Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r28b5f2e7f757647145a82a39aca0a5f3652c68a1 -r99b0c8f1ff9f9319f68e5043cd8c007e317a05c0
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 28b5f2e7f757647145a82a39aca0a5f3652c68a1)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 99b0c8f1ff9f9319f68e5043cd8c007e317a05c0)
@@ -114,6 +114,10 @@
 static PUMP_CONTROL_MODE_T roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;                      ///< Requested RO pump control mode.
 static PUMP_CONTROL_MODE_T roPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP;                   ///< Currently set RO pump control mode. TODO do we need this?
 
+static F32 pendingROPumpCmdMaxPressure = 0.0;                                                      ///< Delayed (pending) RO pump max pressure (in PSI) setting.
+static F32 pendingROPumpCmdTargetFlow = 0.0;                                                       ///< Delayed (pending) RO pump target flow rate (in mL/min) setting.
+static U32 pendingROPumpCmdCountDown = 0;                                                          ///< Delayed (pending) RO pump command count down timer (in task intervals).
+
 static F32 targetROPumpFlowRate = 0.0;                                                             ///< Target RO flow rate (in L/min).
 static F32 targetROPumpMaxPressure = 0.0;                                                          ///< Target RO max allowed pressure (in PSI).
 
@@ -123,6 +127,7 @@
 static OVERRIDE_F32_T measuredROFlowRateLPM = { 0.0, 0.0, 0.0, 0 };                                ///< Measured RO flow rate (in L/min).
 
 static U32 roControlTimerCounter = 0;                                                              ///< Determines when to perform control on RO pump.
+
 static F32 roPumpOpenLoopTargetDutyCycle = 0;                                                      ///< Target RO pump open loop PWM.
 
 /* TODO These variables are used for POST. POST has not been implemented yet
@@ -178,9 +183,6 @@
     initPersistentAlarm( ALARM_ID_RO_PUMP_PRESSURE_OUT_OF_RANGE, 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( ALARM_ID_RO_PUMP_RAMP_UP_TO_FLOW_TIMEOUT, MAX_ALLOWED_RAMP_UP_TIME, MAX_ALLOWED_RAMP_UP_TIME );
-
     // Initialize the persistent alarm for not turning off the pump
     initPersistentAlarm( ALARM_ID_RO_PUMP_OFF_FAULT, SAFETY_SHUTDOWN_TIMEOUT, SAFETY_SHUTDOWN_TIMEOUT );
 
@@ -248,6 +250,49 @@
 
 /*********************************************************************//**
  * @brief
+ * The setROPumpTargetFlowRateDelayed function sets a new target flow rate for the
+ * RO pump to be set after given delay.
+ * @details Inputs: none
+ * @details Outputs: pendingROPumpCmdMaxPressure, pendingROPumpCmdTargetFlow,
+ * pendingROPumpCmdCountDown
+ * @param roFlowRate which is target RO flow rate
+ * @param maxPressure which is the maximum allowed pressure that the RO pump
+ * can reach
+ * @param delayMs delay duration (in ms) before RO pump started
+ * @return TRUE if new target flow rate is set successfully, FALSE if not
+ *************************************************************************/
+BOOL setROPumpTargetFlowRateDelayed( F32 roFlowRate, U32 maxPressure, U32 delayMs )
+{
+    BOOL result = FALSE;
+
+    // First of all, the flow rate must be in range
+    if ( ( roFlowRate <= MAX_RO_FLOWRATE_LPM ) && ( roFlowRate >= MIN_RO_FLOWRATE_LPM ) )
+    {
+        // Then the max pressure that we are allowed to reach must be in range
+        if ( ( maxPressure >= MIN_ALLOWED_PRESSURE_PSI ) && ( maxPressure <= MAX_ALLOWED_PRESSURE_PSI ) )
+        {
+            pendingROPumpCmdMaxPressure = (F32)maxPressure;
+            pendingROPumpCmdTargetFlow = roFlowRate;
+            pendingROPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
+            result = TRUE;
+        }
+        // Requested max pressure is out of range
+        else
+        {
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_RO_PUMP_INVALID_FLOW_RATE_SET, maxPressure )
+        }
+    }
+    // Requested flow rate is out of range
+    else
+    {
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_RO_PUMP_INVALID_PRESSURE_SELECTED, roFlowRate )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The signalROPumpHardStop function stops the RO pump immediately and
  * resets all the variables associated with the RO pump run.
  * @details Inputs: targetROPumpFlowRate, roPumpState, roPumpPWMDutyCyclePct,
@@ -331,6 +376,7 @@
         checkPersistentAlarm( ALARM_ID_FLOW_RATE_OUT_OF_UPPER_RANGE, isFlowOutOfUpperRange, currentFlow, targetFlow );
         checkPersistentAlarm( ALARM_ID_FLOW_RATE_OUT_OF_LOWER_RANGE, isFlowOutOfLowerRange, currentFlow, targetFlow );
     }
+#endif
 
     // If the pump is off and PPi + 5psi < PPo for a certain period of time, activate safety shutdown
     if ( FALSE == isROPumpOn )
@@ -346,7 +392,7 @@
             activateSafetyShutdown();
         }
     }
-#endif
+
     // Publish RO pump data on interval
     publishROPumpData();
 }
@@ -360,6 +406,26 @@
  *************************************************************************/
 void execROPumpController( void )
 {
+    // Handle pending delayed RO pump command
+    if ( pendingROPumpCmdCountDown > 0 )
+    {
+        pendingROPumpCmdCountDown--;
+        if ( 0 == pendingROPumpCmdCountDown )
+        {
+            targetROPumpMaxPressure = pendingROPumpCmdMaxPressure;
+            targetROPumpFlowRate = pendingROPumpCmdTargetFlow;
+            pendingROPumpCmdMaxPressure = 0.0;
+            pendingROPumpCmdTargetFlow = 0.0;
+            roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;
+            roPumpState = RO_PUMP_RAMP_UP_TO_TARGET_FLOW_STATE;
+            // Get the initial guess of the duty cycle
+            roPumpPWMDutyCyclePct = ROP_FLOW_TO_PWM_DC( targetROPumpFlowRate );
+            roControlTimerCounter = 0;
+            isROPumpOn = TRUE;
+        }
+    }
+
+    // Execute RO pump control state machine
     switch ( roPumpState )
     {
         case RO_PUMP_OFF_STATE:
@@ -391,13 +457,13 @@
 
 /*********************************************************************//**
  * @brief
- * The isReverseOsmosisPumpOn function returns the on/off status of RO pump.
+ * The isROPumpRunning function returns the on/off status of RO pump.
  * @details Inputs: isROPumpOn
  * @details Outputs: none
  * @return isROPumpOn the boolean flag that is TRUE if the pump is on and
  * FALSE if it is off
  *************************************************************************/
-BOOL isReverseOsmosisPumpOn( void )
+BOOL isROPumpRunning( void )
 {
     return isROPumpOn;
 }
@@ -489,7 +555,7 @@
             resetPIController( PI_CONTROLLER_ID_RO_PUMP_MAX_PRES, roPumpDutyCyclePctSet );
             state = RO_PUMP_CONTROL_TO_MAX_PRESSURE_STATE;
         }
-        //
+        // If the actual flow is still far from target flow, update the duty cycle using the I controller and stay in this state
         else if ( TRUE == isFlowOutOfRange )
         {
             roPumpDutyCyclePctSet += ( targetFlowRate - actualFlowRate ) * ROP_RAMP_UP_P_COEFFICIENT;