Index: firmware/App/Controllers/RinsePump.c
===================================================================
diff -u -rcc893e9b6656058542c82ca3a72532944e46375b -re39cba3641902ed9c670f1ca7499f0b25b59bef1
--- firmware/App/Controllers/RinsePump.c	(.../RinsePump.c)	(revision cc893e9b6656058542c82ca3a72532944e46375b)
+++ firmware/App/Controllers/RinsePump.c	(.../RinsePump.c)	(revision e39cba3641902ed9c670f1ca7499f0b25b59bef1)
@@ -50,8 +50,6 @@
 #define RINSE_PUMP_SPD_OUT_OF_RANGE_TOL_PCT     0.10F                                                 ///< Rinse pump commanded vs measured speed tolerance (10%).
 #define RINSE_PUMP_SPEED_OUT_PERSISTENCE_MS     500                                                   ///< Persistence time (ms) before declaring speed-out-of-range alarm.
 #define RINSE_PUMP_MAX_RPM_ESTIMATE             3000U                                                 ///< Estimated max rinse pump RPM (for PWM-to-target conversion).
-#define RINSE_PUMP_ZERO_U32                     0U                                                    ///< Zero value for U32 variables (speed, counts).
-#define RINSE_PUMP_ZERO_F32                     0.0F                                                  ///< Zero value for F32 variables (error).
 
 // ********** private data **********
 
@@ -90,8 +88,8 @@
     rinsePumpPwmPercentage.ovData           = RINSE_PUMP_DEFAULT_PWM_PERCENT;
     rinsePumpPwmPercentage.ovInitData       = RINSE_PUMP_DEFAULT_PWM_PERCENT;
     rinsePumpPwmPercentage.override         = OVERRIDE_RESET;
-    rinsePumpMeasuredSpeed                  = RINSE_PUMP_ZERO_U32;
-    rinsePumpTargetSpeedRPM                 = RINSE_PUMP_ZERO_U32;
+    rinsePumpMeasuredSpeed                  = 0;
+    rinsePumpTargetSpeedRPM                 = 0;
 
     initPersistentAlarm( ALARM_ID_DD_D79_RINSE_PUMP_SPEED_OUT_OF_RANGE, 0, RINSE_PUMP_SPEED_OUT_PERSISTENCE_MS );
 }
@@ -167,7 +165,7 @@
 {
     // Pulse width in 10us resolution
     U16 pumpPulseWidth      = getFPGAD79RinsePumpPulseWidth();
-    U32 pumpSpeedPerSec     = RINSE_PUMP_ZERO_U32;
+    U32 pumpSpeedPerSec     = 0;
 
     if ( ( RINSE_PUMP_PULSE_WIDTH_INVALID_MIN != pumpPulseWidth ) && ( RINSE_PUMP_PULSE_WIDTH_INVALID_MAX != pumpPulseWidth ) )
     {
@@ -178,17 +176,16 @@
     }
     else
     {
-        rinsePumpMeasuredSpeed = RINSE_PUMP_ZERO_U32;
+        rinsePumpMeasuredSpeed = 0;
     }
 }
 
 /*********************************************************************//**
  * @brief
- * The execRinsePumpMonitor function executes the rinse pump monitor.
+ * The execRinsePumpMonitor function executes the rinse pump monitor which
+ * calculates the rinse pump speed and monitors the rinse pump speed.
  * @details \b Inputs: none
- * @details \b Outputs: publish rinse pump data
- * @details \b Alarm: ALARM_ID_DD_D79_RINSE_PUMP_SPEED_OUT_OF_RANGE when
- * commanded vs measured speed deviates beyond tolerance for RINSE_PUMP_SPEED_OUT_PERSISTENCE_MS (persistent alarm).
+ * @details \b Outputs: none
  * @return none
  *************************************************************************/
 void execRinsePumpMonitor( void )
@@ -198,12 +195,8 @@
 
     // Monitor pump speed
     monitorRinsePumpSpeed();
-
-    // Publish rinse pump data
-    publishRinsePumpData();
 }
 
