Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u
--- firmware/App/Controllers/DrainPump.c	(revision 0)
+++ firmware/App/Controllers/DrainPump.c	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -0,0 +1,383 @@
+/**********************************************************************//**
+ *
+ *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file DrainPump.c
+ *
+ *  @date 07-Apr-2020
+ *  @author S. Nash
+ *
+ *  @brief Monitor/Controller for drain pump.
+ *
+ **************************************************************************/
+
+#ifndef _VECTORCAST_
+    #include <math.h>
+#endif
+
+#include "etpwm.h"
+#include "mibspi.h"
+
+#include "FPGA.h"
+#include "OperationModes.h"
+#include "PIControllers.h"
+#include "Pressures.h"
+#include "SystemCommMessages.h"
+#include "TaskGeneral.h"
+#include "TaskPriority.h"
+#include "Timers.h"
+#include "DrainPump.h"
+
+/**
+ *  @addtogroup DrainPump
+ *  @{
+ */
+
+// ********** private definitions **********
+
+#define DRAIN_PUMP_DATA_PUB_INTERVAL           ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the RO Pump data is published on the CAN bus
+
+#define MAX_DRAIN_PUMP_PWM_STEP_CHANGE         0.01                ///< max duty cycle change for controller
+#define MAX_DRAIN_PUMP_PWM_DUTY_CYCLE          0.99                ///< max duty cycle
+#define MIN_DRAIN_PUMP_PWM_DUTY_CYCLE          0.05                ///< min duty cycle
+
+#define DRP_CONTROL_INTERVAL                   ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )   ///< interval (ms/task time) at which the Drain pump is controlled
+#define DRP_P_COEFFICIENT                      0.005               ///< P term for Drain pump control
+#define DRP_I_COEFFICIENT                      0.00015             ///< I term for Drain pump control
+
+#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
+
+typedef enum DrainPump_States
+{
+    DRAIN_PUMP_OFF_STATE = 0,
+    DRAIN_PUMP_CONTROL_TO_TARGET_STATE,
+    NUM_OF_DRAIN_PUMP_STATES
+} DRAIN_PUMP_STATE_T;
+
+typedef enum DrainPump_Self_Test_States
+{
+    DRAIN_PUMP_SELF_TEST_STATE_START = 0,
+    DRAIN_PUMP_TEST_STATE_IN_PROGRESS,
+    DRAIN_PUMP_TEST_STATE_COMPLETE,
+    NUM_OF_DRAIN_PUMP_SELF_TEST_STATES
+} DRAIN_PUMP_SELF_TEST_STATE_T;
+
+// TODO - test code - remove later
+// pin assignments for pump test DIP switch 2
+#define DRAIN_PUMP_TEST2_SPI1_PORT_MASK     0x00000004  // (CS2 - re-purposed as input GPIO)
+// dialIn pump stop and direction macros
+#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 OVERRIDE_U32_T drainPumpDataPublishInterval = { 0, 0, 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 U32 drainControlTimerCounter = 0;                                            ///< determines when to perform control on drain pump
+
+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 );
+static DRAIN_PUMP_STATE_T handleDrainPumpControlToTargetState( void );
+static void stopDrainPump( void );
+static void publishDrainPumpData( void );
+static DATA_GET_PROTOTYPE( U32, getPublishDrainPumpDataInterval );
+
+/*********************************************************************//**
+ * @brief initDrainPump
+ * The initDrainPump function initializes the DrainPump module.
+ * @details
+ * Inputs : none
+ * Outputs : DrainPump module initialized.
+ * @param none
+ * @return none
+ *************************************************************************/
+void initDrainPump( void )
+{
+    stopDrainPump();
+
+    // initialize Drain pump PI controller
+    initializePIController( PI_CONTROLLER_ID_DRAIN_PUMP, MIN_DRAIN_PUMP_PWM_DUTY_CYCLE,
+                            DRP_P_COEFFICIENT, DRP_I_COEFFICIENT,
+                            MIN_DRAIN_PUMP_PWM_DUTY_CYCLE, MAX_DRAIN_PUMP_PWM_DUTY_CYCLE );
+}
+
+/*********************************************************************//**
+ * @brief
+ * 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
+ *************************************************************************/
+BOOL setDrainPumpTargetSpeed( U32 rpm )
+{
+    BOOL result = FALSE;
+
+    if ( ( 0 == rpm ) ||
+         ( ( rpm >= MIN_DRAIN_PUMP_RPM_TARGET ) && ( rpm <= MAX_DRAIN_PUMP_RPM_TARGET ) ) )
+    {
+        drainPumpDAC = (U32)((F32)rpm * DRP_SPEED_RPM_TO_ADC_FACTOR + FLOAT_TO_INT_ROUNDUP_OFFSET);
+        targetDrainPumpSpeed.data = rpm;
+        drainPumpControlMode = PUMP_CONTROL_MODE_OPEN_LOOP;
+        result = TRUE;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The signalDrainPumpHardStop function stops the Drain pump immediately.
+ * @details
+ * Inputs : none
+ * Outputs : Drain pump stopped, set point reset, state changed to off
+ * @param none
+ * @return none
+ *************************************************************************/
+void signalDrainPumpHardStop( void )
+{
+    targetDrainPumpSpeed.data = 0;
+    stopDrainPump();
+    drainPumpState = DRAIN_PUMP_OFF_STATE;
+    drainControlTimerCounter = 0;
+    resetPIController( PI_CONTROLLER_ID_DRAIN_PUMP, MIN_DRAIN_PUMP_PWM_DUTY_CYCLE );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The execDrainPumpMonitor function executes the Drain Pump monitor.
+ * @details
+ * Inputs : none
+ * Outputs : none
+ * @param none
+ * @return none
+ *************************************************************************/
+void execDrainPumpMonitor( void )
+{
+    // TODO - check ???
+
+    // publish drain pump data on interval
+    publishDrainPumpData();
+}
+
+/*********************************************************************//**
+ * @brief
+ * The execDrainPumpController function executes the Drain Pump controller.
+ * @details
+ * Inputs : drainPumpState
+ * Outputs : drainPumpState
+ * @param none
+ * @return none
+ *************************************************************************/
+void execDrainPumpController( void )
+{
+    switch ( drainPumpState )
+    {
+        case DRAIN_PUMP_OFF_STATE:
+            drainPumpState = handleDrainPumpOffState();
+            break;
+
+        case DRAIN_PUMP_CONTROL_TO_TARGET_STATE:
+            drainPumpState = handleDrainPumpControlToTargetState();
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, 0, drainPumpState )  // TODO - replace 1st param with s/w fault enum
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The handleDrainPumpOffState function handles the drain pump off state \n
+ * of the drain pump controller state machine.
+ * @details
+ * Inputs : targetDrainPumpSpeed
+ * Outputs : drainPumpPWMDutyCyclePctSet, isDrainPumpOn
+ * @param none
+ * @return next state
