Index: firmware/App/Controllers/ConcentratePumps.c
===================================================================
diff -u -r3a87ca0e2a722318216623d7e1f4c354c58c506c -re3699de422fa3ba1b8145c4cc44257702c9e336f
--- firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision 3a87ca0e2a722318216623d7e1f4c354c58c506c)
+++ firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision e3699de422fa3ba1b8145c4cc44257702c9e336f)
@@ -225,7 +225,7 @@
         concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].isConcPumpParkInProgress = FALSE;
     }
 
-    // Don't monitor persistence for cp speed alarms if we parked.
+    // Don't monitor persistence for cp speed alarms if we are parked.
     if ( TRUE == acidConcentratePumpParkPersistenceClear )
     {
         // Clear flag and resume persistence checking once park bit is set.
@@ -273,7 +273,7 @@
 {
     CONCENTRATE_PUMPS_T pumpId;
 
-    for ( pumpId = CONCENTRATEPUMPS_CP1_ACID; pumpId < NUM_OF_CONCENTRATE_PUMPS; pumpId++ )
+    for ( pumpId = CONCENTRATEPUMPS_FIRST; pumpId < NUM_OF_CONCENTRATE_PUMPS; pumpId++ )
     {
         switch ( concentratePumps[ pumpId ].execState )
         {
@@ -304,7 +304,7 @@
  * @brief
  * The execConcenratePumpsSelfTest function executes the concentrate pumps
  * self-test.
- * @details \b Inputs: none
+ * @details \b Inputs: calibration
  * @details \b Outputs: none
  * @return ConcentratepumpSelfTestResult (SELF_TEST_STATUS_T)
  *************************************************************************/
@@ -332,7 +332,8 @@
  * The requestConcentratePumpOn function requests the module to turn on
  * the concentrate pumps.
  * @details \b Inputs: none
- * @details \b Outputs: set flag isPumpOnRequested to TRUE
+ * @details \b Outputs: concentratePumps[],acidConcentratePumpParkPersistenceClear,
+ * bicarbConcentratePumpParkPersistenceClear
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId concentrate pump id
  * @return none
@@ -356,7 +357,7 @@
  * The handleConcentratePumpParkRequest function accepts/rejects the park
  * concentrate pumps request.
  * @details \b Inputs: Pump state and DD operating mode
- * @details \b Outputs: command response set to true if able to perform parking pump.
+ * @details \b Outputs: concentratePumps[]
  * @return result as true if park is accomplished.
  *************************************************************************/
 BOOL handleConcentratePumpParkRequest( void )
@@ -383,7 +384,7 @@
  * @brief
  * The isConcPumpParkInProgress function requests whether the concentrate
  * pump park is in progress or not.
- * @details \b Inputs: concentratePumps
+ * @details \b Inputs: concentratePumps[]
  * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId concentrate pump id
@@ -410,9 +411,9 @@
  * The requestConcentratePumpOff function requests the module to turn off
  * the concentrate pumps.
  * @details \b Inputs: none
- * @details \b Outputs: set flag isPumpOffRequested to TRUE
+ * @details \b Outputs: concentratePumps[]
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
- * @param pumpId concentrate pump id
+ * @param pumpId ID of concentrate pump
  * @param park TRUE if pump should be parked, FALSE if not
  * @return none
  *************************************************************************/
@@ -435,7 +436,7 @@
  * The setConcentratePumpTargetSpeed function sets the target step speed based on
  * given speed in mL/min to specified concentrate pump.
  * @details \b Inputs: none
- * @details \b Outputs: set target step speed for given pump
+ * @details \b Outputs: concentratePumps[]
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId pump id to set step speed
  * @param targetSpeed_ml_min target speed in mL/min
@@ -483,13 +484,13 @@
 
 /*********************************************************************//**
  * @brief
- * The getConcentratePumpTargetFlowMLPM function returns the concentrate pump's
- * flow rate in mL/min.
+ * The getConcentratePumpTargetFlowMLPM function returns the target flow rate
+ * for a given concentrate pump.
  * @details \b Inputs: concentratePumps
  * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId concentrate pump id to get its target flow
- * @return the current concentrate pump flow rate (in mL/min).
+ * @return the current target flow rate (in mL/min) for the given conecntrate pump.
  *************************************************************************/
 F32 getConcentratePumpTargetFlowMLPM( CONCENTRATE_PUMPS_T pumpId )
 {
@@ -509,12 +510,13 @@
 
