Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -rdc0d9b087c609e71cacdb7f0395cccf29d749c00 -r5a882c7292cea58e74b5a28d4e85dd60e741b834
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision dc0d9b087c609e71cacdb7f0395cccf29d749c00)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 5a882c7292cea58e74b5a28d4e85dd60e741b834)
@@ -20,6 +20,7 @@
 #include "etpwm.h"
 #include "mibspi.h"
 
+#include "DrainPump.h"
 #include "FPGA.h"
 #include "OperationModes.h"
 #include "PIControllers.h"
@@ -29,7 +30,6 @@
 #include "TaskPriority.h"
 #include "Timers.h"
 #include "Valves.h"
-#include "DrainPump.h"
 #ifdef EMC_TEST_BUILD
 #include "Heaters.h"
 #endif
@@ -41,58 +41,56 @@
 
 // ********** private definitions **********
 
-#define DRAIN_PUMP_DATA_PUB_INTERVAL           ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the Drain Pump data is published on the CAN bus
+#define DRAIN_PUMP_DATA_PUB_INTERVAL    ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval at which the Drain Pump data is published on the CAN bus.
+#define DRP_CONTROL_INTERVAL            ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )   ///< interval at which the Drain pump is controlled.
 
-#define DRP_CONTROL_INTERVAL                   ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )   ///< interval (ms/task time) at which the Drain pump is controlled
+#define DRP_SPEED_ADC_TO_RPM_FACTOR     12.94                                       ///< conversion factor from ADC counts to RPM for Drain pump.
+#define DRP_SPEED_RPM_TO_ADC_FACTOR     ( 1.0 / DRP_SPEED_ADC_TO_RPM_FACTOR )       ///< conversion factor from RPM to ADC counts for Drain pump.
 
-#define DRP_SPEED_ADC_TO_RPM_FACTOR            12.94               ///< conversion factor from ADC counts to RPM for Drain pump
-#define DRP_SPEED_RPM_TO_ADC_FACTOR            ( 1.0 / DRP_SPEED_ADC_TO_RPM_FACTOR )   ///< conversion factor from RPM to ADC counts for Drain pump
-
 /// Enumeration of drain pump states.
 typedef enum DrainPump_States
 {
-    DRAIN_PUMP_OFF_STATE = 0,                       ///< Drain pump off state.
-    DRAIN_PUMP_CONTROL_TO_TARGET_STATE,             ///< Drain pump control to target state.
-    NUM_OF_DRAIN_PUMP_STATES                        ///< Number of drain pump states.
+    DRAIN_PUMP_OFF_STATE = 0,                       ///< Drain pump off state
+    DRAIN_PUMP_CONTROL_TO_TARGET_STATE,             ///< Drain pump control to target state
+    NUM_OF_DRAIN_PUMP_STATES                        ///< Number of drain pump states
 } DRAIN_PUMP_STATE_T;
 
 /// Enumeration of drain pump self test states.
 typedef enum DrainPump_Self_Test_States
 {
-    DRAIN_PUMP_SELF_TEST_STATE_START = 0,           ///< Drain pump self test start state.
-    DRAIN_PUMP_TEST_STATE_IN_PROGRESS,              ///< Drain pump self tests in progress state.
-    DRAIN_PUMP_TEST_STATE_COMPLETE,                 ///< Drain pump self tests completed state.
-    NUM_OF_DRAIN_PUMP_SELF_TEST_STATES              ///< Number of drain pump self test states.
+    DRAIN_PUMP_SELF_TEST_STATE_START = 0,           ///< Drain pump self test start state
+    DRAIN_PUMP_TEST_STATE_IN_PROGRESS,              ///< Drain pump self tests in progress state
+    DRAIN_PUMP_TEST_STATE_COMPLETE,                 ///< Drain pump self tests completed state
+    NUM_OF_DRAIN_PUMP_SELF_TEST_STATES              ///< Number of drain pump self test states
 } DRAIN_PUMP_SELF_TEST_STATE_T;
 
-// pin assignment for pump enable
-#define DRAIN_PUMP_ENABLE_SPI3_PORT_MASK    0x00000020  // (CS5 - re-purposed as output GPIO)
-// drain pump enable macros
-#define SET_DRAIN_PUMP_ENABLE()             {mibspiREG3->PC3 |= DRAIN_PUMP_ENABLE_SPI3_PORT_MASK;}
-#define CLR_DRAIN_PUMP_ENABLE()             {mibspiREG3->PC3 &= ~DRAIN_PUMP_ENABLE_SPI3_PORT_MASK;}
+#define DRAIN_PUMP_ENABLE_SPI3_PORT_MASK    0x00000020                                                  ///< CS5 - Out put GPIO for pump enable.
+#define SET_DRAIN_PUMP_ENABLE()             {mibspiREG3->PC3 |= DRAIN_PUMP_ENABLE_SPI3_PORT_MASK;}      ///< drain pump enable set macro.
+#define CLR_DRAIN_PUMP_ENABLE()             {mibspiREG3->PC3 &= ~DRAIN_PUMP_ENABLE_SPI3_PORT_MASK;}     ///< drain pump enable clear macro.
 
