowRate;                                                         ///< Target RO flow rate (in L/min).
+static OVERRIDE_U32_T targetROPumpFlowRate;                                                         ///< Target RO flow rate (in L/min).
 static OVERRIDE_F32_T targetROPumpPressure;                                                         ///< Target RO max allowed pressure (in PSI).
 static F32 roPumpDutyCyclePctSet;                                                                   ///< Currently set RO pump PWM duty cycle.
 static F32 roPumpOpenLoopTargetDutyCycle;                                                           ///< Target RO pump open loop PWM.
@@ -90,7 +90,7 @@
 static RO_PUMP_STATE_T handleROPumpOpenLoopState( void );
 
 static F32 roPumpPresToPWM( F32 targetPressure );
-static F32 roPumpFlowToPWM( F32 targetFlow );
+static F32 roPumpFlowToPWM( U32 targetFlow );
 static void stopROPump( void );
 static void publishROPumpData( void );
 
@@ -127,9 +127,9 @@
     roPumpDataPublishInterval.ovData        = RO_PUMP_DATA_PUB_INTERVAL;
     roPumpDataPublishInterval.ovInitData    = 0;
     roPumpDataPublishInterval.override      = OVERRIDE_RESET;
-    targetROPumpFlowRate.data               = 0.0F;
-    targetROPumpFlowRate.ovData             = 0.0F;
-    targetROPumpFlowRate.ovInitData         = 0.0F;
+    targetROPumpFlowRate.data               = 0;
+    targetROPumpFlowRate.ovData             = 0;
+    targetROPumpFlowRate.ovInitData         = 0;
     targetROPumpFlowRate.override           = OVERRIDE_RESET;
     targetROPumpPressure.data               = 0.0F;
     targetROPumpPressure.ovData             = 0.0F;
@@ -204,11 +204,11 @@
     }
 
     // If there is a target flow set, transition to the PI controller and control to flow
-    else if ( ( getTargetROPumpFlowRateLPM() > 0.0F ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
+    else if ( ( getTargetROPumpFlowRateMLPM() > 0 ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         // Set pump to on
         isROPumpOn = TRUE;
-        roPumpDutyCyclePctSet = roPumpFlowToPWM( getTargetROPumpFlowRateLPM() );
+        roPumpDutyCyclePctSet = roPumpFlowToPWM( getTargetROPumpFlowRateMLPM() );
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
         state = RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
     }
@@ -252,7 +252,7 @@
     }
 
     // If there is a target flow set, transition to the PI controller and control to flow
-    else if ( ( getTargetROPumpFlowRateLPM() > 0.0F ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
+    else if ( ( getTargetROPumpFlowRateMLPM() > 0 ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         ///transition to closed loop
         resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, 0 );
@@ -290,7 +290,7 @@
     // Control at set interval
     else if ( ( ++roControlTimerCounter >= ROP_CONTROL_INTERVAL ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
-        roPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, getTargetROPumpFlowRateLPM(), getFlowRate( P16_FLOW ) );
+        roPumpDutyCyclePctSet = runPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, getTargetROPumpFlowRateMLPM(), getFilteredFlow( P16_FLOW ) );
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpDutyCyclePctSet );
         roControlTimerCounter = 0;
     }
@@ -310,7 +310,7 @@
 {
     RO_PUMP_STATE_T state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
 
-    if ( getTargetROPumpFlowRateLPM() > 0.0F && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
+    if ( getTargetROPumpFlowRateMLPM() > 0 && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         // Transition to target flow
         resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, 0 );
@@ -335,25 +335,25 @@
 
 /*********************************************************************//**
  * @brief
- * The setROPumpTargetFlowRateLPM function sets a new target flow rate for the
+ * The setROPumpTargetFlowRateMLPM function sets a new target flow rate for the
  * RO pump.
  * @details \b Inputs: roPumpOpenLoopTargetDutyCycle
  * @details \b Outputs: targetROPumpFlowRate, roPumpControlMode, roPumpDutyCyclePctSet,
  * roControlTimerCounter, isROPumpOn
  * @param roFlowRate which is target RO flow rate in mL/min
  * @return TRUE if new target flow rate is set successfully, FALSE if not
  *************************************************************************/
-BOOL setROPumpTargetFlowRateLPM( F32 roFlowRate )
+BOOL setROPumpTargetFlowRateMLPM( U32 roFlowRate )
 {
     BOOL result = FALSE;
 
