Index: firmware/App/Controllers/SubstitutionPump.c
===================================================================
diff -u -r999e55125e62af895a8b2bed425c0a61eb887a0a -r43c231c0f9a56e2481f94cdbc51f45ef1af23c46
--- firmware/App/Controllers/SubstitutionPump.c	(.../SubstitutionPump.c)	(revision 999e55125e62af895a8b2bed425c0a61eb887a0a)
+++ firmware/App/Controllers/SubstitutionPump.c	(.../SubstitutionPump.c)	(revision 43c231c0f9a56e2481f94cdbc51f45ef1af23c46)
@@ -15,6 +15,8 @@
 *
 ***************************************************************************/
 
+#include <math.h>               // For fabs()
+
 #include "FpgaDD.h"
 #include "MessageSupport.h"
 #include "Messaging.h"
@@ -57,6 +59,9 @@
 #define SUBSTITUTION_PUMP_TRANS_TO_RAMP_SPEED_THRESHOLD_MLPM 10.0F                                              ///< Substitution pump transition to ramp to target speed threshold in mL/min.
 #define SUBSTITUTION_PUMP_RAMP_SPEED_INCREMENT               5.0F                                               ///< Speed increase (mL/min) when controlling Substitution pump to target step speed.
 
+#define SUBSTITUTION_PUMP_CNT_TO_RPM(cnt)                    ( 60 / ( cnt * 0.0001 ) )                          ///< Conversion function for hall sensor cnt to rpm. rpm = 60/(cnt*100uS).
+#define MAX_ALLOWED_ML_OUT_OF_RANGE                          20                                                 ///< Maximum allowed mL/min out of range from target ml/min in open loop.
+#define RPM_OUT_OF_RANGE_TIME_OUT                            ( 5 * MS_PER_SECOND )                              ///< Open loop RPM out of range time out in ms.
 
 static const U32 SUBSTITUTION_PUMP_CONTROL_FORWARD = SUBSTITUTION_PUMP_CONTROL_SLEEP_OFF  |
                                                     SUBSTITUTION_PUMP_CONTROL_NOT_RESET   |
@@ -90,6 +95,7 @@
     U32 togglePeriodCount;                                                                                      ///< Converted pump speed (mL/min) to toggle period counts (0.5 uS increment counts per step).
     U08 direction;                                                                                              ///< Substitution pump motor direction.
     U08 controlSet;                                                                                             ///< Substitution pump control set.
+    F32 measuredPumpSpeed;                                                                                      ///< Substitution pump measured pump speed.
 } SUBSTITUTION_PUMP_T;
 
 /// Payload record structure for Substitution pump start/stop request
@@ -143,6 +149,8 @@
     substitutionPumpDataPublishInterval.ovInitData   = SUBSTITUTION_PUMP_DATA_PUBLISH_INTERVAL;
     substitutionPumpDataPublishInterval.ovData       = 0;
     substitutionPumpDataPublishInterval.override     = OVERRIDE_RESET;
+
+    initPersistentAlarm( ALARM_ID_DD_D92_PUMP_RPM_OUT_OF_RANGE, RPM_OUT_OF_RANGE_TIME_OUT, RPM_OUT_OF_RANGE_TIME_OUT );
 }
 
 /*********************************************************************//**
@@ -173,7 +181,7 @@
 
             // 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_CONCENTRATE_PUMP_EXEC_INVALID_STATE, pumpId )
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_SUBSTITUTION_PUMP_EXEC_INVALID_STATE, pumpId )
                 substitutionPumps[ pumpId ].execState = SUBSTITUTION_PUMP_OFF_STATE;
                 break;
         }
@@ -185,6 +193,29 @@
 
 /*********************************************************************//**
  * @brief
+ * The execSubstitutionPumpMonitor function executes the substitution pump monitor.
+ * @details \b Inputs: execState
+ * @details \b Outputs: execState
+ * @details \b Alarms: ALARM_ID_DD_SOFTWARE_FAULT when invalid pump state is seen.
+ * @return none
+ *************************************************************************/
+void execSubstitutionPumpMonitor( void )
+{
+    F32 rpmDiff = 0.0;
+    BOOL isRPMOutOfRange = FALSE;
+    U32 d92SpeedCnt = getFPGAD92PumpHallSenseCount();
+    F32 d92SpeedmLmin = SUBSTITUTION_PUMP_CNT_TO_RPM( d92SpeedCnt ) * SUBSTITUTION_PUMP_VOLUME_PER_REV;
+
+    substitutionPumps[ D92_PUMP ].measuredPumpSpeed = d92SpeedmLmin;
+    rpmDiff = fabs( substitutionPumps[ D92_PUMP ].measuredPumpSpeed - substitutionPumps[ D92_PUMP ].currentPumpSpeed );
+
+    isRPMOutOfRange = ( rpmDiff > MAX_ALLOWED_ML_OUT_OF_RANGE ? TRUE : FALSE );
+
+    checkPersistentAlarm( ALARM_ID_DD_D92_PUMP_RPM_OUT_OF_RANGE, isRPMOutOfRange, d92SpeedmLmin, MAX_ALLOWED_ML_OUT_OF_RANGE );
+}
+
+/*********************************************************************//**
+ * @brief
  * The handleSubstitutionPumpOffState function turns on a given substitution
  * pumps and switch to on state upon request.
  * @details \b Inputs: none
@@ -375,7 +406,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_CONCENTRATE_PUMP_INVALID_PUMP_ID, pumpId );
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_SUBSTITUTION_PUMP_INVALID_ID, pumpId );
     }
 
     return speed;
@@ -399,7 +430,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_CONCENTRATE_PUMP_INVALID_PUMP_ID, pumpId );
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_SUBSTITUTION_PUMP_INVALID_ID, pumpId );
     }
 }
 
@@ -422,7 +453,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_CONCENTRATE_PUMP_INVALID_PUMP_ID, pumpId );
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_SUBSTITUTION_PUMP_INVALID_ID, pumpId );
     }
 }
 
@@ -457,7 +488,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_CONCENTRATE_PUMP_INVALID_PUMP_ID, pumpId );
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_SUBSTITUTION_PUMP_INVALID_ID, pumpId );
     }
 }
 
@@ -479,6 +510,7 @@
         pumpData.d92_PumpTargetSpeed        = pumpTargetSpeed[ D92_PUMP ].data;
         pumpData.d92_PumpCurrentSetSpeed    = substitutionPumps[ D92_PUMP ].currentPumpSpeed;
         pumpData.d92_PumpState              = (U32)substitutionPumps[ D92_PUMP ].execState;
+        pumpData.d92_PumpMeasuredSpeed      = substitutionPumps[ D92_PUMP ].measuredPumpSpeed;
 
         broadcastData( MSG_ID_DD_SUBSTITUTION_PUMP_DATA, COMM_BUFFER_OUT_CAN_DD_BROADCAST, (U08*)&pumpData, sizeof( SUBSTITUTION_PUMP_DATA_T ) );
         substitutionPumpPublishTimerCounter = 0;