Index: firmware/App/Controllers/DialysatePumps.c
===================================================================
diff -u -rf6022e86136c821709ce24b61e11e8e2bdf0b11e -r1644c24b0b51661ceaba579e5ebee0d1d5bad85f
--- firmware/App/Controllers/DialysatePumps.c	(.../DialysatePumps.c)	(revision f6022e86136c821709ce24b61e11e8e2bdf0b11e)
+++ firmware/App/Controllers/DialysatePumps.c	(.../DialysatePumps.c)	(revision 1644c24b0b51661ceaba579e5ebee0d1d5bad85f)
@@ -127,7 +127,6 @@
 static OVERRIDE_U32_T dialysatePumpDataPublishInterval = { DIALYSATE_PUMP_DATA_PUB_INTERVAL,
                                                            DIALYSATE_PUMP_DATA_PUB_INTERVAL,
                                                            0, 0 };                                                  ///< Interval (in ms) at which to publish dialysate pump data to CAN bus.
-
 //static DD_DIALYSATE_PUMP_CAL_RECORD_T dialysatePumpCalRecord;                                                     ///< Dialysate pump calibration record.
 static DIALYSATE_PUMP_DATA_T dialysatePumps[ NUM_OF_DIALYSATE_PUMPS ];                                              ///< Array of dialysate pumps data structure.
 static OVERRIDE_F32_T pumpTargetSpeed[ NUM_OF_DIALYSATE_PUMPS ];                                                    ///< Target dialysate pumps' speed (mL/min).forward direction only, hence positive speed.
@@ -233,6 +232,17 @@
     }
 #endif
 
+    // Init the dialysate pump with valid PWM while motor is disabled.
+    // when enable triggers, we dont want invlid RPM set that triggers alarm in motor controller.
+    setFPGAD12PumpSpeed( MIN_DIALYSATE_PUMP_RPM );
+    setFPGAD48PumpSpeed( MIN_DIALYSATE_PUMP_RPM );
+
+#ifdef __PITEST__
+    for ( i = 0;  i < NUM_OF_CONTROLLER_SIGNAL; i++ )
+    {
+        pIControlSignal[ i ] = 0.0F;
+    }
+#endif
     // Initialize the persistent alarms for fresh dialysate pump
     initPersistentAlarm( ALARM_ID_DD_D12_PUMP_RPM_OUT_OF_RANGE, RPM_OUT_OF_RANGE_TIME_OUT, RPM_OUT_OF_RANGE_TIME_OUT );
     initPersistentAlarm( ALARM_ID_DD_D12_PUMP_OFF_FAULT, SAFETY_SHUTDOWN_TIMEOUT, SAFETY_SHUTDOWN_TIMEOUT );