+ *************************************************************************/
+static DRAIN_PUMP_STATE_T handleDrainPumpOffState( void )
+{
+    DRAIN_PUMP_STATE_T result = DRAIN_PUMP_OFF_STATE;
+
+    // TODO - test code - remove later
+    if ( GET_DIP_SW2_TEST() )
+    {
+        setDrainPumpTargetSpeed( 1000 );
+    }
+
+    // if we've been given a pressure, transition to control to target state
+    if ( getTargetDrainPumpSpeed() > 0 )
+    {
+        // set drain pump DAC
+        drainPumpDACSet = drainPumpDAC;
+        setFPGADrainPumpSpeed( drainPumpDACSet );
+        // reset controller
+        resetPIController( PI_CONTROLLER_ID_DRAIN_PUMP, MIN_DRAIN_PUMP_PWM_DUTY_CYCLE );
+        // set pump to on
+        isDrainPumpOn = TRUE;
+        result = DRAIN_PUMP_CONTROL_TO_TARGET_STATE;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The handleDrainPumpControlToTargetState function handles the "control to \n
+ * target" state of the drain pump controller state machine.
+ * @details
+ * Inputs : none
+ * Outputs : drainPumpState
+ * @param none
+ * @return next state
+ *************************************************************************/
+static DRAIN_PUMP_STATE_T handleDrainPumpControlToTargetState( void )
+{
+    DRAIN_PUMP_STATE_T result = DRAIN_PUMP_CONTROL_TO_TARGET_STATE;
+
+    // control at set interval
+    if ( ++drainControlTimerCounter >= DRP_CONTROL_INTERVAL )
+    {
+        if ( drainPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP )
+        {
+            // TODO - will drain pump have a closed loop?
+        }
+        drainControlTimerCounter = 0;
+    }
+
+    // TODO - test code - remove later
+    if ( !GET_DIP_SW2_TEST() )
+    {
+        signalDrainPumpHardStop();
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The stopDrainPump function sets the Drain pump DAC to zero.
+ * @details
+ * Inputs : none
+ * Outputs : isDrainPumpOn, DAC zeroed
+ * @param none
+ * @return none
+ *************************************************************************/
+static void stopDrainPump( void )
+{
+    isDrainPumpOn = FALSE;
+    drainPumpDAC = 0;
+    drainPumpDACSet = 0;
+    setDrainPumpTargetSpeed( drainPumpDACSet );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getPublishDrainPumpDataInterval function gets the Drain pump data \n
+ * publication interval.
+ * @details
+ * Inputs : drainPumpDataPublishInterval
+ * Outputs : none
+ * @param none
+ * @return the current Drain pump data publication interval (in ms).
+ *************************************************************************/
+U32  getPublishDrainPumpDataInterval( void )
+{
+    U32 result = drainPumpDataPublishInterval.data;
+
+    if ( OVERRIDE_KEY == drainPumpDataPublishInterval.override )
+    {
+        result = drainPumpDataPublishInterval.ovData;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getTargetDrainPumpPressure function gets the current target Drain pump \n
+ * pressure.
+ * @details
+ * Inputs : targetDrainPumpPressure
+ * Outputs : none
+ * @return the current target drain pump speed.
+ *************************************************************************/
+U32 getTargetDrainPumpPressure( void )
+{
+    U32 result = targetDrainPumpSpeed.data;
+
+    if ( OVERRIDE_KEY == targetDrainPumpSpeed.override )
+    {
+        result = targetDrainPumpSpeed.ovData;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * 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
+ *************************************************************************/
+static void publishDrainPumpData( void )
+{
+    // publish Drain pump data on interval
+    if ( ++drainPumpDataPublicationTimerCounter >= getPublishDrainPumpDataInterval() )
+    {
+        U32 spdStPt = getTargetDrainPumpSpeed();
+
+//        broadcastDrainPumpData( spdStPt, drainPumpDACSet );
+        drainPumpDataPublicationTimerCounter = 0;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * 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.
+ *************************************************************************/
+SELF_TEST_STATUS_T execDrainPumpTest( void )
+{
+    SELF_TEST_STATUS_T result = SELF_TEST_STATUS_FAILED;
+
+    // TODO - implement self test(s)
+
+    return result;
+}
+
+/**@}*/
+
+
+/*************************************************************************
+ *                       TEST SUPPORT FUNCTIONS
+ *************************************************************************/
+
+
Index: firmware/App/Controllers/DrainPump.h
===================================================================
diff -u
--- firmware/App/Controllers/DrainPump.h	(revision 0)
+++ firmware/App/Controllers/DrainPump.h	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -0,0 +1,50 @@
+/**********************************************************************//**
+ *
+ *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+ *
+ *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ *  @file DrainPump.h
+ *
+ *  @date 07-Apr-2020
+ *  @author S. Nash
+ *
+ *  @brief DrainPump header file.
+ *
+ **************************************************************************/
+
+#ifndef __DRAIN_PUMP_H__
+#define __DRAIN_PUMP_H__
+
+#include "DGCommon.h"
+
+/**
+ *  @defgroup DrainPump DrainPump
+ *  @brief Drain Pump monitor/controller module.  Controls and monitors the drain pump.
+ *
+ *  @addtogroup DrainPump
+ *  @{
+ */
+
+// ********** public definitions **********
+
+#define MAX_DRAIN_PUMP_RPM_TARGET       3000    ///< Maximum RPM target for drain pump.
+#define MIN_DRAIN_PUMP_RPM_TARGET       300     ///< Minimum RPM target for drain pump (though zero is allowed if turning pump off).
+
+// ********** public function prototypes **********
+
+void initDrainPump( void );
+void execDrainPumpMonitor( void );
+void execDrainPumpController( void );
+
+BOOL setDrainPumpTargetSpeed( U32 rpm );
+void signalDrainPumpHardStop( void );
+
+SELF_TEST_STATUS_T execDrainPumpTest( void );
+
+DATA_GET_PROTOTYPE( U32, getTargetDrainPumpSpeed );
+
+/**@}*/
+
+#endif
Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r16dfbeeca1bcf1d2115c2f7549999fdaae0700e9 -r416a8fba5774e6cd64c69513e082afbd79f75ccf
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 16dfbeeca1bcf1d2115c2f7549999fdaae0700e9)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -1,4 +1,4 @@
-/**************************************************************************
+/**********************************************************************//**
  *
  *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
  *
@@ -19,9 +19,9 @@
 #endif
 
