Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -ra74a984a7059f75d86ad87d6d9499bd8f94cc976 -rbe6802eb077d77af6a2334508c428cc50a02ed39
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision a74a984a7059f75d86ad87d6d9499bd8f94cc976)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision be6802eb077d77af6a2334508c428cc50a02ed39)
@@ -530,7 +530,7 @@
  *************************************************************************/
 static void setDialOutPumpControlSignalPWM( F32 newPWM )
 {
-    etpwmSetCmpA( etpwmREG3, (U16)( FLOAT_TO_INT_WITH_ROUND( newPWM * (F32)( etpwmREG3->TBPRD ) ) ) );
+    etpwmSetCmpA( etpwmREG3, (U32)( (S32)( ( newPWM * (F32)(etpwmREG3->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
 }
 
 /*************************************************************************
Index: firmware/HD.dil
===================================================================
diff -u -ra74a984a7059f75d86ad87d6d9499bd8f94cc976 -rbe6802eb077d77af6a2334508c428cc50a02ed39
--- firmware/HD.dil	(.../HD.dil)	(revision a74a984a7059f75d86ad87d6d9499bd8f94cc976)
+++ firmware/HD.dil	(.../HD.dil)	(revision be6802eb077d77af6a2334508c428cc50a02ed39)
@@ -1,4 +1,4 @@
-# RM46L852PGE 01/24/20 19:18:23
+# RM46L852PGE 01/27/20 09:21:54
 # 
 ARCH=RM46L852PGE
 # 
@@ -9353,7 +9353,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_CHOPPER_PERIOD.VALUE=100.000
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_DUTY.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD.VALUE=1000
+DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD.VALUE=250000
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_DEADBAND_OUT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_HSPCLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM4_CLKDIV_REG.VALUE=0
@@ -9369,7 +9369,7 @@
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_FALLING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM6_CHOPPER_PERIOD_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_PWMA_ENA.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM4_PWMB_PERIOD.VALUE=1000
+DRIVER.ETPWM.VAR.ETPWM4_PWMB_PERIOD.VALUE=250000
 DRIVER.ETPWM.VAR.ETPWM6_RDELAY_SOURCE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_PWMA_DUTYTIME.VALUE=0.000
 DRIVER.ETPWM.VAR.ETPWM1_CHOPPER_DUTY_NEW.VALUE=50.0
@@ -9398,7 +9398,7 @@
 DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_MODE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_DUTY.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM7_DEADBAND_OUTPUT.VALUE=PWMA_PWMB_NIL
-DRIVER.ETPWM.VAR.ETPWM4_PWMB_ACTUALPERIOD.VALUE=996.758
+DRIVER.ETPWM.VAR.ETPWM4_PWMB_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM1_ENABLE_SOCA.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM2_PWMB_DEADBAND_INVERT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_ENABLE_SOCB.VALUE=0x0000
@@ -9435,7 +9435,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM3_CHOPPER_PERIOD_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_DEADBAND_INVERT.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM6_PWMB_PERIOD_REG.VALUE=102
+DRIVER.ETPWM.VAR.ETPWM6_PWMB_PERIOD_REG.VALUE=25833
 DRIVER.ETPWM.VAR.ETPWM5_DCBEVT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_OSHT_WIDTH_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_PWMA_DUTY.VALUE=0
@@ -9469,7 +9469,7 @@
 DRIVER.ETPWM.VAR.ETPWM3_SELECT_EVENT.VALUE=NO_EVENT
 DRIVER.ETPWM.VAR.ETPWM2_CLKDIV.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM6_PWMA_DUTY.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM7_PWMA_ACTUALPERIOD.VALUE=996.758
+DRIVER.ETPWM.VAR.ETPWM7_PWMA_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM2_DEADBAND_INPUT.VALUE=PWMA_RED_FED
 DRIVER.ETPWM.VAR.ETPWM5_CBC.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_CBC1.VALUE=0x0000
@@ -9481,7 +9481,7 @@
 DRIVER.ETPWM.VAR.ETPWM1_CBC5.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM1_CBC6.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_DCAEVT1.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM4_PWMB_PERIOD_REG.VALUE=102
+DRIVER.ETPWM.VAR.ETPWM4_PWMB_PERIOD_REG.VALUE=25833
 DRIVER.ETPWM.VAR.ETPWM3_CHOPPER_DUTYTIME_REG.VALUE=3
 DRIVER.ETPWM.VAR.ETPWM1_CHOPPER_MODE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_PERIOD.VALUE=1000
@@ -9523,11 +9523,11 @@
 DRIVER.ETPWM.VAR.ETPWM1_PWMA_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM7_OSHT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM6_PWMB_DUTY.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM6_PWMA_PERIOD_REG.VALUE=102
+DRIVER.ETPWM.VAR.ETPWM6_PWMA_PERIOD_REG.VALUE=25833
 DRIVER.ETPWM.VAR.ETPWM6_HSPCLKDIV_REG.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM4_PWMB_RISING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM7_OSHT2.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM6_PWMB_PERIOD.VALUE=1000
+DRIVER.ETPWM.VAR.ETPWM6_PWMB_PERIOD.VALUE=250000
