Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r00b32a5dad2e136d31cfaf0de16f7767b9920fec -rd0ddf8fe0bc062cbf2f3520134dbe1d5a5b85115
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 00b32a5dad2e136d31cfaf0de16f7767b9920fec)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision d0ddf8fe0bc062cbf2f3520134dbe1d5a5b85115)
@@ -20,6 +20,7 @@
 #include "etpwm.h"
 #include "mibspi.h"
 
+#include "AlarmDefs.h"
 #include "FPGA.h"
 #include "OperationModes.h"
 #include "PIControllers.h"
@@ -76,10 +77,8 @@
 #define MIN_ALLOWED_PRESSURE_PSI                       10                                          ///< Minimum allowed pressure that the RO pump can go to.
 #define MAX_ALLOWED_MEASURED_PRESSURE_PSI              135                                         ///< Maximum allowed pressure that the sensor measures. RO pump shut off pressure is 140psi.
 #define MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL  MS_PER_SECOND                               ///< Maximum allowed time that the pressure can be very high.
-#define MAX_ALLOWED_RAMP_UP_TIME                       ( 30 * MS_PER_SECOND )                      ///< Maximum allowed ramp up time to a flow rate in ms.
-#define RAMP_UP_TIME_OUT_COUNT                         ( MAX_ALLOWED_RAMP_UP_TIME / \
-                                                       TASK_GENERAL_INTERVAL )                     ///< Ramp up time out in counts.
-#define ROP_PSI_TO_PWM_DC(p)                           ( 0.2 + ( (F32)((p) - 100) * 0.01 ) )       ///< conversion factor from target PSI to PWM duty cycle estimate. TODO remove?
+#define MAX_ALLOWED_RAMP_UP_TIME                       ( 5 * MS_PER_SECOND )                       ///< Maximum allowed ramp up time to a flow rate in ms.
+#define ROP_PSI_TO_PWM_DC(p)                           ( 0.2 + ( (F32)((p) - 100) * 0.01 ) )       ///< conversion factor from target PSI to PWM duty cycle estimate.
 
 /// Enumeration of RO pump states.
 typedef enum ROPump_States
@@ -132,7 +131,6 @@
 
 static S32 measuredFlowReadingsSum = 0;                                                 ///< Raw flow reading sums for averaging
 static U32 flowFilterCounter = 0;                                                       ///< Flow filtering counter
-static U32 rampUp2FlowTimeoutCounter = 0;                                               ///< Counter for ramping up to flow time
 
 // ********** private function prototypes **********
 
@@ -151,8 +149,11 @@
 /*********************************************************************//**
  * @brief
  * The initROPump function initializes the RO Pump module.
- * @details Inputs: rampUp2FlowTimeoutCounter
- * @details Outputs: rampUp2FlowTimeoutCounter
+ * @details Inputs: roControlTimerCounter,roPumpOpenLoopTargetDutyCycle,
+ * roPumpFlowRateRunningSum, roPumpPressureRunningSum, measuredFlowReadingsSum,
+ * flowFilterCounter, flowVerificationCounter, roPumpState, roPumpControlMode
+ * roPumpDataPublicationTimerCounter, roPumpControlModeSet
+ * @details Outputs: none
  * @return none
  *************************************************************************/
 void initROPump( void )
@@ -178,15 +179,17 @@
     initPersistentAlarm( PERSISTENT_ALARM_RO_PUMP_PRESSURE_OUT_OF_RANGE, ALARM_ID_RO_PUMP_PRESSURE_OUT_OF_RANGE, TRUE,
                          MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL, MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL );
 