 #include "etpwm.h"
+#include "mibspi.h"
 
 #include "FPGA.h"
-//#include "InternalADC.h"
 #include "OperationModes.h"
 #include "PIControllers.h"
 #include "Pressures.h"
@@ -31,6 +31,11 @@
 #include "Timers.h"
 #include "ROPump.h"
 
+/**
+ *  @addtogroup ROPump
+ *  @{
+ */
+
 // ********** private definitions **********
 
 #define RO_PUMP_DATA_PUB_INTERVAL           ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the RO Pump data is published on the CAN bus
@@ -39,11 +44,10 @@
 #define MAX_RO_PUMP_PWM_DUTY_CYCLE          0.99                ///< max duty cycle
 #define MIN_RO_PUMP_PWM_DUTY_CYCLE          0.00                ///< min duty cycle
 
-#define ROP_CONTROL_INTERVAL                ( 1000 / TASK_GENERAL_INTERVAL ) ///< interval (ms/task time) at which the RO pump is controlled
+#define ROP_CONTROL_INTERVAL                ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )   ///< interval (ms/task time) at which the RO pump is controlled
 #define ROP_P_COEFFICIENT                   0.005               ///< P term for RO pump control
 #define ROP_I_COEFFICIENT                   0.00015             ///< I term for RO pump control
 
-#define ROP_SPEED_ADC_TO_RPM_FACTOR         1.0                 ///< conversion factor from ADC counts to RPM for RO pump
 #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 - this is a place holder for real conversion
 
 #define RO_FLOW_ADC_TO_LPM_FACTOR           0.00018             ///< conversion factor from ADC counts to LPM (liters/min) for RO flow rate.
@@ -63,10 +67,16 @@
     NUM_OF_RO_PUMP_SELF_TEST_STATES
 } RO_PUMP_SELF_TEST_STATE_T;
 
+// TODO - test code - remove later
+// pin assignments for pump test DIP switch 0
+#define RO_PUMP_TEST_SPI5_PORT_MASK     0x00000100  // (ENA - re-purposed as input GPIO)
+// dialIn pump stop and direction macros
+#define GET_DIP_SW0_TEST()              ( ( mibspiREG5->PC2 & RO_PUMP_TEST_SPI5_PORT_MASK ) != 0 )
+
 // ********** private data **********
 