 DRIVER.ETPWM.VAR.ETPWM7_CBC.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM7_OSHT3.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM2_CBC1.VALUE=0x0000
@@ -9579,11 +9579,11 @@
 DRIVER.ETPWM.VAR.ETPWM3_ENABLE_SOCB.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_POLARITY.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM2_PWMA_FALLING_EDGE_DELAY_REG.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM6_PWMA_ACTUALPERIOD.VALUE=996.758
+DRIVER.ETPWM.VAR.ETPWM6_PWMA_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM5_RDELAY_SOURCE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM5_PWMB_FALLING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_DUTYTIME.VALUE=503.218
-DRIVER.ETPWM.VAR.ETPWM4_PWMA_PERIOD_REG.VALUE=102
+DRIVER.ETPWM.VAR.ETPWM4_PWMA_PERIOD_REG.VALUE=25833
 DRIVER.ETPWM.VAR.ETPWM7_CHOPPER_PERIOD.VALUE=100.000
 DRIVER.ETPWM.VAR.ETPWM6_PWMB_DEADBAND_OUT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM3_SOCB_PERIOD.VALUE=1
@@ -9644,7 +9644,7 @@
 DRIVER.ETPWM.VAR.ETPWM2_SELECT_SOCA.VALUE=DCAEVT1
 DRIVER.ETPWM.VAR.ETPWM4_SELECT_EVENT.VALUE=NO_EVENT
 DRIVER.ETPWM.VAR.ETPWM2_SELECT_SOCB.VALUE=DCBEVT1
-DRIVER.ETPWM.VAR.ETPWM7_PWMB_ACTUALPERIOD.VALUE=996.758
+DRIVER.ETPWM.VAR.ETPWM7_PWMB_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM2_DCAEVT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_INTERRUPT_PERIOD.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM2_DCAEVT2.VALUE=0x0000
@@ -9655,7 +9655,7 @@
 DRIVER.ETPWM.VAR.ETPWM4_CBC3.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM2_CHOPPER_MODE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_PWMA_FALLING_EDGE_DELAY_REG.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD.VALUE=1000
+DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD.VALUE=250000
 DRIVER.ETPWM.VAR.ETPWM5_OST.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_CBC4.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM4_CBC5.VALUE=0x0000
@@ -9679,12 +9679,12 @@
 DRIVER.ETPWM.VAR.ETPWM7_PWMA_RISING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM2_DCBEVT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_ACTUALPERIOD.VALUE=996.758
-DRIVER.ETPWM.VAR.ETPWM4_PWMA_PERIOD.VALUE=1000
+DRIVER.ETPWM.VAR.ETPWM4_PWMA_PERIOD.VALUE=250000
 DRIVER.ETPWM.VAR.ETPWM2_DCBEVT2.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_RISING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_DEADBAND_INVERT.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM1_SELECT_EVENT.VALUE=NO_EVENT
-DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD_REG.VALUE=102
+DRIVER.ETPWM.VAR.ETPWM7_PWMB_PERIOD_REG.VALUE=25833
 DRIVER.ETPWM.VAR.ETPWM7_PWMB_RISING_EDGE_DELAY_REG.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM7_PWMB_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM3_OSHT_WIDTH_REG.VALUE=0
@@ -9751,7 +9751,7 @@
 DRIVER.ETPWM.VAR.ETPWM5_ENABLE_SOCA.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_ENABLE_SOCB.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_HSPCLKDIV_REG.VALUE=0
-DRIVER.ETPWM.VAR.ETPWM6_PWMB_ACTUALPERIOD.VALUE=996.758
+DRIVER.ETPWM.VAR.ETPWM6_PWMB_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM2_PWMB_PERIOD.VALUE=250000
 DRIVER.ETPWM.VAR.ETPWM3_PWMA_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM1_PWMA_POLARITY.VALUE=0
@@ -9786,10 +9786,10 @@
 DRIVER.ETPWM.VAR.ETPWM2_SOCB_PERIOD.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM6_CBC5.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM6_CBC6.VALUE=0x0000
-DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD_REG.VALUE=102
+DRIVER.ETPWM.VAR.ETPWM7_PWMA_PERIOD_REG.VALUE=25833
 DRIVER.ETPWM.VAR.ETPWM6_CHOPPER_MODE.VALUE=0
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_ENA.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM4_PWMA_ACTUALPERIOD.VALUE=996.758
+DRIVER.ETPWM.VAR.ETPWM4_PWMA_ACTUALPERIOD.VALUE=250002.419
 DRIVER.ETPWM.VAR.ETPWM7_SELECT_SOCA.VALUE=DCAEVT1
 DRIVER.ETPWM.VAR.ETPWM5_PWMA_FALLING_EDGE_DELAY.VALUE=9.091
 DRIVER.ETPWM.VAR.ETPWM5_BASE.VALUE=0xFCF79000
@@ -9855,7 +9855,7 @@
 DRIVER.ETPWM.VAR.ETPWM6_PWMB_ENA.VALUE=1
 DRIVER.ETPWM.VAR.ETPWM5_OSHT1.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM3_PWMB_RISING_EDGE_DELAY_REG.VALUE=1
-DRIVER.ETPWM.VAR.ETPWM6_PWMA_PERIOD.VALUE=1000
+DRIVER.ETPWM.VAR.ETPWM6_PWMA_PERIOD.VALUE=250000
 DRIVER.ETPWM.VAR.ETPWM5_OSHT2.VALUE=0x0000
 DRIVER.ETPWM.VAR.ETPWM5_DEADBAND_INPUT.VALUE=PWMA_RED_FED
 DRIVER.ETPWM.VAR.ETPWM5_PWMB_ACTUALPERIOD.VALUE=996.758
Index: firmware/include/etpwm.h
===================================================================
diff -u -ra74a984a7059f75d86ad87d6d9499bd8f94cc976 -rbe6802eb077d77af6a2334508c428cc50a02ed39
--- firmware/include/etpwm.h	(.../etpwm.h)	(revision a74a984a7059f75d86ad87d6d9499bd8f94cc976)
+++ firmware/include/etpwm.h	(.../etpwm.h)	(revision be6802eb077d77af6a2334508c428cc50a02ed39)
@@ -546,7 +546,7 @@
 