     // First of all, the flow rate must be in range
-    if ( ( roFlowRate <= MAX_RO_FLOWRATE_LPM ) && ( roFlowRate >= MIN_RO_FLOWRATE_LPM ) )
+    if ( ( roFlowRate <= MAX_RO_FLOWRATE_MLPM ) && ( roFlowRate >= MIN_RO_FLOWRATE_MLPM ) )
     {
         targetROPumpFlowRate.data = roFlowRate;
         roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;
         // Get the initial guess of the duty cycle
-        roPumpDutyCyclePctSet = roPumpFlowToPWM( getTargetROPumpFlowRateLPM() );
+        roPumpDutyCyclePctSet = roPumpFlowToPWM( getTargetROPumpFlowRateMLPM() );
         roControlTimerCounter = 0;
         isROPumpOn = TRUE;
 
@@ -401,9 +401,9 @@
         roControlTimerCounter = 0;
         isROPumpOn = TRUE;
         // Clear previous target data
-        if ( getTargetROPumpFlowRateLPM() > 0.0F )
+        if ( getTargetROPumpFlowRateMLPM() > 0 )
         {
-            targetROPumpFlowRate.data = 0.0F;
+            targetROPumpFlowRate.data = 0;
         }
         if ( roPumpOpenLoopTargetDutyCycle > 0.0F )
         {
@@ -444,9 +444,9 @@
         // Set the new duty cycle of the pump
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, roPumpOpenLoopTargetDutyCycle );
         // Clear previous target data
-        if ( getTargetROPumpFlowRateLPM() > 0.0F )
+        if ( getTargetROPumpFlowRateMLPM() > 0 )
         {
-            targetROPumpFlowRate.data = 0.0F;
+            targetROPumpFlowRate.data = 0;
         }
         if ( getTargetROPumpPressure() > 0.0F )
         {
@@ -482,11 +482,11 @@
  * flow rate.
  * @details \b Inputs: targetROPumpFlowRate
  * @details \b Outputs: none
- * @return the current target RO flow rate (in L/min).
+ * @return the current target RO flow rate (in mL/min).
  *************************************************************************/
-F32 getTargetROPumpFlowRateLPM( void )
+U32 getTargetROPumpFlowRateMLPM( void )
 {
-    F32 flowRate = getF32OverrideValue( &targetROPumpFlowRate );
+    U32 flowRate = getU32OverrideValue( &targetROPumpFlowRate );
 
     return flowRate;
 }
@@ -516,7 +516,7 @@
  * @param targetFlow target flow value to control in in mL/min
  * @return the current target RO pump PWM in a percentage.
  *************************************************************************/
-static F32 roPumpFlowToPWM( F32 targetFlow )
+static F32 roPumpFlowToPWM( U32 targetFlow )
 {
     F32 dutyCyclePct = ROP_FLOW_TO_PWM( targetFlow );
 
@@ -533,9 +533,9 @@
  *************************************************************************/
 void signalROPumpHardStop( void )
 {
-    if( targetROPumpFlowRate.data > 0.0F )
+    if( targetROPumpFlowRate.data > 0 )
     {
-        targetROPumpFlowRate.data = 0.0F;
+        targetROPumpFlowRate.data = 0;
         resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, MIN_FLUID_PUMP_DUTY_CYCLE_PCT, 0.0F );
     }
 
@@ -599,7 +599,7 @@
         pumpData.p12PumpFBDutyCycle     = (U32)getFluidPumpReadPWMDutyCycle( P12_PUMP );
         pumpData.p12PumpSpeed           = getFluidPumpRPM( P12_PUMP );
         pumpData.p12TargetPressure      = getTargetROPumpPressure();
-        pumpData.p12TargetFlow          = getTargetROPumpFlowRateLPM();
+        pumpData.p12TargetFlow          = getTargetROPumpFlowRateMLPM();
         pumpData.p12TargetDutyCycle     = roPumpOpenLoopTargetDutyCycle;
 
         broadcastData( MSG_ID_FP_RO_PUMP_DATA, COMM_BUFFER_OUT_CAN_RO_BROADCAST, (U08*)&pumpData, sizeof( RO_PUMP_DATA_T ) );
@@ -637,7 +637,7 @@
  * @details \b Inputs: targetROPumpPressure
  * @details \b Outputs: targetROPumpPressure
  * @param message Override message from Dialin which includes the value
- * that override ro pump data publish interval with (in ms)
+ * of the target pressure
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
 BOOL testROPumpTargetPressureOverride( MESSAGE_T *message )
@@ -654,12 +654,12 @@
  * @details \b Inputs: targetROPumpFlowRate
  * @details \b Outputs: targetROPumpFlowRate
  * @param message Override message from Dialin which includes the value
- * that override ro pump data publish interval with (in ms)
+ * of the target flow
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
 BOOL testROPumpTargetFlowOverride( MESSAGE_T *message )
 {
-    BOOL result = f32Override( message, &targetROPumpFlowRate );
+    BOOL result = u32Override( message, &targetROPumpFlowRate, MIN_RO_FLOWRATE_MLPM, MAX_RO_FLOWRATE_MLPM );
 
     return result;
 }