 // TODO - test code - remove later
 #define DRAIN_PUMP_TEST2_SPI1_PORT_MASK     0x00000004  // (CS2 - re-purposed as input GPIO)
 #define GET_DIP_SW2_TEST()                  ( ( mibspiREG1->PC2 & DRAIN_PUMP_TEST2_SPI1_PORT_MASK ) != 0 )
 
 // ********** private data **********
 
-static DRAIN_PUMP_STATE_T drainPumpState = DRAIN_PUMP_OFF_STATE;                    ///< current state of drain pump controller state machine
-static U32 drainPumpDataPublicationTimerCounter = 0;                                ///< used to schedule drain pump data publication to CAN bus
-static BOOL isDrainPumpOn = FALSE;                                                  ///< Drain pump is currently running
-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 = PUMP_CONTROL_MODE_CLOSED_LOOP;    ///< requested drain pump control mode.
-static PUMP_CONTROL_MODE_T drainPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< currently set drain pump control mode.
+static DRAIN_PUMP_STATE_T drainPumpState = DRAIN_PUMP_OFF_STATE;                        ///< current state of drain pump controller state machine.
+static U32 drainPumpDataPublicationTimerCounter = 0;                                    ///< Drain pump data publish timer counter.
+static BOOL isDrainPumpOn = FALSE;                                                      ///< Flag indicates drain pump is running or off.
+static U32 drainPumpDAC = 0;                                                            ///< Initial drain pump DAC value.
+static U32 drainPumpDACSet = 0;                                                         ///< Current set drain pump DAC value.
+static PUMP_CONTROL_MODE_T drainPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;        ///< Requested drain pump control mode.
+static PUMP_CONTROL_MODE_T drainPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP;     ///< Current 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 drainPumpDataPublishInterval = { DRAIN_PUMP_DATA_PUB_INTERVAL,
+                                                       DRAIN_PUMP_DATA_PUB_INTERVAL,
+                                                       0, 0 };                          ///< Drain pump data publish interval.
+static OVERRIDE_U32_T targetDrainPumpSpeed = { 0, 0, 0, 0 };                            ///< Target drain pump speed.
+static U32 drainControlTimerCounter = 0;                                                ///< Timer counter for control drain pump.
 
-static U32 drainControlTimerCounter = 0;                                            ///< determines when to perform control on drain pump
+static DRAIN_PUMP_SELF_TEST_STATE_T drainPumpSelfTestState;                             ///< Current drain pump self test state.
+static U32 drainPumpSelfTestTimerCount = 0;                                             ///< Timer counter for drain pump self test.
 
-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
-
 // ********** private function prototypes **********
 
 static DRAIN_PUMP_STATE_T handleDrainPumpOffState( void );
@@ -110,14 +108,13 @@
  * @return none
  *************************************************************************/
 void initDrainPump( void )
-{
+{
     stopDrainPump();
 }
 
 /*********************************************************************//**
  * @brief
- * The setDrainPumpTargetSpeed function sets a new target speed for the \n
- * drain pump.
+ * The setDrainPumpTargetSpeed function sets a new target speed for the drain pump.
  * @details
  * Inputs : none
  * Outputs : targetDrainPumpPressure
@@ -162,10 +159,10 @@
 
 /*********************************************************************//**
  * @brief
- * The execDrainPumpMonitor function executes the Drain Pump monitor.
+ * The execDrainPumpMonitor function executes the drain pump monitor.
  * @details
  * Inputs : none
- * Outputs : none
+ * Outputs : publish drain pump data
  * @return none
  *************************************************************************/
 void execDrainPumpMonitor( void )
@@ -182,7 +179,7 @@
 
 /*********************************************************************//**
  * @brief
- * The execDrainPumpController function executes the Drain Pump controller.
+ * The execDrainPumpController function executes the drain pump controller.
  * @details
  * Inputs : drainPumpState
  * Outputs : drainPumpState
@@ -205,12 +202,14 @@
             drainPumpState = DRAIN_PUMP_OFF_STATE;
             break;
     }
-}
+}
 
+// ********** Private functions **********
+
 /*********************************************************************//**
  * @brief
- * The handleDrainPumpOffState function handles the drain pump off state \n
- * of the drain pump controller state machine.
+ * The handleDrainPumpOffState function handles the drain pump off state of
+ * the drain pump controller state machine.
  * @details
  * Inputs : targetDrainPumpSpeed
  * Outputs : drainPumpPWMDutyCyclePctSet, isDrainPumpOn
@@ -257,7 +256,7 @@
 
