Index: firmware/App/Controllers/ConcentratePumps.c
===================================================================
diff -u -r273f797e1b0f70a9d5720d1ffff29d26ff5144af -r80028d3b1eef322950c1a5b74c282df2ba989ff5
--- firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision 273f797e1b0f70a9d5720d1ffff29d26ff5144af)
+++ firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision 80028d3b1eef322950c1a5b74c282df2ba989ff5)
@@ -18,6 +18,7 @@
 
 #include "ConcentratePumps.h"
 #include "FPGA.h"
+#include "PersistentAlarm.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
 
@@ -34,6 +35,7 @@
 #define CONCENTRATE_PUMP_SPEED_INCREMENT                    8.0                                                 ///< Speed increase (mL/min) when controlling concentrate pump to target step speed.
 #define CONCENTRATE_PUMP_MIN_SPEED                          3.0                                                 ///< Minimum speed for concentrate pump in mL per min.
 #define CONCENTRATE_PUMP_MAX_SPEED                          49.0                                                ///< Maximum speed for concentrate pump in mL per min.
+#define CONCENTRATE_PUMP_ERROR_TOLERANCE                    0.02                                                ///< Measured speed needs to be within 2% of commanded speed.
 
 #define CONCENTRATE_PUMP_VOLUME_PER_REV                     0.15                                                ///< Volume output every revolution (mL).
 #define CONCENTRATE_PUMP_PULSE_PER_REV                      4.0                                                 ///< Number of pulses generate for every revolution.
@@ -48,6 +50,7 @@
 
 #define CONCENTRATE_PUMP_DATA_PUBLISH_INTERVAL              ( 500 / TASK_GENERAL_INTERVAL )                     ///< Interval (ms/task time) at which the concentrate pump is monitored.
 #define CONCENTRATE_PUMP_CONTROL_INTERVAL                   ( 500 / TASK_GENERAL_INTERVAL )                     ///< Interval (ms/task time) at which the concentrate pump is controlled.
+#define CONCENTRATE_PUMP_SPEED_CONTROL_PERSISTENCE_PERIOD   ( 5 * MS_PER_SECOND )                               ///< Persistence period for concentrate pump speed control error.
 
 /// Enumeration of concentrate pump states.
 typedef enum ConcentratePumpState
@@ -70,6 +73,7 @@
 
 static F32 pumpTargetSpeed[ NUM_OF_CONCENTRATE_PUMPS ];                 ///< Target concentrate pumps' speed (mL/min).
 static F32 currentPumpSpeed[ NUM_OF_CONCENTRATE_PUMPS ];                ///< Current controlled concentrate pumps' speed (mL/min).
+static OVERRIDE_F32_T measuredPumpSpeed[ NUM_OF_CONCENTRATE_PUMPS ];    ///< Measured concentrate pump speed (mL/min).
 static U16 togglePeriodCount[ NUM_OF_CONCENTRATE_PUMPS ];               ///< Converted pump speed (mL/min) to toggle period counts (0.5 uS increment counts per step).
 
 // ********** private function prototypes **********
@@ -80,6 +84,7 @@
 static void stepConcentratePumpToTargetSpeed( CONCENTRATE_PUMPS_T pumpId );
 static CONCENTRATE_PUMP_STATE_T handleConcentratePumpOnState( void );
 static U32 getPublishConcentratePumpDataInterval( void );
+static F32 getMeasuredPumpSpeed( CONCENTRATE_PUMPS_T pumpId );
 
 /*********************************************************************//**
  * @brief
@@ -97,6 +102,11 @@
     concentratePumpMonitorTimerCounter = 0;
 
     stopConcentratePump();
+
+    initPersistentAlarm( PERSISTENT_ALARM_CP1_SPEED_CONTROL_ERROR, ALARM_ID_CP1_SPEED_CONTROL_ERROR,
+                         TRUE, CONCENTRATE_PUMP_SPEED_CONTROL_PERSISTENCE_PERIOD, CONCENTRATE_PUMP_SPEED_CONTROL_PERSISTENCE_PERIOD );
+    initPersistentAlarm( PERSISTENT_ALARM_CP2_SPEED_CONTROL_ERROR, ALARM_ID_CP2_SPEED_CONTROL_ERROR,
+                         TRUE, CONCENTRATE_PUMP_SPEED_CONTROL_PERSISTENCE_PERIOD, CONCENTRATE_PUMP_SPEED_CONTROL_PERSISTENCE_PERIOD );
 }
 
 /*********************************************************************//**
@@ -111,19 +121,25 @@
     if ( ++concentratePumpMonitorTimerCounter >= getPublishConcentratePumpDataInterval() )
     {
         CONCENTRATE_PUMP_DATA_T data;
-        concentratePumpMonitorTimerCounter = 0U;
 
         F32 const cp1PulseWidthInSecond = (F32)( getFPGACP1HallSensePulseWidth() * CONCENTRATE_PUMP_HALL_SENSE_PERIOD_RESOLUTION ) / US_PER_SECOND;
         F32 const cp2PulseWidthInSecond = (F32)( getFPGACP2HallSensePulseWidth() * CONCENTRATE_PUMP_HALL_SENSE_PERIOD_RESOLUTION ) / US_PER_SECOND;
 
