Index: firmware/App/Drivers/FluidPump.c
===================================================================
diff -u -r046bc2b62cf942b7e846fa5bff698b94238edf24 -r60693bf21a8a0277eae54cbfcb6cfd68176b079a
--- firmware/App/Drivers/FluidPump.c	(.../FluidPump.c)	(revision 046bc2b62cf942b7e846fa5bff698b94238edf24)
+++ firmware/App/Drivers/FluidPump.c	(.../FluidPump.c)	(revision 60693bf21a8a0277eae54cbfcb6cfd68176b079a)
@@ -30,14 +30,17 @@
 
 // ********** private definitions **********
 
-#define FLUID_PUMP_COUNTS_2_RPM_NUMERATOR             1500000.0F        ///< Numerator in counts to RPM conversion.
-#define FLUID_PUMP_COUNTS_FOR_STOPPED_PUMP            0xFFFF            ///< FPGA will report FFFF counts when pump is stopped.
+#define FLUID_PUMP_P12_COUNTS_2_RPM_NUMERATOR         1500000.0F                ///< Numerator in counts to RPM conversion.
+#define FLUID_PUMP_COUNTS_FOR_STOPPED_PUMP            0xFFFF                    ///< FPGA will report FFFF counts when pump is stopped.
+#define US_IN_SECONDS                                 ( 1 / US_PER_SECOND )     ///< One micro second in relation to 1 second
+#define TEN_US_IN_SECONDS                             ( 10 * US_IN_SECONDS )    ///< 10 micro seconds in relation to 1 second.
+#define FLUID_PUMP_P40_COUNTS_2_RPM_NUMERATOR         30                        ///< Fixed known value for RPM conversion with P40.
 
 /// Payload record structure for fluid pump set PWM request
 typedef struct
 {
     U32 pumpID;                                                         ///< Pump ID
-    U32 pwm;                                                            ///< Pump PWM magnitude (0..500).
+    U32 pwm;                                                            ///< Pump PWM magnitude.
 } FLUID_PUMP_CMD_PAYLOAD_T;
 
 // ********** private data **********
@@ -90,7 +93,8 @@
  *************************************************************************/
 void readFluidPumps( void )
 {
-    U32 tach;
+    U32 p12Tach;
+    U16 p40RPMCnts;
     U32 pump;
 
     for ( pump = 0; pump < NUM_OF_PUMPS; pump++ )
@@ -100,22 +104,31 @@
         if ( P12_PUMP == pump )
         {
             fluidPumpReadDutyCycle[ pump ].data = getFPGAP12PumpPWM();
-            tach = (U32)getFPGAP12PumpTachCount();
+            p12Tach = (U32)getFPGAP12PumpTachCount();
+
+            if ( ( p12Tach != 0 ) && ( p12Tach < FLUID_PUMP_COUNTS_FOR_STOPPED_PUMP ) )
+            {
+                fluidPumpMeasRPM[ pump ].data = FLUID_PUMP_P12_COUNTS_2_RPM_NUMERATOR / (F32)p12Tach;
+            }
+            else
+            {
+                fluidPumpMeasRPM[ pump ].data = 0.0F;
+            }
         }
         else
         {
             fluidPumpReadDutyCycle[ pump ].data = getFPGAP40PumpPWM();
-            tach = (U32)getFPGAP40PumpTachCount();
+            p40RPMCnts = (U32)getFPGAP40PumpRPMCount();
+            if ( ( p40RPMCnts != 0 )  )
+            {
+                fluidPumpMeasRPM[ pump ].data = FLUID_PUMP_P40_COUNTS_2_RPM_NUMERATOR / ((F32)( p40RPMCnts * TEN_US_IN_SECONDS ));
+            }
+            else
+            {
+                fluidPumpMeasRPM[ pump ].data = 0.0F;
+            }
         }
 
-        if ( ( tach != 0 ) && ( tach < FLUID_PUMP_COUNTS_FOR_STOPPED_PUMP ) )
-        {
-            fluidPumpMeasRPM[ pump ].data = FLUID_PUMP_COUNTS_2_RPM_NUMERATOR / (F32)tach;
-        }
-        else
-        {
-            fluidPumpMeasRPM[ pump ].data = 0.0F;
-        }
     }
 }
 