-
 /*********************************************************************//**
  * @brief
  * The execRinsePumpController function executes the rinse pump state machine.
@@ -214,7 +207,6 @@
  *************************************************************************/
 void execRinsePumpController( void )
 {
-
     switch( currentRinsePumpState )
     {
         case RINSE_PUMP_STATE_INIT:
@@ -234,6 +226,8 @@
             break;
     }
 
+    // Publish rinse pump data
+    publishRinsePumpData();
 }
 
 /*********************************************************************//**
@@ -243,23 +237,25 @@
  * RINSE_PUMP_SPEED_OUT_PERSISTENCE_MS.
  * @details \b Inputs: none
  * @details \b Outputs: none
+ * @details \b Alarm: ALARM_ID_DD_D79_RINSE_PUMP_SPEED_OUT_OF_RANGE when
+ * commanded vs measured speed deviates beyond tolerance for RINSE_PUMP_SPEED_OUT_PERSISTENCE_MS.
  * @return none
  *************************************************************************/
 static void monitorRinsePumpSpeed( void )
 {
     F32 rpTargetSpeed   = (F32)rinsePumpTargetSpeedRPM;
     F32 rpMeasSpeed     = (F32)rinsePumpMeasuredSpeed;
-    F32 rpError         = RINSE_PUMP_ZERO_F32;
+    F32 rpError         = 0.0;
     BOOL isRpSpeedOut   = FALSE;
     F32 tolerance       = RINSE_PUMP_SPD_OUT_OF_RANGE_TOL_PCT;
 
     if ( RINSE_PUMP_STATE_ON == currentRinsePumpState )
     {
         rpError = fabs( rpMeasSpeed - rpTargetSpeed );
 
-        if ( rpTargetSpeed > RINSE_PUMP_ZERO_F32 )
+        if ( rpTargetSpeed > 0.0 )
         {
-            rpError   = rpError / rpTargetSpeed;
+            rpError = rpError / rpTargetSpeed;
         }
 
         isRpSpeedOut = ( rpError > tolerance ? TRUE : FALSE );
@@ -295,7 +291,7 @@
 {
     RINSE_PUMP_STATE_T state = RINSE_PUMP_STATE_OFF;
 
-    rinsePumpTargetSpeedRPM = RINSE_PUMP_ZERO_U32;
+    rinsePumpTargetSpeedRPM = 0;
 
     if ( TRUE == getTestConfigStatus( TEST_CONFIG_DD_FP_ENABLE_BETA_2_0_HW ) )
     {
@@ -324,7 +320,7 @@
     if ( TRUE == getTestConfigStatus( TEST_CONFIG_DD_FP_ENABLE_BETA_2_0_HW ) )
     {
         F32 pwmPercent   = getF32OverrideValue( &rinsePumpPwmPercentage );     // TODO should this conversion happen in setPWMCount function?
-        U08 pwmInCount   = (U08)( ( pwmPercent / RINSE_PUMP_MAX_PWM_PERCENT ) * RINSE_PUMP_PWM_IN_COUNT_MAX );
+        U32 pwmInCount   = (U32)( ( pwmPercent / RINSE_PUMP_MAX_PWM_PERCENT ) * RINSE_PUMP_PWM_IN_COUNT_MAX );
 
         rinsePumpTargetSpeedRPM = (U32)( ( (F32)pwmInCount / RINSE_PUMP_PWM_IN_COUNT_MAX ) * (F32)RINSE_PUMP_MAX_RPM_ESTIMATE );
 
@@ -383,7 +379,7 @@
         data.d79PumpRPM = rinsePumpMeasuredSpeed;
 
         broadcastData( MSG_ID_DD_RINSE_PUMP_DATA, COMM_BUFFER_OUT_CAN_DD_BROADCAST, (U08*)&data, sizeof( RINSE_PUMP_PAYLOAD_T ) );
-        rinsePumpDataPublicationTimerCounter = RINSE_PUMP_ZERO_U32;
+        rinsePumpDataPublicationTimerCounter = 0;
     }
 }