Index: firmware/App/Controllers/ConcentratePumps.c
===================================================================
diff -u -r9ff57b5ab7490ee5bbc2c51b25f738ee6c569ec1 -r1644c24b0b51661ceaba579e5ebee0d1d5bad85f
--- firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision 9ff57b5ab7490ee5bbc2c51b25f738ee6c569ec1)
+++ firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision 1644c24b0b51661ceaba579e5ebee0d1d5bad85f)
@@ -923,6 +923,7 @@
 static CONCENTRATE_PUMP_STATE_T handleConcentratePumpRampToTargetSpeedState( CONCENTRATE_PUMPS_T pumpId )
 {
     CONCENTRATE_PUMP_STATE_T state = CONCENTRATE_PUMP_RAMP_TO_TARGET_SPEED_STATE;
+    //U16 currentMeasuredRev         = getConcPumpCurrentMeasuredRevolutionCount( pumpId );
 
     if ( TRUE == stepConcentratePumpToTargetSpeed( pumpId ) )
     {
@@ -953,6 +954,7 @@
 static CONCENTRATE_PUMP_STATE_T handleConcentratePumpControlTargetSpeedState( CONCENTRATE_PUMPS_T pumpId )
 {
     CONCENTRATE_PUMP_STATE_T state = CONCENTRATE_PUMP_CONTROL_TARGET_SPEED_STATE;
+    //U16 currentMeasuredRev         = getConcPumpCurrentMeasuredRevolutionCount( pumpId );
     F32 targetToCurreSpeedDiffMLPM = fabs( getPumpTargetSpeed( pumpId ) - concentratePumps[ pumpId ].currentPumpSpeed );
 
     if ( ++concentratePumps[ pumpId ].controlTimerCounter >= CONCENTRATE_PUMP_CONTROL_INTERVAL )
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 );
Index: firmware/App/Controllers/Heaters.c
===================================================================
diff -u -r9ff57b5ab7490ee5bbc2c51b25f738ee6c569ec1 -r1644c24b0b51661ceaba579e5ebee0d1d5bad85f
--- firmware/App/Controllers/Heaters.c	(.../Heaters.c)	(revision 9ff57b5ab7490ee5bbc2c51b25f738ee6c569ec1)
+++ firmware/App/Controllers/Heaters.c	(.../Heaters.c)	(revision 1644c24b0b51661ceaba579e5ebee0d1d5bad85f)
@@ -40,6 +40,7 @@
  */
 
 // ********** private definitions **********
+
 #define AC_HEATER_TX_MAX_DUTY_CYCLE                                0.50F                                                           ///< AC Heater Treatement mode max duty cycle (50% of 1400W : 700W ) or ON state
 #define AC_HEATER_HEAT_MAX_DUTY_CYCLE                              0.70F                                                           ///< AC Heater heat disinfect mode max duty cycle (70% of 1400W : 980W ) or ON state
 #define AC_HEATER_MAX_DUTY_CYCLE                                   1.0F                                                            ///< AC Heater max duty cycle (100.0%) or ON state
Index: firmware/App/DDCommon.h
===================================================================
diff -u -re11b336715c3f5308512edb46d6082d33e1c42a1 -r1644c24b0b51661ceaba579e5ebee0d1d5bad85f
--- firmware/App/DDCommon.h	(.../DDCommon.h)	(revision e11b336715c3f5308512edb46d6082d33e1c42a1)
+++ firmware/App/DDCommon.h	(.../DDCommon.h)	(revision 1644c24b0b51661ceaba579e5ebee0d1d5bad85f)
@@ -27,6 +27,12 @@
 #define DD_VERSION_MICRO    0
 #define DD_VERSION_BUILD    3
 
+//Uncomment the below line for new dosing pump testing
+//#define __PUMPTEST__            1
+
+//Uncomment below for PI testing
+#define __PITEST__       1
+
 // ********** development build switches **********
 
 #ifndef _RELEASE_