@@ -137,7 +150,7 @@
 
     if ( pumpID < NUM_OF_PUMPS )
     {
-        pwmCnt = convertDutyCyclePctToCnt( dutyCyclePct );
+        pwmCnt = convertDutyCyclePctToCnt( pumpID, dutyCyclePct );
         result = setFluidPumpPWMDutyCycle(pumpID, pwmCnt);
     }
     else
@@ -150,13 +163,13 @@
 
 /*********************************************************************//**
  * @brief
- * The setFluidPumpPWMDutyCycle function sets the commanded PWM magnitude (0..500)
+ * The setFluidPumpPWMDutyCycle function sets the commanded PWM magnitude
  * for the given fluid pump.
  * @details \b Alarm: ALARM_ID_RO_SOFTWARE_FAULT if invalid fluid pump ID given.
  * @details \b Inputs: none
  * @details \b Outputs: fluidPumpCmdDutyCycle[]
  * @param pumpID ID of fluid pump to set commanded PWM magnitude for.
- * @param pwm Value (0..500) indicating magnitude of PWM duty cycle to set
+ * @param pwm Value indicating magnitude of PWM duty cycle to set.  (0..500) for P12_PUMP (0..5000) for P40.
  * @return TRUE if duty cycle set successfully, FALSE if not
  *************************************************************************/
 BOOL setFluidPumpPWMDutyCycle( FP_FLUID_PUMP_T pumpID, U16 pwm )
@@ -189,16 +202,17 @@
             }
         }
 
-        // constrain given pwm magnitude to valid range
-        pwm = MIN( pwm, MAX_FLUID_PUMP_PWM_DUTY_CYCLE );
-        // set commanded duty cycle for given fluid pump to given pwm magnitude
-        fluidPumpCmdDutyCycle[ pumpID ] = pwm;
+        // set commanded duty cycle for given fluid pump to given pwm magnitude.
         if ( P12_PUMP == pumpID )
         {
+            // constrain given pwm magnitude to valid range
+            pwm = MIN( pwm, MAX_P12_FLUID_PUMP_PWM_DUTY_CYCLE );
             setFPGAP12PumpPWM( pwm );
         }
         else
         {
+            // constrain given pwm magnitude to valid range
+            pwm = MIN( pwm, MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE );
             setFPGAP40PumpPWM( pwm );
         }
         result = TRUE;
@@ -213,13 +227,13 @@
 
 /*********************************************************************//**
  * @brief
- * The getFluidPumpPWMDutyCycle function gets the commanded PWM magnitude (0..500)
+ * The getFluidPumpPWMDutyCycle function gets the commanded PWM magnitude
  * for the given fluid pump.
  * @details \b Alarm: ALARM_ID_RO_SOFTWARE_FAULT if invalid fluid pump ID given.
  * @details \b Inputs: fluidPumpCmdDutyCycle[]
  * @details \b Outputs: none
  * @param pumpID ID of fluid pump to get commanded PWM magnitude for.
- * @return Value (0..500) indicating magnitude of PWM duty cycle
+ * @return Value indicating magnitude of PWM duty cycle. (0..500) for P12_PUMP (0..5000) for P40.
  *************************************************************************/
 U16 getFluidPumpPWMDutyCycle( FP_FLUID_PUMP_T pumpID )
 {
@@ -239,13 +253,13 @@
 