-static RO_PUMP_STATE_T roPumpState = RO_PUMP_OFF_STATE;                          ///< current state of RO flow controller state machine
-static U32 roPumpDataPublicationTimerCounter = 0;                                ///< used to schedule RO flow data publication to CAN bus
+static RO_PUMP_STATE_T roPumpState = RO_PUMP_OFF_STATE;                          ///< current state of RO pump controller state machine
+static U32 roPumpDataPublicationTimerCounter = 0;                                ///< used to schedule RO pump data publication to CAN bus
 static BOOL isROPumpOn = FALSE;                                                  ///< RO pump is currently running
 static F32 roPumpPWMDutyCyclePct = 0.0;                                          ///< initial RO pump PWM duty cycle
 static F32 roPumpPWMDutyCyclePctSet = 0.0;                                       ///< currently set RO pump PWM duty cycle
@@ -78,7 +88,7 @@
 static OVERRIDE_F32_T measuredROPumpPressure = { 0.0, 0.0, 0.0, 0 };             ///< measured RO pressure (in PSI).
 static OVERRIDE_F32_T measuredROFlowRateLPM = { 0.0, 0.0, 0.0, 0 };              ///< measured RO flow rate (in LPM).
 
-static U32 roControlTimerCounter = 0;                                            ///< determines when to perform control on ro flow
+static U32 roControlTimerCounter = 0;                                            ///< determines when to perform control on ro pump
 
 static RO_PUMP_SELF_TEST_STATE_T roPumpSelfTestState = RO_PUMP_SELF_TEST_STATE_START;  ///< current ro pump self test state
 static U32 roPumpSelfTestTimerCount = 0;                                         ///< timer counter for ro pump self test
@@ -92,7 +102,7 @@
 static void publishROPumpData( void );
 static DATA_GET_PROTOTYPE( U32, getPublishROPumpDataInterval );
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief initROPump
  * The initROPump function initializes the ROPump module.
  * @details
@@ -111,10 +121,10 @@
                             MIN_RO_PUMP_PWM_DUTY_CYCLE, MAX_RO_PUMP_PWM_DUTY_CYCLE );
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
- * The setROPumpTargetPressure function sets a new target pressure and
- * pump direction.
+ * The setROPumpTargetPressure function sets a new target pressure for the \n
+ * RO pump.
  * @details
  * Inputs : none
  * Outputs : targetROPumpPressure, roPumpPWMDutyCyclePct
@@ -144,7 +154,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The signalROPumpHardStop function stops the RO pump immediately.
  * @details
@@ -163,7 +173,7 @@
     resetPIController( PI_CONTROLLER_ID_RO_PUMP, MIN_RO_PUMP_PWM_DUTY_CYCLE );
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The execROPumpMonitor function executes the RO Pump monitor.
  * @details
@@ -196,7 +206,7 @@
     publishROPumpData();
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The execROPumpController function executes the RO Pump controller.
  * @details
@@ -223,20 +233,26 @@
     }
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The handleROPumpOffState function handles the ro pump off state \n
  * of the ro pump controller state machine.
  * @details
- * Inputs : targetROPumpPressure, roPumpDirection
- * Outputs : roPumpPWMDutyCyclePctSet, roPumpDirectionSet, isROPumpOn
+ * Inputs : targetROPumpPressure
+ * Outputs : roPumpPWMDutyCyclePctSet, isROPumpOn
  * @param none
  * @return next state
  *************************************************************************/
 static RO_PUMP_STATE_T handleROPumpOffState( void )
 {
     RO_PUMP_STATE_T result = RO_PUMP_OFF_STATE;
 
+    // TODO - test code - remove later
+    if ( GET_DIP_SW0_TEST() )
+    {
+        setROPumpTargetPressure( 130, PUMP_CONTROL_MODE_CLOSED_LOOP );
+    }
+
     // if we've been given a pressure, transition to control to target state
     if ( getTargetROPumpPressure() > 0 )
     {
@@ -253,7 +269,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The handleROPumpControlToTargetState function handles the "control to \n
  * target" state of the ro pump controller state machine.
@@ -283,10 +299,16 @@
         roControlTimerCounter = 0;
     }
 
+    // TODO - test code - remove later
+    if ( !GET_DIP_SW0_TEST() )
+    {
+        signalROPumpHardStop();
+    }
+
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The setROPumpControlSignalPWM function sets the PWM duty cycle for \n
  * the RO pump to a given %.
@@ -301,7 +323,7 @@
     etpwmSetCmpB( etpwmREG2, (U32)( (S32)( ( newPWM * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The stopROPump function sets the RO pump PWM to zero.
  * @details
@@ -317,7 +339,7 @@
     etpwmSetCmpB( etpwmREG2, 0 );
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The getPublishROPumpDataInterval function gets the RO pump data \n
  * publication interval.
@@ -339,7 +361,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The getTargetROPumpPressure function gets the current target RO pump \n
  * pressure.
@@ -361,7 +383,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The getMeasuredROPumpPressure function gets the measured RO pump \n
  * pressure.
@@ -383,7 +405,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The getMeasuredROFlowRate function gets the measured RO pump \n
  * flow rate.
@@ -405,7 +427,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The publishROPumpData function publishes RO pump data at the set \n
  * interval.
@@ -427,7 +449,7 @@
     }
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The execROPumpTest function executes the state machine for the ROPump self test.
  * @details
@@ -444,13 +466,15 @@
     return result;
 }
 
