Index: firmware/App/Services/FpgaDD.c
===================================================================
diff -u -ra9983d3e6b07e7c927fab3d16e80b715594fe221 -r3cc784af591b14e5d292f92c796db70bcbd5a40b
--- firmware/App/Services/FpgaDD.c	(.../FpgaDD.c)	(revision a9983d3e6b07e7c927fab3d16e80b715594fe221)
+++ firmware/App/Services/FpgaDD.c	(.../FpgaDD.c)	(revision 3cc784af591b14e5d292f92c796db70bcbd5a40b)
@@ -244,6 +244,8 @@
     U16 fpgaD74CondTemp;                    ///< Reg 438. D74 Temperature
     U08 fpgaD74CondReadCnt;                 ///< Reg 440. D74 successful read count
     U08 fpgaD74CondErrorCnt;                ///< Reg 441. D74 error read count
+    U16 fpgaD76PumpHallSense;               ///< Reg 442. UF D76_Pump hall sensor pulse width
+    U16 fpgaD76PumpStepCountStatus;         ///< Reg 444. UF pump revolution down count status
 } DD_FPGA_SENSORS_T;
 
 typedef struct
@@ -342,7 +344,9 @@
     U08 fpgaConSensD74Control;              ///< Reg 152. Conductivity/Temperature Sensors D74 Control registers
     U16 fpgaConSensD74_Addrs;               ///< Reg 153. D74 Initialization Address register
     U32 fpgaConSensD74_Data_In;             ///< Reg 155. D74 Initialization data register
-
+    U16 fpgaD76PumpSpeed;                   ///< Reg 159. UF Pump Speed/RPM Control
+    U08 fpgaD76PumpControl;                 ///< Reg 161. UF Pump Control
+    U16 fpgaD76PumpRevCount;                ///< Reg 162. UF pump revolution count
 } FPGA_ACTUATORS_T;
 #pragma pack(pop)
 
@@ -637,6 +641,20 @@
 
 /*********************************************************************//**
  * @brief
+ * The setFPGAD76PumpSetStepSpeed function sets the step speed period for
+ * UF D76_Pump.
+ * @details \b Inputs: none
+ * @details \b Outputs: fpgaActuatorSetPoints.fpgaD76PumpSpeed
+ * @param stepSpeed The concentrate pump step speed period
+ * @return none
+ *************************************************************************/
+void setFPGAD76PumpSetStepSpeed( U16 stepSpeed )
+{
+    fpgaActuatorSetPoints.fpgaD76PumpSpeed = stepSpeed;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setFPGAD11PumpControl function sets the DVT concentrate pump 1
  * (acid pump) control mode.
  *      bit 7: Park (set in different function)
@@ -679,6 +697,27 @@
 
 /*********************************************************************//**
  * @brief
+ * The setFPGAD76PumpControl function sets the UF pump
+ * (D76 pump) control mode.
+ *      bit 7: Park (set in different function)
+ *      bit 6: nSleep
+ *      bit 5: nReset
+ *      bit 4: nEnable
+ *      bit 3: Direction (1=Fwd, 0=Rev)
+ *      bit 0-2: Microstepping resolution
+ * @details \b Inputs: none
+ * @details \b Outputs: fpgaActuatorSetPoints.fpgaD76PumpControl
+ * @param control UF pump control set
+ * @return none
+ *************************************************************************/
+void setFPGAD76PumpControl( U08 control )
+{
+    fpgaActuatorSetPoints.fpgaD76PumpControl &= FPGA_CONC_PUMP_PARK_COMMAND;  // preserve msb (park command bit)
+    fpgaActuatorSetPoints.fpgaD76PumpControl |= control;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setFPGAD11PumpParkCmd function sets the DVT concentrate pump 1
  * (acid pump) park command bit.
  *      bit 7: Park command bit
@@ -711,6 +750,22 @@
 