-        F32 const cp1SpeedMlPerMin = ( 1 / cp1PulseWidthInSecond ) * CONCENTRATE_PUMP_VOLUME_PER_PULSE * SEC_PER_MIN;
-        F32 const cp2SpeedMlPerMin = ( 1 / cp2PulseWidthInSecond ) * CONCENTRATE_PUMP_VOLUME_PER_PULSE * SEC_PER_MIN;
+        measuredPumpSpeed[ CONCENTRATEPUMPS_CP1 ].data = ( 1 / cp1PulseWidthInSecond ) * CONCENTRATE_PUMP_VOLUME_PER_PULSE * SEC_PER_MIN;
+        measuredPumpSpeed[ CONCENTRATEPUMPS_CP2 ].data = ( 1 / cp2PulseWidthInSecond ) * CONCENTRATE_PUMP_VOLUME_PER_PULSE * SEC_PER_MIN;
 
+        F32 const cp1Error =  fabs( getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP1 ) - pumpTargetSpeed[ CONCENTRATEPUMPS_CP1 ] ) / pumpTargetSpeed[ CONCENTRATEPUMPS_CP1 ];
+        F32 const cp2Error =  fabs( getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP2 ) - pumpTargetSpeed[ CONCENTRATEPUMPS_CP2 ] ) / pumpTargetSpeed[ CONCENTRATEPUMPS_CP2 ];
+
         data.cp1TargetSpeed   = pumpTargetSpeed[ CONCENTRATEPUMPS_CP1 ];
-        data.cp1MeasuredSpeed = cp1SpeedMlPerMin;
+        data.cp1MeasuredSpeed = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP1 );
         data.cp2TargetSpeed   = pumpTargetSpeed[ CONCENTRATEPUMPS_CP2 ];
-        data.cp2MeasuredSpeed = cp2SpeedMlPerMin;
+        data.cp2MeasuredSpeed = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP2 );
 
+        checkPersistentAlarm( PERSISTENT_ALARM_CP1_SPEED_CONTROL_ERROR, cp1Error > CONCENTRATE_PUMP_ERROR_TOLERANCE, cp1Error );
+        checkPersistentAlarm( PERSISTENT_ALARM_CP2_SPEED_CONTROL_ERROR, cp2Error > CONCENTRATE_PUMP_ERROR_TOLERANCE, cp2Error );
+
+        concentratePumpMonitorTimerCounter = 0U;
         broadcastConcentratePumpData( &data );
     }
 }
@@ -227,6 +243,7 @@
     {
         pumpTargetSpeed[ ii ]  = 0.0;
         currentPumpSpeed[ ii ] = 0.0;
+        measuredPumpSpeed[ ii ].data = 0.0;
     }
 
     setFPGACP1Control( CONCENTRATE_PUMP_OFF_CONTROL );
@@ -353,7 +370,36 @@
     return result;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The getMeasuredPumpSpeed function gets the measured concentrate pump flow rate.
+ * @details Inputs: measuredPumpSpeed
+ * @details Outputs: none
+ * @param pumpId concentrate pump id to increase current step speed
+ * @return the current concentrate pump flow rate (in mL/min).
+ *************************************************************************/
+static F32 getMeasuredPumpSpeed( CONCENTRATE_PUMPS_T pumpId )
+{
+    F32 result = 0.0;
 
+    if ( pumpId < NUM_OF_CONCENTRATE_PUMPS )
+    {
+        result = measuredPumpSpeed[ pumpId ].data;
+
+        if ( OVERRIDE_KEY == measuredPumpSpeed[ pumpId ].override )
+        {
+            result = measuredPumpSpeed[ pumpId ].ovData;
+        }
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_CONCENTRATE_PUMP_INVALID_PUMP_ID, pumpId );
+    }
+
+    return result;
+}
+
+
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/
@@ -432,4 +478,51 @@
     return result;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The testSetConcentratePumpMeasuredSpeedOverride function overrides the
+ * measured speed value of given concentrate pump id.
+ * @details Inputs: none
+ * @details Outputs: measuredPumpSpeed[]
+ * @param pumpId concentrate pump id
+ * @param value override concentrate pump measured speed
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testSetConcentratePumpMeasuredSpeedOverride( U32 pumpId, F32 value )
+{
+    BOOL result = FALSE;
+
+    if ( ( pumpId < NUM_OF_CONCENTRATE_PUMPS ) && isTestingActivated() )
+    {
+        result = TRUE;
+        measuredPumpSpeed[ pumpId ].ovData   = value;
+        measuredPumpSpeed[ pumpId ].override = OVERRIDE_KEY;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The testResetConcentratePumpMeasuredSpeedOverride function resets the
+ * measured speed value of given concentrate pump id.
+ * @details Inputs: none
+ * @details Outputs: measuredPumpSpeed[]
+ * @param pumpId concentrate pump id
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testResetConcentratePumpMeasuredSpeedOverride( U32 pumpId )
+{
+    BOOL result = FALSE;
+
+    if ( ( pumpId < NUM_OF_CONCENTRATE_PUMPS ) && isTestingActivated() )
+    {
+        result = TRUE;
+        measuredPumpSpeed[ pumpId ].ovData   = 0.0;
+        measuredPumpSpeed[ pumpId ].override = OVERRIDE_RESET;
+    }
+
+    return result;
+}
+
 /**@}*/