+/**@}*/
 
+
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/
 
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The testSetROPumpDataPublishIntervalOverride function overrides the \n
  * RO pump data publish interval.
@@ -476,7 +500,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The testResetROPumpDataPublishIntervalOverride function resets the override \n
  * of the RO pump data publish interval.
@@ -499,7 +523,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The testSetTargetROPumpPressureOverride function overrides the target \n
  * RO pressure. \n
@@ -524,7 +548,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The testResetTargetROPumpPressureOverride function resets the override of the \n
  * target RO pressure.
@@ -550,7 +574,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The testSetMeasuredROFlowRateOverride function overrides the measured \n
  * RO flow rate.
@@ -574,7 +598,7 @@
     return result;
 }
 
-/*************************************************************************
+/*********************************************************************//**
  * @brief
  * The testResetMeasuredROFlowRateOverride function resets the override of the \n
  * measured RO flow rate.
Index: firmware/App/Controllers/ROPump.h
===================================================================
diff -u -r16dfbeeca1bcf1d2115c2f7549999fdaae0700e9 -r416a8fba5774e6cd64c69513e082afbd79f75ccf
--- firmware/App/Controllers/ROPump.h	(.../ROPump.h)	(revision 16dfbeeca1bcf1d2115c2f7549999fdaae0700e9)
+++ firmware/App/Controllers/ROPump.h	(.../ROPump.h)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -1,4 +1,4 @@
-/**************************************************************************
+/**********************************************************************//**
  *
  *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
  *
@@ -19,6 +19,14 @@
 
 #include "DGCommon.h"
 
+/**
+ *  @defgroup ROPump ROPump
+ *  @brief RO Pump monitor/controller module.  Controls and monitors the RO pump.
+ *
+ *  @addtogroup ROPump
+ *  @{
+ */
+
 // ********** public definitions **********
 
 #define MAX_RO_PRESSURE                 140             // PSI
@@ -46,4 +54,6 @@
 BOOL testSetMeasuredROFlowRateOverride( F32 value );
 BOOL testResetMeasuredROFlowRateOverride( void );
 
