Index: firmware/App/Controllers/DialysatePumps.c
===================================================================
diff -u -red39129abdca4ec343369d83494530b23621e052 -r322747d530c1b8205be257557e53dcfe9caad50a
--- firmware/App/Controllers/DialysatePumps.c	(.../DialysatePumps.c)	(revision ed39129abdca4ec343369d83494530b23621e052)
+++ firmware/App/Controllers/DialysatePumps.c	(.../DialysatePumps.c)	(revision 322747d530c1b8205be257557e53dcfe9caad50a)
@@ -43,11 +43,10 @@
 #define DATA_PUBLISH_COUNTER_START_COUNT                    60                                                      ///< Data publish counter start count.
 
 #define DP_CONTROL_INTERVAL                                 ( 1000 / TASK_GENERAL_INTERVAL )                        ///< Interval (ms/task time) at which the dialysate pump is controlled.
-//#define DP_CONTROL_INTERVAL                                 ( 250 / TASK_GENERAL_INTERVAL )                        ///< Interval (ms/task time) at which the dialysate pump is controlled.
 #define DIALYSATE_PUMP_CONTROL_RUN                          0x01                                                    ///< Dialysate pump control run pump.
 #define DIALYSATE_PUMP_CONTROL_STOP                         0x00                                                    ///< Dialysate pump control stop pump.
 #define DIALYSATE_PUMP_FORWARD_DIR                          1                                                       ///< Dialysate pump forward direction. reverse direction is not allowed.
-#define DIALYSATE_PUMP_SPEED_INCREMENT                      10.0F                                                   ///< Speed increase when controlling dialysate pump to target step speed.
+#define DIALYSATE_PUMP_RAMP_SPEED_INCREMENT                 10.0F                                                   ///< Speed increase when controlling dialysate pump ramp to target step speed.
 #define ZERO_SPEED                                          0.0F                                                    ///< Zero speed/RPM value.
 
 #define DIALYSATE_PUMP_MAX_CURRENT_WHEN_OFF_A               0.1F                                                    ///< Dialysate pump maximum current when the pump is off in amps.
@@ -151,7 +150,7 @@
  * @brief
  * The initDialysatePump function initializes the DialysatePumps unit.
  * @details \b Inputs: none
- * @details \b Outputs: Dialysate unit variables initialized.
+ * @details \b Outputs: Dialysate pump unit variables initialized.
  * @return none
  *************************************************************************/
 void initDialysatePump( void )
@@ -252,7 +251,8 @@
         }
         else if ( rpm < MIN_DIALYSATE_PUMP_RPM )
         {
-            pumpTargetSpeed[ pumpId ].data = 0.0;
+            // Lets assign minimum speed to make sure, driver is not getting into fault mode
+            pumpTargetSpeed[ pumpId ].data = MIN_DIALYSATE_PUMP_RPM;
         }
         else
         {
@@ -393,7 +393,6 @@
     BOOL isCurrentOutOfRange          = FALSE;
     DIALYSATE_PUMPS_T pumpId;
 
-
     // Update the paramerters
     dialysatePumpMeasuredCurrentA[ D12_PUMP ].data    = (F32)d12Current * CURRENT_CONVERSION_COEFF;
     dialysatePumpMeasuredCurrentA[ D48_PUMP ].data    = (F32)d48Current * CURRENT_CONVERSION_COEFF;
@@ -422,7 +421,7 @@
 
                 isOffCurrentOut = ( getDialysatePumpMeasuredCurrentA( pumpId ) > DIALYSATE_PUMP_MAX_CURRENT_WHEN_OFF_A ? TRUE : FALSE );
                 isRPMTooHigh    = ( getDialysatePumpMeasuredSpeed( pumpId ) > MIN_DIALYSATE_PUMP_RPM ? TRUE : FALSE );
-
+                //TODO : Enable the code later for alarm testing
 #if 0
                 if ( D12_PUMP == pumpId )
                 {
@@ -457,6 +456,7 @@
                 BOOL isDirInvalid       = ( ( direction != DIALYSATE_PUMP_FORWARD_DIR ) && ( rpm > DIALYSATE_PUMP_MIN_RPM_FOR_DIR_CHECK ) ? TRUE : FALSE );
 