 /*********************************************************************//**
  * @brief
- * The getFluidPumpReadPWMDutyCycle function gets the PWM magnitude (0..500)
+ * The getFluidPumpReadPWMDutyCycle function gets the PWM magnitude
  * read back from FPGA for the given fluid pump.
  * @details \b Alarm: ALARM_ID_RO_SOFTWARE_FAULT if invalid fluid pump ID given.
  * @details \b Inputs: fluidPumpReadDutyCycle[]
  * @details \b Outputs: none
  * @param pumpID ID of fluid pump to get read back PWM magnitude for.
- * @return Value (0..500) indicating magnitude of PWM duty cycle
+ * @return Value indicating magnitude of PWM duty cycle. (0..500) for P12_PUMP (0..5000) for P40.
  *************************************************************************/
 U16 getFluidPumpReadPWMDutyCycle( FP_FLUID_PUMP_T pumpID )
 {
@@ -296,12 +310,28 @@
  * @details Inputs: none
  * @details Outputs: none
  * @param dutyCyclePct duty cycle percentage to be converted.
- * @return Value (0..500) indicating magnitude of PWM duty cycle.
+ * @return Value indicating magnitude of PWM duty cycle. (0..500) for P12_PUMP (0..5000) for P40.
  *************************************************************************/
-U16 convertDutyCyclePctToCnt( F32 dutyCyclePct )
+U16 convertDutyCyclePctToCnt( FP_FLUID_PUMP_T pumpID, F32 dutyCyclePct )
 {
-    U16 pwmCnt = (U16)MAX( (MAX_FLUID_PUMP_PWM_DUTY_CYCLE * dutyCyclePct) , MIN_FLUID_PUMP_PWM_DUTY_CYCLE );
+    U16 pwmCnt = 0;
 
+    if ( pumpID < NUM_OF_PUMPS )
+    {
+        if ( P12_PUMP == pumpID )
+        {
+            pwmCnt = (U16)MAX( (MAX_P12_FLUID_PUMP_PWM_DUTY_CYCLE * dutyCyclePct) , MIN_FLUID_PUMP_PWM_DUTY_CYCLE );
+        }
+        else
+        {
+            pwmCnt = (U16)MAX( (MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE * dutyCyclePct) , MIN_FLUID_PUMP_PWM_DUTY_CYCLE );
+        }
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, FP_FAULT_ID_INVALID_FLUID_PUMP_ID5, (U32)pumpID )
+    }
+
     return pwmCnt;
 }
 /*********************************************************************//**
@@ -313,10 +343,25 @@
  * @param dutyCyclePct duty cycle count to be converted.
  * @return Value (0..0.99) indicating magnitude of PWM duty cycle as a percentage.
  *************************************************************************/
-F32 convertDutyCycleCntToPct( U32 dutyCycleCnt )
+F32 convertDutyCycleCntToPct( FP_FLUID_PUMP_T pumpID, U32 dutyCycleCnt )
 {
-    F32 pwmCnt = MAX( ( (F32)dutyCycleCnt / (F32)MAX_FLUID_PUMP_PWM_DUTY_CYCLE ) , (F32)MIN_FLUID_PUMP_PWM_DUTY_CYCLE );
+    F32 pwmCnt = 0.0;
 
+    if ( pumpID < NUM_OF_PUMPS )
+    {
+        if ( P12_PUMP == pumpID )
+        {
+            pwmCnt = MAX( ( (F32)dutyCycleCnt / (F32)MAX_P12_FLUID_PUMP_PWM_DUTY_CYCLE ) , (F32)MIN_FLUID_PUMP_PWM_DUTY_CYCLE );
+        }
+        else
+        {
+            pwmCnt = MAX( ( (F32)dutyCycleCnt / (F32)MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE ) , (F32)MIN_FLUID_PUMP_PWM_DUTY_CYCLE );
+        }
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, FP_FAULT_ID_INVALID_FLUID_PUMP_ID6, (U32)pumpID )
+    }
     return pwmCnt;
 }
 
@@ -420,7 +465,7 @@
  *************************************************************************/
 BOOL testFluidPumpPWMOverride( MESSAGE_T *message )
 {
-    BOOL result = u32ArrayOverride( message, &fluidPumpReadDutyCycle[0], NUM_OF_PUMPS - 1, 0, MAX_FLUID_PUMP_PWM_DUTY_CYCLE );
+    BOOL result = u32ArrayOverride( message, &fluidPumpReadDutyCycle[0], NUM_OF_PUMPS - 1, 0, MAX_P40_FLUID_PUMP_PWM_DUTY_CYCLE );
 
     return result;
 }