+/**@}*/
+
 #endif
Index: firmware/DG.dil
===================================================================
diff -u -r8638b207699a3a48e3657e838e24ae838369c867 -r416a8fba5774e6cd64c69513e082afbd79f75ccf
--- firmware/DG.dil	(.../DG.dil)	(revision 8638b207699a3a48e3657e838e24ae838369c867)
+++ firmware/DG.dil	(.../DG.dil)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -1,4 +1,4 @@
-# RM46L852PGE 04/02/20 08:58:55
+# RM46L852PGE 04/07/20 10:08:26
 # 
 ARCH=RM46L852PGE
 # 
@@ -2089,7 +2089,7 @@
 DRIVER.MIBSPI.VAR.MIBSPI3_TG2_BUF_CSNR.VALUE=CS_NONE
 DRIVER.MIBSPI.VAR.MIBSPI1_PORT_BIT9_DOUT.VALUE=0
 DRIVER.MIBSPI.VAR.MIBSPI5_CHARLEN3.VALUE=16
-DRIVER.MIBSPI.VAR.MIBSPI5_PORT_BIT8_DIR.VALUE=1
+DRIVER.MIBSPI.VAR.MIBSPI5_PORT_BIT8_DIR.VALUE=0
 DRIVER.MIBSPI.VAR.MIBSPI5_TG7_BUF_CSHOLD_LASTBUF.VALUE=0
 DRIVER.MIBSPI.VAR.MIBSPI3_BASE_PORT.VALUE=0xFFF7F818
 DRIVER.MIBSPI.VAR.MIBSPI5_TG1_BUF_MODE.VALUE=4
@@ -2264,7 +2264,7 @@
 DRIVER.MIBSPI.VAR.MIBSPI1_C2EDELAYACTUAL.VALUE=0.000
 DRIVER.MIBSPI.VAR.MIBSPI3_PORT_BIT4_PULL.VALUE=2
 DRIVER.MIBSPI.VAR.MIBSPI3_TG5_BUF_CSHOLD.VALUE=0
-DRIVER.MIBSPI.VAR.MIBSPI1_PORT_BIT2_DIR.VALUE=1
+DRIVER.MIBSPI.VAR.MIBSPI1_PORT_BIT2_DIR.VALUE=0
 DRIVER.MIBSPI.VAR.MIBSPI1_TG6_LENGTH.VALUE=0
 DRIVER.MIBSPI.VAR.MIBSPI1_PARERRLVL.VALUE=0
 DRIVER.MIBSPI.VAR.MIBSPI1_OVRNINTLVL.VALUE=0
@@ -9440,7 +9440,7 @@
 DRIVER.ETPWM.VAR.ETPWM1_OSHT_WIDTH_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_PWMA_DUTY.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_DCBEVT2.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM2_PWMA_ACTUALPERIOD.VALUE=250002.419
+DRIVER.ETPWM.VAR.ETPWM2_PWMA_ACTUALPERIOD.VALUE=1000000.000
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_DEADBAND_INVERT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM3_HSPCLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_PWMA_FALLING_EDGE_DELAY_REG.VALUE=1
@@ -9509,7 +9509,7 @@
 DRIVER.ETPWM.VAR.ETPWM2_PWMB_DUTYTIME.VALUE=0.000
 DRIVER.ETPWM.VAR.ETPWM6_OSHT_WIDTH_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_CHOPPER_PERIOD.VALUE=100.000
-DRIVER.ETPWM.VAR.ETPWM2_PWMA_PERIOD.VALUE=250000
+DRIVER.ETPWM.VAR.ETPWM2_PWMA_PERIOD.VALUE=1000000
 DRIVER.ETPWM.VAR.ETPWM5_CHOPPER_DUTYTIME.VALUE=38.709
 DRIVER.ETPWM.VAR.ETPWM5_OSHT_ACTUAL_WIDTH.VALUE=77.418
 DRIVER.ETPWM.VAR.ETPWM4_DCBEVT1.VALUE=0x0000
@@ -9537,7 +9537,7 @@
 DRIVER.ETPWM.VAR.ETPWM7_OSHT5.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_PWMB_FALLING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM2_CBC3.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM2_PWMB_PERIOD_REG.VALUE=25833
+DRIVER.ETPWM.VAR.ETPWM2_PWMB_PERIOD_REG.VALUE=103334
 DRIVER.ETPWM.VAR.ETPWM2_PWMA_POLARITY.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_CLKDIV_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_OSHT6.VALUE=0x0000
@@ -9604,7 +9604,7 @@
 DRIVER.ETPWM.VAR.ETPWM3_CBC5.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM3_CBC6.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_PWMA_FALLING_EDGE_DELAY_REG.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM2_PWMB_ACTUALPERIOD.VALUE=250002.419
+DRIVER.ETPWM.VAR.ETPWM2_PWMB_ACTUALPERIOD.VALUE=1000000.000
 DRIVER.ETPWM.VAR.ETPWM6_PWMB_FALLING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM2_BASE.VALUE=0xFCF78D00
 DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_DUTY_NEW.VALUE=50.0
@@ -9636,7 +9636,7 @@
 DRIVER.ETPWM.VAR.ETPWM4_PWMB_DUTYTIME.VALUE=0.000
 DRIVER.ETPWM.VAR.ETPWM7_OSHT_WIDTH_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_CHOPPER_PERIOD_REG.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM2_PWMA_PERIOD_REG.VALUE=25833
+DRIVER.ETPWM.VAR.ETPWM2_PWMA_PERIOD_REG.VALUE=103334
 DRIVER.ETPWM.VAR.ETPWM1_PWMB_COMPARE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_CLKDIV_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM3_CHOPPER_PERIOD.VALUE=100.000
@@ -9752,7 +9752,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_ENABLE_SOCB.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_HSPCLKDIV_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_PWMB_ACTUALPERIOD.VALUE=250002.419
-DRIVER.ETPWM.VAR.ETPWM2_PWMB_PERIOD.VALUE=250000
+DRIVER.ETPWM.VAR.ETPWM2_PWMB_PERIOD.VALUE=1000000
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM1_PWMA_POLARITY.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_SOCB_PERIOD.VALUE=1
Index: firmware/include/etpwm.h
===================================================================
diff -u -r8638b207699a3a48e3657e838e24ae838369c867 -r416a8fba5774e6cd64c69513e082afbd79f75ccf
--- firmware/include/etpwm.h	(.../etpwm.h)	(revision 8638b207699a3a48e3657e838e24ae838369c867)
+++ firmware/include/etpwm.h	(.../etpwm.h)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -494,7 +494,7 @@
 
 #define ETPWM2_TBCTL_CONFIGVALUE          ((uint16)((uint16)0U << 7U) | (uint16)((uint16)0U << 10U))
 #define ETPWM2_TBPHS_CONFIGVALUE          0x00000000U
-#define ETPWM2_TBPRD_CONFIGVALUE          25833U
+#define ETPWM2_TBPRD_CONFIGVALUE          103334U
 #define ETPWM2_CMPCTL_CONFIGVALUE         0x00000000U
 #define ETPWM2_CMPA_CONFIGVALUE           0U
 #define ETPWM2_CMPB_CONFIGVALUE           0U
Index: firmware/include/mibspi.h
===================================================================
diff -u -ra90f03eb56aaa492908cd2e7417da79f405d67d4 -r416a8fba5774e6cd64c69513e082afbd79f75ccf
--- firmware/include/mibspi.h	(.../mibspi.h)	(revision a90f03eb56aaa492908cd2e7417da79f405d67d4)
+++ firmware/include/mibspi.h	(.../mibspi.h)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -193,7 +193,7 @@
 #define MIBSPI1_LVL_CONFIGVALUE      ((uint32)((uint32)0U << 9U) | (uint32)((uint32)0U << 8U) | (uint32)((uint32)0U << 6U) | (uint32)((uint32)0U << 4U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 0U))
 
