Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -r1d235091e158221f1fa8b1579140905a13249a54 -rdaf8d5b60c753becab80cbaf164aac0e49d533a2
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 1d235091e158221f1fa8b1579140905a13249a54)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision daf8d5b60c753becab80cbaf164aac0e49d533a2)
@@ -84,19 +84,20 @@
 static U32 drainPumpDataPublicationTimerCounter = 0;                                ///< used to schedule drain pump data publication to CAN bus
 static U32 drainPumpDAC = 0;                                                        ///< initial drain pump DAC value
 static U32 drainPumpDACSet = 0;                                                     ///< currently set drain pump DAC value
-static PUMP_CONTROL_MODE_T drainPumpControlMode = NUM_OF_PUMP_CONTROL_MODES;        ///< requested drain pump control mode
+static PUMP_CONTROL_MODE_T drainPumpControlMode = NUM_OF_PUMP_CONTROL_MODES;        ///< requested drain pump control mode
+static PUMP_CONTROL_MODE_T drainPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< currently set drain pump control mode
 
 static OVERRIDE_U32_T drainPumpDataPublishInterval = { DRAIN_PUMP_DATA_PUB_INTERVAL,
                                                        DRAIN_PUMP_DATA_PUB_INTERVAL,
                                                        0, 0 };                      ///< interval (in ms) at which to publish RO flow data to CAN bus
 static OVERRIDE_U32_T targetDrainPumpSpeed  = { 0, 0, 0, 0 };                       ///< Target RO pressure (in PSI)
-static OVERRIDE_U32_T targetDrainPumpDeltaPressure = { 0, 0, 0, 0 };                       ///< Target delta pressure for the drain pump
+static OVERRIDE_F32_T targetDrainPumpDeltaPressure = { 0.0, 0.0, 0.0, 0.0 };        ///< Target delta pressure for the drain pump
 
 static U32 drainControlTimerCounter = 0;                                            ///< determines when to perform control on drain pump
 
 /* These variables are used for POST. POST will be implemented later
 static DRAIN_PUMP_SELF_TEST_STATE_T drainPumpSelfTestState = DRAIN_PUMP_SELF_TEST_STATE_START;  ///< current drain pump self test state
-static U32 drainPumpSelfTestTimerCount = 0;                                         ///< timer counter for drain pump self test
+static U32 drainPumpSelfTestTimerCount = 0;                                                     ///< timer counter for drain pump self test
 */
 
 // ********** private function prototypes **********
@@ -131,10 +132,10 @@
  * The setDrainPumpTargetSpeed function sets a new target speed for the \n
  * drain pump.
  * @details
- * Inputs : none
- * Outputs : targetDrainPumpPressure
- * @param rpm : new target drain pump speed (in RPM).
- * @return TRUE if new target speed is set, FALSE if not
+ * Inputs: none
+ * Outputs: targetDrainPumpPressure
+ * @param: rpm : new target drain pump speed (in RPM).
+ * @return: TRUE if new target speed is set, FALSE if not
  *************************************************************************/
 BOOL setDrainPumpTargetSpeed( U32 rpm )
 {
@@ -157,12 +158,12 @@
  * The setDrainPumpTargetDeltaPressure function sets the target delta\n
  * pressure in between the PRd and PDr sensors
  * @details
- * Inputs : targetDrainPumpDeltaP
- * Outputs : targetDrainPumpDeltaP
- * @param deltaP : new target drain pump delta pressure
- * @return TRUE if new target speed is set, FALSE if not
+ * Inputs: targetDrainPumpDeltaP
+ * Outputs: targetDrainPumpDeltaP
+ * @param: deltaP : new target drain pump delta pressure
+ * @return: TRUE if new target speed is set, FALSE if not
  *************************************************************************/
-BOOL setDrainPumpTargetDeltaPressure ( U32 deltaP )
+BOOL setDrainPumpTargetDeltaPressure ( F32 deltaP )
 {
     BOOL result = FALSE;
 