                 isRPMOutOfRange = ( rpmDiff > MAX_ALLOWED_RPM_OUT_OF_RANGE ? TRUE : FALSE );
+                //TODO : Enable the code later for alarm testing
 #if 0
                 if ( D12_PUMP == pumpId )
                 {
@@ -485,6 +485,7 @@
         // Check the persistent alarm for the maximum dialysate pump current
         F32 currentA        = getDialysatePumpMeasuredCurrentA( pumpId );
         isCurrentOutOfRange = ( currentA > DIALYSATE_PUMP_MAX_CURRENT_A ? TRUE : FALSE ) | isOffCurrentOut;
+        //TODO : Enable the code later for alarm testing
 #if 0
         if ( D12_PUMP == pumpId )
         {
@@ -539,7 +540,6 @@
                 break;
 
 #ifndef _VECTORCAST_
-            // The switch case is in a for loop so the default case cannot be covered in VectorCAST
             default:
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_DIALYSATE_PUMP_EXEC_INVALID_STATE, pumpId )
                 dialysatePumps[ pumpId ].dialysatePumpState = DIALYSATE_PUMP_OFF_STATE;
@@ -681,9 +681,9 @@
 
     if ( currentToTargetDiff > ZERO_SPEED )
     {
-        if ( currentToTargetDiff > DIALYSATE_PUMP_SPEED_INCREMENT )
+        if ( currentToTargetDiff > DIALYSATE_PUMP_RAMP_SPEED_INCREMENT )
         {
-            speedIncrease = DIALYSATE_PUMP_SPEED_INCREMENT;
+            speedIncrease = DIALYSATE_PUMP_RAMP_SPEED_INCREMENT;
         }
         else
         {
@@ -743,19 +743,20 @@
         {
             F32 measuredPressure    = getFilteredPressure( D18_PRES );
             F32 targetPressure      = getDialysatePumpTargetPressure( pumpId );
-            F32 newSpeed            = 0;
+            F32 newSpeed            = 0.0F;
 
             //F32 control = runPIController( PI_CONTROLLER_ID_D12_PUMP, targetPressure, measuredPressure );
             // TODO : get the equivalent speed for the given control
             // newSpeed =  control * ( MAX_DIALYSATE_PUMP_RPM / DIALYSATE_PUMP_MAX_PRESSURE_PSI );
+            //TODO: Below code is placeholder to have minimal close loop control, to be reevaluated.
 #if 0
             if ( measuredPressure < targetPressure )
             {
-                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed + DIALYSATE_PUMP_SPEED_INCREMENT;
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed + DIALYSATE_PUMP_RAMP_SPEED_INCREMENT;
             }
             else
             {
-                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed - DIALYSATE_PUMP_SPEED_INCREMENT;
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed - DIALYSATE_PUMP_RAMP_SPEED_INCREMENT;
             }
 
             //Apply speed limit
@@ -771,19 +772,20 @@
         {
             F32 measuredPressure    = getFilteredPressure( D51_PRES );
             F32 targetPressure      = getDialysatePumpTargetPressure( pumpId );
-            F32 newSpeed            = 0;
+            F32 newSpeed            = 0.0F;
 
             //F32 control = runPIController( PI_CONTROLLER_ID_D48_PUMP, targetPressure, measuredPressure );
             // TODO : get the equivalent speed for the given control
             // newSpeed =  control * ( MAX_DIALYSATE_PUMP_RPM / DIALYSATE_PUMP_MAX_PRESSURE_PSI );
+            //TODO: Below code is placeholder to have minimal close loop control, to be reevaluated.
 #if 0
             if ( measuredPressure < targetPressure )
             {
-                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed + DIALYSATE_PUMP_SPEED_INCREMENT;
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed + DIALYSATE_PUMP_RAMP_SPEED_INCREMENT;
             }
             else
             {
-                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed - DIALYSATE_PUMP_SPEED_INCREMENT;
+                newSpeed = dialysatePumps[ pumpId ].currentPumpSpeed - DIALYSATE_PUMP_RAMP_SPEED_INCREMENT;
             }
 
             //Apply speed limit