 #define MIBSPI1_PCFUN_CONFIGVALUE    ((uint32)((uint32)0U << 0U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 4U) | (uint32)((uint32)0U << 5U) |  (uint32)((uint32)1U << 8U) | (uint32)((uint32)1U << 9U) | (uint32)((uint32)0U << 10U) | (uint32)((uint32)0U << 16U) | (uint32)((uint32)0U << 11U) | (uint32)((uint32)0U << 24U) | (uint32)((uint32)1U << 17U) | (uint32)((uint32)1U << 25U))
-#define MIBSPI1_PCDIR_CONFIGVALUE    ((uint32)((uint32)1U << 0U) | (uint32)((uint32)1U << 1U) | (uint32)((uint32)1U << 2U) | (uint32)((uint32)1U << 3U) | (uint32)((uint32)0U << 4U) | (uint32)((uint32)1U << 5U) |  (uint32)((uint32)0U << 8U) | (uint32)((uint32)1U << 9U) | (uint32)((uint32)1U << 10U) | (uint32)((uint32)1U << 16U) | (uint32)((uint32)1U << 11U) | (uint32)((uint32)1U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 25U))
+#define MIBSPI1_PCDIR_CONFIGVALUE    ((uint32)((uint32)1U << 0U) | (uint32)((uint32)1U << 1U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)1U << 3U) | (uint32)((uint32)0U << 4U) | (uint32)((uint32)1U << 5U) |  (uint32)((uint32)0U << 8U) | (uint32)((uint32)1U << 9U) | (uint32)((uint32)1U << 10U) | (uint32)((uint32)1U << 16U) | (uint32)((uint32)1U << 11U) | (uint32)((uint32)1U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 25U))
 #define MIBSPI1_PCPDR_CONFIGVALUE    ((uint32)((uint32)0U << 0U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 4U) | (uint32)((uint32)0U << 5U) |  (uint32)((uint32)0U << 8U) | (uint32)((uint32)0U << 9U) | (uint32)((uint32)0U << 10U) | (uint32)((uint32)0U << 16U) | (uint32)((uint32)0U << 11U) | (uint32)((uint32)0U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 25U))
 #define MIBSPI1_PCDIS_CONFIGVALUE    ((uint32)((uint32)0U << 0U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 4U) | (uint32)((uint32)0U << 5U) |  (uint32)((uint32)0U << 8U) | (uint32)((uint32)0U << 9U) | (uint32)((uint32)0U << 10U) | (uint32)((uint32)0U << 16U) | (uint32)((uint32)0U << 11U) | (uint32)((uint32)0U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 25U))
 #define MIBSPI1_PCPSL_CONFIGVALUE    ((uint32)((uint32)1U << 0U) | (uint32)((uint32)1U << 1U) | (uint32)((uint32)1U << 2U) | (uint32)((uint32)1U << 3U) | (uint32)((uint32)1U << 4U) | (uint32)((uint32)1U << 5U) |  (uint32)((uint32)1U << 8U) | (uint32)((uint32)1U << 9U) | (uint32)((uint32)1U << 10U) | (uint32)((uint32)1U << 16U) | (uint32)((uint32)1U << 11U) | (uint32)((uint32)1U << 24U) | (uint32)((uint32)1U << 17U) | (uint32)((uint32)1U << 25U))
@@ -256,7 +256,7 @@
 #define MIBSPI5_LVL_CONFIGVALUE      ((uint32)((uint32)0U << 9U) | (uint32)((uint32)0U << 8U) | (uint32)((uint32)0U << 6U) | (uint32)((uint32)0U << 4U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 0U))
 