@@ -177,9 +178,9 @@
  * @brief
  * The signalDrainPumpHardStop function stops the Drain pump immediately.
  * @details
- * Inputs : none
- * Outputs : Drain pump stopped, set point reset, state changed to off
- * @return none
+ * Inputs: none
+ * Outputs: Drain pump stopped, set point reset, state changed to off
+ * @return: none
  *************************************************************************/
 void signalDrainPumpHardStop( void )
 {
@@ -194,9 +195,9 @@
  * @brief
  * The execDrainPumpMonitor function executes the Drain Pump monitor.
  * @details
- * Inputs : none
- * Outputs : none
- * @return none
+ * Inputs: none
+ * Outputs: none
+ * @return: none
  *************************************************************************/
 void execDrainPumpMonitor( void )
 {
@@ -214,9 +215,9 @@
  * @brief
  * The execDrainPumpController function executes the Drain Pump controller.
  * @details
- * Inputs : drainPumpState
- * Outputs : drainPumpState
- * @return none
+ * Inputs: drainPumpState
+ * Outputs: drainPumpState
+ * @return: none
  *************************************************************************/
 void execDrainPumpController( void )
 {
@@ -246,9 +247,9 @@
  * The handleDrainPumpOffState function handles the drain pump off state \n
  * of the drain pump controller state machine.
  * @details
- * Inputs : targetDrainPumpSpeed
- * Outputs : drainPumpPWMDutyCyclePctSet
- * @return next state
+ * Inputs: targetDrainPumpSpeed
+ * Outputs: drainPumpPWMDutyCyclePctSet
+ * @return: next state
  *************************************************************************/
 static DRAIN_PUMP_STATE_T handleDrainPumpOffState( void )
 {
@@ -262,15 +263,14 @@
         setValveState( VPI, VALVE_STATE_OPEN );
         setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
         setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
-        //setDrainPumpTargetSpeed( 1000 );
+        setDrainPumpTargetSpeed( 1000 );
     }
 #endif
 #endif
 
     // If the target drain pump speed was not 0 and the control mode
     // is open loop, set the drain pump to open loop
-    if ( getTargetDrainPumpSpeed() > 0 &&
-         drainPumpControlMode == PUMP_CONTROL_MODE_OPEN_LOOP )
+    if ( getTargetDrainPumpSpeed() > 0 && drainPumpControlMode == PUMP_CONTROL_MODE_OPEN_LOOP )
     {
         // set drain pump enable pin
         SET_DRAIN_PUMP_ENABLE();
@@ -308,9 +308,9 @@
  * The handleDrainPumpControlToTargetState function handles the "control to \n
  * target" state of the drain pump controller state machine.
  * @details
- * Inputs : none
- * Outputs : drainPumpState
- * @return next state
+ * Inputs: none
+ * Outputs: drainPumpState
+ * @return: next state
  *************************************************************************/
 static DRAIN_PUMP_STATE_T handleDrainPumpControlToTargetState( void )
 {
@@ -321,10 +321,10 @@
     {
         F32 inletDrainPressure = getMeasuredDGPressure ( PRESSURE_SENSOR_DRAIN_PUMP_INLET );
         F32 outletDrainPressure = getMeasuredDGPressure ( PRESSURE_SENSOR_DRAIN_PUMP_OUTLET );
-        F32 pressureDiff = fabs( inletDrainPressure - outletDrainPressure );
+        F32 pressureDiff = inletDrainPressure - outletDrainPressure;
         F32 rpm = runPIController( PI_CONTROLLER_ID_DRAIN_PUMP, targetDrainPumpDeltaPressure.data, pressureDiff );
-        drainPumpDAC = (U32)(rpm * DRP_SPEED_RPM_TO_ADC_FACTOR + FLOAT_TO_INT_ROUNDUP_OFFSET);
-        setFPGADrainPumpSpeed( drainPumpDAC );
+        drainPumpDACSet = (U32)(rpm * DRP_SPEED_RPM_TO_ADC_FACTOR + FLOAT_TO_INT_ROUNDUP_OFFSET);
+        setFPGADrainPumpSpeed( drainPumpDACSet );
         drainControlTimerCounter = 0;
     }
 