 /*********************************************************************//**
  * @brief
+ * The setFPGAD76PumpParkCmd function sets the Ultrafiltration pump
+ * (D76 pump) park command bit.
+ *      bit 7: Park command bit
+ *      bit 0-6: Other pump control bits (set in different function)
+ * @details \b Inputs: none
+ * @details \b Outputs: fpgaActuatorSetPoints.fpgaD76PumpControl
+ * @param Park command bit set
+ * @return none
+ *************************************************************************/
+void setFPGAD76PumpParkCmd( void )
+{
+    fpgaActuatorSetPoints.fpgaD76PumpControl |= FPGA_CONC_PUMP_PARK_COMMAND;  // this bit must be cleared after next transmit to prevent continuous park commands
+}
+
+/*********************************************************************//**
+ * @brief
  * The setFPGAD17CondReset function resets the FPGA Conductivity
  * Sensor D17.
  * @details \b Inputs: none
@@ -1505,6 +1560,20 @@
 
 /*********************************************************************//**
  * @brief
+ * The setFPGAD76PumpRevolutionCount function sets the UltraFilteration
+ * pump revolution count.
+ * @details \b Inputs: none
+ * @details \b Outputs: fpgaD76PumpRevCount
+ * @param count the number of revolution to be rotated for the pump.
+ * @return none
+ *************************************************************************/
+void setFPGAD76PumpRevolutionCount( U16 count )
+{
+    fpgaActuatorSetPoints.fpgaD76PumpRevCount = count;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setFPGAD5HeaterOnOffControl function sets the primary heater
  * On/Off control.
  * @details \b Inputs: none
@@ -1784,6 +1853,25 @@
 
 /*********************************************************************//**
  * @brief
+ * The getFPGAD76PumpControlStatus function gets the Ultrafilteration pump
+ * (D76 pump) control mode.
+ *      bit 7: Park (set in different function)
+ *      bit 6: nSleep
+ *      bit 5: nReset
+ *      bit 4: nEnable
+ *      bit 3: Direction (1=Fwd, 0=Rev)
+ *      bit 0-2: Microstepping resolution
+ * @details \b Inputs: none
+ * @details \b Outputs: fpgaActuatorSetPoints.fpgaD76PumpControl
+ * @return UF pump control status bit
+ *************************************************************************/
+U08 getFPGAD76PumpControlStatus( void )
+{
+    return fpgaActuatorSetPoints.fpgaD76PumpControl;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getFPGAConcentratePumpsFault function gets concentrate pumps fault
  * reported by FGPA.
  * @details \b Inputs: fpgaSensorReadings.fpgaD11_D10_PumpFault
@@ -1887,6 +1975,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The getFPGAD76PumpHallSensePulseWidth function gets UF pump D76_Pump
+ * hall sense pulse width.
+ * @details \b Inputs: fpgaSensorReadings.fpgaD76PumpHallSense
+ * @details \b Outputs: none
+ * @return ultrafilteration pump D76_Pump hall sense pulse width
+ *************************************************************************/
+U16 getFPGAD76PumpHallSensePulseWidth( void )
+{
+    return fpgaSensorReadings.fpgaD76PumpHallSense;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getFPGAValveStates function gets the latest sensed valve states.
  * See setFPGAValveStates for valve state bit positions.
  * @details \b Inputs: fpgaSensorReadings.fpgaValveStates
@@ -2928,6 +3029,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The getFPGAD76PumpRevolutionCountStatus function gets the current revolution of
+ * UF pump (down counter) status.
+ * @details \b Inputs: fpgaD76PumpStepCountStatus
+ * @details \b Outputs: none
+ * @return the current revolution of the UF pump
+ *************************************************************************/
+U16 getFPGAD76PumpRevolutionCountStatus( void )
+{
+    return fpgaSensorReadings.fpgaD76PumpStepCountStatus;
+}
+
+/*********************************************************************//**
+ * @brief
  * The checkFPGAAFEOEFailure function increments the FPGA comm failure
  * windowed timer if an FE or OE error has occurred and returns whether
  * or not the number of failures in