 /*********************************************************************//**
  * @brief
- * The getPumpTargetSpeed function gets the concentrate pump target spped.
+ * The getPumpTargetSpeed function gets the current target spped for the given
+ * concentrate pump.
  * @details \b Inputs: pumpTargetSpeed
  * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
- * @param pumpId concentrate pump id to get the target speed
- * @return the current concentrate pump target speed.
+ * @param pumpId concentrate pump id to get the current target speed
+ * @return the current target spped for the given concentrate pump.
  *************************************************************************/
 F32 getPumpTargetSpeed( CONCENTRATE_PUMPS_T pumpId )
 {
@@ -534,12 +536,14 @@
 
 /*********************************************************************//**
  * @brief
- * The getMeasuredPumpSpeedMLPM function gets the measured concentrate pump flow rate.
+ * The getMeasuredPumpSpeedMLPM function gets the measured flow rate
+ * for a given concentrate pump.
  * @details \b Inputs: measuredPumpSpeed
  * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId concentrate pump id to increase current step speed
- * @return the current concentrate pump flow rate (in mL/min).
+ * @return the current measured flow rate (in mL/min) for the given concentrate
+ * pump.
  *************************************************************************/
 F32 getMeasuredPumpSpeedMLPM( CONCENTRATE_PUMPS_T pumpId )
 {
@@ -566,7 +570,8 @@
  * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId concentrate pump id to get park request state for
- * @return the current concentrate pump park request.
+ * @return TRUE if a park request is pending for the given concentrate pump,
+ * FALSE if not
  *************************************************************************/
 BOOL getConcPumpParkRequest( CONCENTRATE_PUMPS_T pumpId )
 {
@@ -592,7 +597,7 @@
  * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId concentrate pump id to get parked state for
- * @return the current concentrate pump parked state.
+ * @return TRUE if the given concentrate pump is currently parked, FALSE if not.
  *************************************************************************/
 BOOL getConcPumpIsParked( CONCENTRATE_PUMPS_T pumpId )
 {
@@ -618,7 +623,7 @@
  * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump ID is seen.
  * @param pumpId concentrate pump id to get park faulted state for
- * @return the current concentrate pump park faulted state.
+ * @return TRUE if the given concentrate pump has failed a park command..
  *************************************************************************/
 BOOL getConcPumpParkIsFaulted( CONCENTRATE_PUMPS_T pumpId )
 {
@@ -638,11 +643,11 @@
 
 /*********************************************************************//**
  * @brief
- * The stopConcentratePump function sets the concentrate pump step speed
+ * The stopConcentratePump function sets the given concentrate pump step speed
  * to zero and turns off concentrate pump. Also parks the pump if requested.
  * @details \b Inputs: none
  * @details \b Outputs: concentratePumps
- * @param pumpId concentrate pump id
+ * @param pumpId ID of the concentrate pump
  * @return none
  *************************************************************************/
 static void stopConcentratePump( CONCENTRATE_PUMPS_T pumpId )
@@ -681,11 +686,11 @@
 
 /*********************************************************************//**
  * @brief
- * The handleConcentratePumpOffState function turns on concentrate pumps and
- * switch to on state upon request.
+ * The handleConcentratePumpOffState function turns on a given concentrate
+ * pumps and switch to on state upon request.
  * @details \b Inputs: none
- * @details \b Outputs: concentrate pumps turn on
- * @param pumpId concentrate pump id
+ * @details \b Outputs: pump turned on
+ * @param pumpId ID of the concentrate pump
  * @return state
  *************************************************************************/
 static CONCENTRATE_PUMP_STATE_T handleConcentratePumpOffState( CONCENTRATE_PUMPS_T pumpId )
@@ -721,11 +726,11 @@
 /*********************************************************************//**
  * @brief
  * The handleConcentratePumpRampToTargetSpeedState function executes the
- * concentrate pump ramp up to target speed state. Once the speed is close
+ * given concentrate pump ramp up to target speed state. Once the speed is close
  * to target the state is transitioned to control target state.
  * @details \b Inputs: none
  * @details \b Outputs: none
- * @param pumpId concentrate pump id
+ * @param pumpId ID of the concentrate pump to ramp.
  * @return next state of the state machine
  *************************************************************************/
 static CONCENTRATE_PUMP_STATE_T handleConcentratePumpRampToTargetSpeedState( CONCENTRATE_PUMPS_T pumpId )
@@ -748,12 +753,12 @@
 