@@ -357,9 +357,9 @@
  * The handleDrainPumpOpenLoopState function handles the open loop \n
  * state
  * @details
- * Inputs : none
- * Outputs : none
- * @return next state
+ * Inputs: none
+ * Outputs: none
+ * @return: next state
  *************************************************************************/
 static DRAIN_PUMP_STATE_T handleDrainPumpOpenLoopState( void )
 {
@@ -370,9 +370,9 @@
  * @brief
  * The stopDrainPump function sets the Drain pump DAC to zero.
  * @details
- * Inputs : none
- * Outputs : DAC zeroed
- * @return none
+ * Inputs: none
+ * Outputs: DAC zeroed
+ * @return: none
  *************************************************************************/
 static void stopDrainPump( void )
 {
@@ -387,9 +387,9 @@
  * The getPublishDrainPumpDataInterval function gets the Drain pump data \n
  * publication interval.
  * @details
- * Inputs : drainPumpDataPublishInterval
- * Outputs : none
- * @return the current Drain pump data publication interval (in ms).
+ * Inputs: drainPumpDataPublishInterval
+ * Outputs: none
+ * @return: the current Drain pump data publication interval (in ms).
  *************************************************************************/
 U32  getPublishDrainPumpDataInterval( void )
 {
@@ -408,9 +408,9 @@
  * The getTargetDrainPumpSpeed function gets the current target Drain pump \n
  * speed.
  * @details
- * Inputs : targetDrainPumpSpeed
+ * Inputs: targetDrainPumpSpeed
  * Outputs : none
- * @return the current target drain pump speed.
+ * @return: the current target drain pump speed.
  *************************************************************************/
 U32 getTargetDrainPumpSpeed( void )
 {
@@ -429,9 +429,9 @@
  * The publishDrainPumpData function publishes drain pump data at the set \n
  * interval.
  * @details
- * Inputs : target speed
- * Outputs : Drain pump data is published to CAN bus.
- * @return none
+ * Inputs: target speed
+ * Outputs: Drain pump data is published to CAN bus.
+ * @return: none
  *************************************************************************/
 static void publishDrainPumpData( void )
 {
@@ -453,9 +453,9 @@
  * The execDrainPumpTest function executes the state machine for the Drain \n
  * Pump self test.
  * @details
- * Inputs : none
- * Outputs : none
- * @return the current state of the Drain Pump self test.
+ * Inputs: none
+ * Outputs: none
+ * @return: the current state of the Drain Pump self test.
  *************************************************************************/
 SELF_TEST_STATUS_T execDrainPumpTest( void )
 {
@@ -478,10 +478,10 @@
  * The testSetDrainPumpDataPublishIntervalOverride function overrides the \n
  * drain pump data publish interval.
  * @details
- * Inputs : none
- * Outputs : drainPumpDataPublishInterval
- * @param value : override RO pump data publish interval with (in ms)
- * @return TRUE if override successful, FALSE if not
+ * Inputs: none
+ * Outputs: drainPumpDataPublishInterval
+ * @param: value : override RO pump data publish interval with (in ms)
+ * @return: TRUE if override successful, FALSE if not
  *************************************************************************/
 BOOL testSetDrainPumpDataPublishIntervalOverride( U32 value )
 {
@@ -504,9 +504,9 @@
  * The testResetDrainPumpDataPublishIntervalOverride function resets the override \n
  * of the drain pump data publish interval.
  * @details
- * Inputs : none
- * Outputs : drainPumpDataPublishInterval
- * @return TRUE if override reset successful, FALSE if not
+ * Inputs: none
+ * Outputs: drainPumpDataPublishInterval
+ * @return: TRUE if override reset successful, FALSE if not
  *************************************************************************/
 BOOL testResetDrainPumpDataPublishIntervalOverride( void )
 {
@@ -527,10 +527,10 @@
  * The testSetTargetDrainPumpSpeedOverride function overrides the target \n
  * drain pump speed (in RPM).
  * @details
- * Inputs : none
- * Outputs : targetDrainPumpSpeed
- * @param value : override target drain pump speed (in RPM)
- * @return TRUE if override successful, FALSE if not
+ * Inputs: none
+ * Outputs: targetDrainPumpSpeed
+ * @param: value : override target drain pump speed (in RPM)
+ * @return: TRUE if override successful, FALSE if not
  *************************************************************************/
 BOOL testSetTargetDrainPumpSpeedOverride( U32 value )
 {
@@ -552,9 +552,9 @@
  * The testResetTargetDrainPumpSpeedOverride function resets the override of the \n
  * target drain pump speed (in RPM).
  * @details
- * Inputs : none
- * Outputs : targetDrainPumpSpeed
- * @return TRUE if override reset successful, FALSE if not
+ * Inputs: none
+ * Outputs: targetDrainPumpSpeed
+ * @return: TRUE if override reset successful, FALSE if not
  *************************************************************************/
 BOOL testResetTargetDrainPumpSpeedOverride( void )
 {
@@ -577,12 +577,12 @@
  * The testSetTargetDrainPumpDeltaPressureOverride function overrides \n
  * the target drain pump delta pressure
  * @details
- * Inputs : none
- * Outputs : targetDrainPumpDeltaPressure
- * @param value : override target drain pump delta pressure
- * @return TRUE if override successful, FALSE if not
+ * Inputs: none
+ * Outputs: targetDrainPumpDeltaPressure
+ * @param: value : override target drain pump delta pressure
+ * @return: TRUE if override successful, FALSE if not
  *************************************************************************/
-BOOL testSetTargetDrainPumpDeltaPressureOverride( U32 value )
+BOOL testSetTargetDrainPumpDeltaPressureOverride( F32 value )
 {
     BOOL result = FALSE;
 
@@ -602,9 +602,9 @@
  * The testResetTargetDrainPumpDeltaPressureOverride function resets the \n
  * override of the target drain pump delta pressure
  * @details
- * Inputs : none
- * Outputs : targetDrainPumpDeltaPressure
- * @return TRUE if override reset successful, FALSE if not
+ * Inputs: none
+ * Outputs: targetDrainPumpDeltaPressure
+ * @return: TRUE if override reset successful, FALSE if not
  *************************************************************************/
 BOOL testResetTargetDrainPumpDeltaPressureOverride( void )
 {
@@ -621,5 +621,3 @@
 
     return result;
 }
-
-