Index: firmware/App/Controllers/ConcentratePumps.c
===================================================================
diff -u -rd3819286869611f9c02add72a0f8e321598fdf42 -rb1a0571d530426aefd393d07dbaf7675cd0e4c02
--- firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision d3819286869611f9c02add72a0f8e321598fdf42)
+++ firmware/App/Controllers/ConcentratePumps.c	(.../ConcentratePumps.c)	(revision b1a0571d530426aefd393d07dbaf7675cd0e4c02)
@@ -18,6 +18,7 @@
 
 #include "ConcentratePumps.h"
 #include "FPGA.h"
+#include "MessageSupport.h"
 #include "PersistentAlarm.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
@@ -35,7 +36,7 @@
 #define CONCENTRATE_PUMP_FORWARD_DIR                        0x1                                                 ///< Concentrate pump forward direction configuration.
 #define CONCENTRATE_PUMP_REVERSE_DIR                        0x0                                                 ///< Concentrate pump reverse direction configuration.
 
-#define CONCENTRATE_PUMP_SPEED_INCREMENT                    8.0                                                 ///< Speed increase (mL/min) when controlling concentrate pump to target step speed.
+#define CONCENTRATE_PUMP_SPEED_INCREMENT                    1.5                                                 ///< Speed increase (mL/min) when controlling concentrate pump to target step speed. TODO it was 8.0
 #define CONCENTRATE_PUMP_MIN_SPEED                          3.0                                                 ///< Minimum 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_ZERO_FLOW_RATE                     0xFFFF                                              ///< Pulse width value when zero flow rate or pump is off.
@@ -52,7 +53,7 @@
 #define CONCENTRATE_PUMP_VOLUME_PER_PULSE                   ( CONCENTRATE_PUMP_VOLUME_PER_REV / CONCENTRATE_PUMP_PULSE_PER_REV )
 
 #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                   ( 250 / TASK_GENERAL_INTERVAL )                     ///< Interval (ms/task time) at which the concentrate pump is controlled.
+#define CONCENTRATE_PUMP_CONTROL_INTERVAL                   ( 50 / 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.
@@ -165,11 +166,21 @@
         calcMeasuredPumpsSpeed( CONCENTRATEPUMPS_CP1_ACID, getFPGACP1HallSensePulseWidth() );
         calcMeasuredPumpsSpeed( CONCENTRATEPUMPS_CP2_BICARB, getFPGACP2HallSensePulseWidth() );
 
-        data.cp1CurrentSetSpeed = concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].currentPumpSpeed;
-        data.cp1MeasuredSpeed   = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP1_ACID );
-        data.cp2CurrentSetSpeed = concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].currentPumpSpeed;
-        data.cp2MeasuredSpeed   = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP2_BICARB );
+        // Get CP1 specifications
+        U08 cp1Direction = concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].direction;
+        F32 cp1SetSpeed  = concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].currentPumpSpeed;
+        F32 cp1Speed     = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP1_ACID );
 
+        // Get CP2 specifications
+        U08 cp2Direction = concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].direction;
+        F32 cp2SetSpeed  = concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].currentPumpSpeed;
+        F32 cp2Speed     = getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP2_BICARB );
+
+        data.cp1CurrentSetSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp1Direction ? cp1SetSpeed * -1.0 : cp1SetSpeed );
+        data.cp1MeasuredSpeed   = ( CONCENTRATE_PUMP_REVERSE_DIR == cp1Direction ? cp1Speed * -1.0 : cp1Speed );
+        data.cp2CurrentSetSpeed = ( CONCENTRATE_PUMP_REVERSE_DIR == cp2Direction ? cp2SetSpeed * -1.0 : cp2SetSpeed );
+        data.cp2MeasuredSpeed   = ( CONCENTRATE_PUMP_REVERSE_DIR == cp2Direction ? cp2Speed * -1.0 : cp2Speed );
+
 #ifndef DISABLE_DIALYSATE_CHECK
         F32 const cp1Error =  fabs( getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP1_ACID ) - concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].currentPumpSpeed ) / concentratePumps[ CONCENTRATEPUMPS_CP1_ACID ].currentPumpSpeed;
         F32 const cp2Error =  fabs( getMeasuredPumpSpeed( CONCENTRATEPUMPS_CP2_BICARB ) - concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].currentPumpSpeed ) / concentratePumps[ CONCENTRATEPUMPS_CP2_BICARB ].currentPumpSpeed;
@@ -179,7 +190,7 @@
 #endif
 
         concentratePumpMonitorTimerCounter = 0U;
-        broadcastConcentratePumpData( &data );
+        broadcastData( MSG_ID_DG_CONCENTRATE_PUMP_DATA, COMM_BUFFER_OUT_CAN_DG_BROADCAST, (U08*)&data, sizeof( CONCENTRATE_PUMP_DATA_T ) );
     }
 }