looks the low-level monitoring of speed, current and directions are coupled with the pumps state machines. When the pump is in OFF state, you expect certain speed and current, raise alarm if they are not in range and same way for ramp and control state as well. Will Re-evaluate in future the possibility of separation.
Times are being multiplied by 1000 in a lot of places (magic number?). Are we converting seconds to milliseconds? I think replacing 1000 with a well named constant would help clarify.
It is more general than that. We will be reading all feedback registers that FPGA provides. In this case, a read-back of the PWM and the measured speed for both the RO and the optional booster pump.