 #define MIBSPI5_PCFUN_CONFIGVALUE    ((uint32)((uint32)1U << 0U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 8U) | (uint32)((uint32)0U << 9U) | (uint32)((uint32)0U << 10U) | (uint32)((uint32)0U << 16U) | (uint32)((uint32)0U << 11U) | (uint32)((uint32)0U << 24U) | (uint32)((uint32)1U << 17U) | (uint32)((uint32)1U << 18U) | (uint32)((uint32)1U << 19U) | (uint32)((uint32)1U << 25U) | (uint32)((uint32)1U << 26U) | (uint32)((uint32)1U << 27U))
-#define MIBSPI5_PCDIR_CONFIGVALUE    ((uint32)((uint32)1U << 0U) | (uint32)((uint32)1U << 1U) | (uint32)((uint32)1U << 2U) | (uint32)((uint32)1U << 3U) | (uint32)((uint32)1U << 8U) | (uint32)((uint32)1U << 9U) | (uint32)((uint32)1U << 10U) | (uint32)((uint32)1U << 16U) | (uint32)((uint32)1U << 11U) | (uint32)((uint32)1U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 18U) | (uint32)((uint32)0U << 19U) | (uint32)((uint32)0U << 25U) | (uint32)((uint32)0U << 26U) | (uint32)((uint32)0U << 27U))
+#define MIBSPI5_PCDIR_CONFIGVALUE    ((uint32)((uint32)1U << 0U) | (uint32)((uint32)1U << 1U) | (uint32)((uint32)1U << 2U) | (uint32)((uint32)1U << 3U) | (uint32)((uint32)0U << 8U) | (uint32)((uint32)1U << 9U) | (uint32)((uint32)1U << 10U) | (uint32)((uint32)1U << 16U) | (uint32)((uint32)1U << 11U) | (uint32)((uint32)1U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 18U) | (uint32)((uint32)0U << 19U) | (uint32)((uint32)0U << 25U) | (uint32)((uint32)0U << 26U) | (uint32)((uint32)0U << 27U))
 #define MIBSPI5_PCPDR_CONFIGVALUE    ((uint32)((uint32)0U << 0U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 8U) | (uint32)((uint32)0U << 9U) | (uint32)((uint32)0U << 10U) | (uint32)((uint32)0U << 16U) | (uint32)((uint32)0U << 11U) | (uint32)((uint32)0U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 18U) | (uint32)((uint32)0U << 19U) | (uint32)((uint32)0U << 25U) | (uint32)((uint32)0U << 26U) | (uint32)((uint32)0U << 27U))
 #define MIBSPI5_PCDIS_CONFIGVALUE    ((uint32)((uint32)0U << 0U) | (uint32)((uint32)0U << 1U) | (uint32)((uint32)0U << 2U) | (uint32)((uint32)0U << 3U) | (uint32)((uint32)0U << 8U) | (uint32)((uint32)0U << 9U) | (uint32)((uint32)0U << 10U) | (uint32)((uint32)0U << 16U) | (uint32)((uint32)0U << 11U) | (uint32)((uint32)0U << 24U) | (uint32)((uint32)0U << 17U) | (uint32)((uint32)0U << 18U) | (uint32)((uint32)0U << 19U) | (uint32)((uint32)0U << 25U) | (uint32)((uint32)0U << 26U) | (uint32)((uint32)0U << 27U))
 #define MIBSPI5_PCPSL_CONFIGVALUE    ((uint32)((uint32)1U << 0U) | (uint32)((uint32)1U << 1U) | (uint32)((uint32)1U << 2U) | (uint32)((uint32)1U << 3U) | (uint32)((uint32)1U << 8U) | (uint32)((uint32)1U << 9U) | (uint32)((uint32)1U << 10U) | (uint32)((uint32)1U << 16U) | (uint32)((uint32)1U << 11U) | (uint32)((uint32)1U << 24U) | (uint32)((uint32)1U << 17U) | (uint32)((uint32)1U << 18U) | (uint32)((uint32)1U << 19U) | (uint32)((uint32)1U << 25U) | (uint32)((uint32)1U << 26U) | (uint32)((uint32)1U << 27U))
Index: firmware/source/etpwm.c
===================================================================
diff -u -r8638b207699a3a48e3657e838e24ae838369c867 -r416a8fba5774e6cd64c69513e082afbd79f75ccf
--- firmware/source/etpwm.c	(.../etpwm.c)	(revision 8638b207699a3a48e3657e838e24ae838369c867)
+++ firmware/source/etpwm.c	(.../etpwm.c)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -177,7 +177,7 @@
     etpwmREG2->TBCTL |= (uint16)((uint16)0U << 10U);
 
     /** - Sets time period or frequency for ETPWM block both PWMA and PWMB*/
-    etpwmREG2->TBPRD = 25833U;
+    etpwmREG2->TBPRD = 103334U;
 
     /** - Setup the duty cycle for PWMA */
     etpwmREG2->CMPA = 0U;
Index: firmware/source/mibspi.c
===================================================================
diff -u -ra90f03eb56aaa492908cd2e7417da79f405d67d4 -r416a8fba5774e6cd64c69513e082afbd79f75ccf
--- firmware/source/mibspi.c	(.../mibspi.c)	(revision a90f03eb56aaa492908cd2e7417da79f405d67d4)
+++ firmware/source/mibspi.c	(.../mibspi.c)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
@@ -475,7 +475,7 @@
     /** - MIBSPI1 Port direction */
     mibspiREG1->PC1 = (uint32)((uint32)1U << 0U)  /* SCS[0] */
                     | (uint32)((uint32)1U << 1U)  /* SCS[1] */
-                    | (uint32)((uint32)1U << 2U)  /* SCS[2] */
+                    | (uint32)((uint32)0U << 2U)  /* SCS[2] */
                     | (uint32)((uint32)1U << 3U)  /* SCS[3] */
                     | (uint32)((uint32)0U << 4U)  /* SCS[4] */
                     | (uint32)((uint32)1U << 5U)  /* SCS[5] */
@@ -1436,7 +1436,7 @@
                     | (uint32)((uint32)1U << 1U)  /* SCS[1] */
                     | (uint32)((uint32)1U << 2U)  /* SCS[2] */
                     | (uint32)((uint32)1U << 3U)  /* SCS[3] */
-                    | (uint32)((uint32)1U << 8U)  /* ENA */
+                    | (uint32)((uint32)0U << 8U)  /* ENA */
                     | (uint32)((uint32)1U << 9U)  /* CLK */
                     | (uint32)((uint32)1U << 10U)  /* SIMO[0] */
                     | (uint32)((uint32)1U << 11U)  /* SOMI[0] */