 /*********************************************************************//**
  * @brief
- * The handleConcentratePumpControlTargetSpeedState function turns off concentrate
- * pumps switch to off state upon request. While in on state, the function
- * controls concentrate pumps to a target step speed.
+ * The handleConcentratePumpControlTargetSpeedState function turns off given
+ * concentrate pumps switch to off state upon request. While in on state,
+ * the function controls concentrate pumps to a target step speed.
  * @details \b Inputs: currentPumpSpeed[]
- * @details \b Outputs: control concentrate pumps to target step speed
- * @param pumpId concentrate pump id
+ * @details \b Outputs: control given concentrate pumps to target step speed
+ * @param pumpId ID of the concentrate pump
  * @return state
  *************************************************************************/
 static CONCENTRATE_PUMP_STATE_T handleConcentratePumpControlTargetSpeedState( CONCENTRATE_PUMPS_T pumpId )
@@ -787,7 +792,7 @@
 /*********************************************************************//**
  * @brief
  * The stepConcentratePumpToTargetSpeed function steps current step speed
- * toward target speed with predefined step increase.
+ * toward target speed for the given concentrate pump,with predefined step increase.
  * @details \b Inputs: none
  * @details \b Outputs: currentPumpSpeed[]
  * @param pumpId concentrate pump id to increase current step speed
@@ -820,7 +825,7 @@
         concentratePumps[ pumpId ].currentPumpSpeed += speedIncrease;
 
         // If the pump's target speed is set to be 0, do not ramp down set it to zero immediately
-        if ( fabs( getPumpTargetSpeed( pumpId ) < NEARLY_ZERO ) )
+        if ( getPumpTargetSpeed( pumpId ) < NEARLY_ZERO )
         {
             concentratePumps[ pumpId ].currentPumpSpeed = 0.0F;
         }
@@ -858,7 +863,7 @@
  * The calcMeasuredPumpsSpeed function iterates through the concentrate
  * pumps and calculates the concentrate pump flow.  It also checks that
  * the hall sensor pulse width count for the concentrate pump is valid.
- * @details \b Inputs: none
+ * @details \b Inputs: Hall sensor reading from FPGA
  * @details \b Outputs: measuredPumpSpeed
  * @details \b Alarms: ALARM_ID_DD_CONC_PUMP_HALL_SENSOR_OUT_OF_RANGE when
  * hall sensor pulse width is out of range.
@@ -923,11 +928,15 @@
 
 /*********************************************************************//**
  * @brief
- * The monitorPumpSpeed function monitors the concentrate pumps speed and
+ * The monitorPumpSpeed function monitors the given concentrate pumps speed and
  * triggers the alarms if they are out of range.
  * @details \b Inputs: concentratePumps
  * @details \b Outputs: none
- * @param pumpId pump id to set step speed
+ * @details \b Alarm: ALARM_ID_DD_CP1_SPEED_CONTROL_ERROR when the speed difference
+ * between requested and measured is not in range.
+ * @details \b Alarm: ALARM_ID_DD_CP2_SPEED_CONTROL_ERROR when the speed difference
+ * between requested and measured is not in range.
+ * @param pumpId pump id to check the difference between requested and measured speed
  * @param alarm which the corresponding alarm of the concentrate pump
  * @return none
  *************************************************************************/
@@ -954,7 +963,7 @@
 /*********************************************************************//**
  * @brief
  * The checkConcentratePumpControlSet function monitors the status of the
- * concentrate pumps control set bit and if they are different from the
+ * given concentrate pumps control set bit and if they are different from the
  * required set bit, they are set again.
  * @details \b Inputs: concentratePumps
  * @details \b Outputs: none
@@ -998,7 +1007,7 @@
  * at the set interval.
  * @details \b Inputs: concentratePumpMonitorTimerCounter
  * @details \b Outputs: concentratePumpMonitorTimerCounter
- * @details \b Messages: MSG_ID_DD_CONCENTRATE_PUMP_DATA to publish concentrate pump states.
+ * @details \b Message \Sent: MSG_ID_DD_CONCENTRATE_PUMP_DATA to publish concentrate pump states.
  * @return none
  *************************************************************************/
 static void publishConcentratePumpData( void )