+    // Initialize the persistent alarm for ramp up to target flow timeout
+    initPersistentAlarm( PERSISTENT_ALARM_RO_PUMP_RAMP_UP_TO_TARGET_FLOW_TIMEOUT, ALARM_ID_RO_PUMP_RAMP_UP_TO_FLOW_TIMEOUT, TRUE,
+                         MAX_ALLOWED_RAMP_UP_TIME, MAX_ALLOWED_RAMP_UP_TIME );
+
     // Initialize the variables
-    rampUp2FlowTimeoutCounter         = 0;
     roControlTimerCounter             = 0;
     roPumpOpenLoopTargetDutyCycle     = 0;
     roPumpFlowRateRunningSum          = 0;
     roPumpPressureRunningSum          = 0;
     measuredFlowReadingsSum           = 0;
     flowFilterCounter                 = 0;
-    rampUp2FlowTimeoutCounter         = 0;
     flowVerificationCounter           = 0;
     roPumpDataPublicationTimerCounter = 0;
     roPumpState                       = RO_PUMP_OFF_STATE;
@@ -224,7 +227,6 @@
             roPumpControlMode         = PUMP_CONTROL_MODE_CLOSED_LOOP;
             // Get the initial guess of the duty cycle
             roPumpPWMDutyCyclePct     = ROP_FLOW_TO_PWM_DC( roFlowRate );
-            rampUp2FlowTimeoutCounter = 0;
             result = TRUE;
         }
         // Requested max pressure is out of range
@@ -264,7 +266,6 @@
     roControlTimerCounter         = 0;
     flowVerificationCounter       = 0;
     isROPumpOn                    = FALSE;
-    rampUp2FlowTimeoutCounter     = 0;
     targetROPumpPressure          = 0;
     resetPIController( PI_CONTROLLER_ID_RO_PUMP, MIN_RO_PUMP_DUTY_CYCLE );
 }
@@ -389,9 +390,8 @@
  * @brief
  * The execROPumpTest function executes the state machine for the RO pump
  * self-test.
- * @details
- * Inputs: TODO FILL UP
- * Outputs: TODO FILL UP
+ * @details Inputs: TODO FILL UP
+ * @details Outputs: TODO FILL UP
  * @return the current state of the ROPump self test.
  *************************************************************************/
 SELF_TEST_STATUS_T execROPumpTest( void )
@@ -459,26 +459,28 @@
 
     // Get the current pressure from the sensor
     F32 actualPressure = getMeasuredDGPressure( PRESSURE_SENSOR_RO_PUMP_OUTLET );
+    F32 targetFlowRate = getTargetROPumpFlowRate();
+    F32 actualFlowRate = (F32)getMeasuredROFlowRate();
 
-    // If we are still in the ramp up mode after the specified time, get the current pressure
-    // and control from this
-    if ( ++rampUp2FlowTimeoutCounter > RAMP_UP_TIME_OUT_COUNT )
+    BOOL isFlowInRange = fabs( targetFlowRate - actualFlowRate ) > ROP_FLOW_TARGET_TOLERANCE;
+
+    // Check if the ramp up has timed out
+    checkPersistentAlarm( PERSISTENT_ALARM_RO_PUMP_RAMP_UP_TO_TARGET_FLOW_TIMEOUT, isFlowInRange, actualFlowRate, MAX_ALLOWED_RAMP_UP_TIME );
+
+    // If the ramp up persistent alarm is active, turn off the pump and go to off state
+    if ( isAlarmActive( ALARM_ID_RO_PUMP_RAMP_UP_TO_FLOW_TIMEOUT ) )
     {
-        targetROPumpPressure      = actualPressure;
-        rampUp2FlowTimeoutCounter = 0;
-        result = RO_PUMP_CONTROL_TO_TARGET_STATE;
+        stopROPump();
+        result = RO_PUMP_OFF_STATE;
     }
     // Control at set interval
     else if ( ++roControlTimerCounter >= ROP_CONTROL_INTERVAL )
     {
-        F32 targetFlowRate = getTargetROPumpFlowRate();
-        F32 actualFlowRate = (F32)getMeasuredROFlowRate();
-
         // If the actual pressure is greater than the target pressure or it is within the tolerance of the maximum pressure, move to set
         // to target pressure straight. At the beginning the maximum pressure is set in the targetROPumpPressure override variable.
         // If the flow rate was reached without reaching to maximum pressure, the pressure that was set to targetROPumpPressure override will
         // be reset to the corresponding pressure of the target flow rate.
-        if ( actualPressure > getTargetROPumpPressure() || ( getTargetROPumpPressure() - actualPressure ) > MAX_PRESSURE_TARGET_TOLERANCE )
+        if ( actualPressure > getTargetROPumpPressure() || ( getTargetROPumpPressure() - actualPressure ) < MAX_PRESSURE_TARGET_TOLERANCE )
         {
             result = RO_PUMP_CONTROL_TO_TARGET_STATE;
         }