 /*********************************************************************//**
  * @brief
- * The handleDrainPumpControlToTargetState function handles the "control to \n
+ * The handleDrainPumpControlToTargetState function handles the "control to
  * target" state of the drain pump controller state machine.
  * @details
  * Inputs : none
@@ -308,10 +307,10 @@
 
 /*********************************************************************//**
  * @brief
- * The stopDrainPump function sets the Drain pump DAC to zero.
+ * The stopDrainPump function sets the drain pump DAC to zero.
  * @details
  * Inputs : none
- * Outputs : isDrainPumpOn, DAC zeroed
+ * Outputs : isDrainPumpOn, DAC zeroed, clear drain pump enable
  * @return none
  *************************************************************************/
 static void stopDrainPump( void )
@@ -325,12 +324,12 @@
 
 /*********************************************************************//**
  * @brief
- * The getPublishDrainPumpDataInterval function gets the Drain pump data \n
+ * The getPublishDrainPumpDataInterval function gets the drain pump data
  * publication interval.
  * @details
  * Inputs : drainPumpDataPublishInterval
  * Outputs : none
- * @return the current Drain pump data publication interval (in ms).
+ * @return the current drain pump data publication interval (in ms).
  *************************************************************************/
 U32  getPublishDrainPumpDataInterval( void )
 {
@@ -346,7 +345,7 @@
 
 /*********************************************************************//**
  * @brief
- * The getTargetDrainPumpSpeed function gets the current target Drain pump \n
+ * The getTargetDrainPumpSpeed function gets the current target drain pump
  * speed.
  * @details
  * Inputs : targetDrainPumpSpeed
@@ -367,8 +366,7 @@
 
 /*********************************************************************//**
  * @brief
- * The publishDrainPumpData function publishes drain pump data at the set \n
- * interval.
+ * The publishDrainPumpData function publishes drain pump data at the set interval.
  * @details
  * Inputs : target speed
  * Outputs : Drain pump data is published to CAN bus.
@@ -379,21 +377,20 @@
     // publish Drain pump data on interval
     if ( ++drainPumpDataPublicationTimerCounter >= getPublishDrainPumpDataInterval() )
     {
-        U32 spdStPt = getTargetDrainPumpSpeed();
-
+        U32 const spdStPt = getTargetDrainPumpSpeed();
         broadcastDrainPumpData( spdStPt, drainPumpDACSet );
         drainPumpDataPublicationTimerCounter = 0;
     }
 }
 
 /*********************************************************************//**
  * @brief
- * The execDrainPumpTest function executes the state machine for the Drain \n
- * Pump self test.
+ * The execDrainPumpTest function executes the state machine for the drain
+ * pump self test.
  * @details
  * Inputs : none
  * Outputs : none
- * @return the current state of the Drain Pump self test.
+ * @return the current state of the drain pump self test.
  *************************************************************************/
 SELF_TEST_STATUS_T execDrainPumpTest( void )
 {
@@ -412,12 +409,12 @@
 
 /*********************************************************************//**
  * @brief
- * The testSetDrainPumpDataPublishIntervalOverride function overrides the \n
+ * The testSetDrainPumpDataPublishIntervalOverride function overrides the
  * drain pump data publish interval.
  * @details
  * Inputs : none
  * Outputs : drainPumpDataPublishInterval
- * @param value override RO pump data publish interval with (in ms)
+ * @param value override drain pump data publish interval with (in ms)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
 BOOL testSetDrainPumpDataPublishIntervalOverride( U32 value )
@@ -438,8 +435,8 @@
 
 /*********************************************************************//**
  * @brief
- * The testResetDrainPumpDataPublishIntervalOverride function resets the override \n
- * of the drain pump data publish interval.
+ * The testResetDrainPumpDataPublishIntervalOverride function resets the
+ * override of the drain pump data publish interval.
  * @details
  * Inputs : none
  * Outputs : drainPumpDataPublishInterval
@@ -461,7 +458,7 @@
 
 /*********************************************************************//**
  * @brief
- * The testSetTargetDrainPumpSpeedOverride function overrides the target \n
+ * The testSetTargetDrainPumpSpeedOverride function overrides the target
  * drain pump speed (in RPM).
  * @details
  * Inputs : none
@@ -486,7 +483,7 @@
 
 /*********************************************************************//**
  * @brief
- * The testResetTargetDrainPumpSpeedOverride function resets the override of the \n
+ * The testResetTargetDrainPumpSpeedOverride function resets the override of the
  * target drain pump speed (in RPM).
  * @details
  * Inputs : none