 #define ETPWM4_TBCTL_CONFIGVALUE          ((uint16)((uint16)0U << 7U) | (uint16)((uint16)0U << 10U))
 #define ETPWM4_TBPHS_CONFIGVALUE          0x00000000U
-#define ETPWM4_TBPRD_CONFIGVALUE          102U
+#define ETPWM4_TBPRD_CONFIGVALUE          25833U
 #define ETPWM4_CMPCTL_CONFIGVALUE         0x00000000U
 #define ETPWM4_CMPA_CONFIGVALUE           0U
 #define ETPWM4_CMPB_CONFIGVALUE           0U
@@ -598,7 +598,7 @@
 
 #define ETPWM6_TBCTL_CONFIGVALUE          ((uint16)((uint16)0U << 7U) | (uint16)((uint16)0U << 10U))
 #define ETPWM6_TBPHS_CONFIGVALUE          0x00000000U
-#define ETPWM6_TBPRD_CONFIGVALUE          102U
+#define ETPWM6_TBPRD_CONFIGVALUE          25833U
 #define ETPWM6_CMPCTL_CONFIGVALUE         0x00000000U
 #define ETPWM6_CMPA_CONFIGVALUE           0U
 #define ETPWM6_CMPB_CONFIGVALUE           0U
@@ -624,7 +624,7 @@
 
 #define ETPWM7_TBCTL_CONFIGVALUE          ((uint16)((uint16)0U << 7U) | (uint16)((uint16)0U << 10U))
 #define ETPWM7_TBPHS_CONFIGVALUE          0x00000000U
-#define ETPWM7_TBPRD_CONFIGVALUE          102U
+#define ETPWM7_TBPRD_CONFIGVALUE          25833U
 #define ETPWM7_CMPCTL_CONFIGVALUE         0x00000000U
 #define ETPWM7_CMPA_CONFIGVALUE           0U
 #define ETPWM7_CMPB_CONFIGVALUE           0U
Index: firmware/source/etpwm.c
===================================================================
diff -u -ra74a984a7059f75d86ad87d6d9499bd8f94cc976 -rbe6802eb077d77af6a2334508c428cc50a02ed39
--- firmware/source/etpwm.c	(.../etpwm.c)	(revision a74a984a7059f75d86ad87d6d9499bd8f94cc976)
+++ firmware/source/etpwm.c	(.../etpwm.c)	(revision be6802eb077d77af6a2334508c428cc50a02ed39)
@@ -368,7 +368,7 @@
     etpwmREG4->TBCTL |= (uint16)((uint16)0U << 10U);
 
     /** - Sets time period or frequency for ETPWM block both PWMA and PWMB*/
-    etpwmREG4->TBPRD = 102U;
+    etpwmREG4->TBPRD = 25833U;
 
     /** - Setup the duty cycle for PWMA */
     etpwmREG4->CMPA = 0U;
@@ -463,7 +463,7 @@
     etpwmREG6->TBCTL |= (uint16)((uint16)0U << 10U);
 
     /** - Sets time period or frequency for ETPWM block both PWMA and PWMB*/
-    etpwmREG6->TBPRD = 102U;
+    etpwmREG6->TBPRD = 25833U;
 
     /** - Setup the duty cycle for PWMA */
     etpwmREG6->CMPA = 0U;
@@ -561,7 +561,7 @@
     etpwmREG7->TBCTL |= (uint16)((uint16)0U << 10U);
 
     /** - Sets time period or frequency for ETPWM block both PWMA and PWMB*/
-    etpwmREG7->TBPRD = 102U;
+    etpwmREG7->TBPRD = 25833U;
 
     /** - Setup the duty cycle for PWMA */
     etpwmREG7->CMPA = 0U;
Index: firmware/source/sys_main.c
===================================================================
diff -u -ra74a984a7059f75d86ad87d6d9499bd8f94cc976 -rbe6802eb077d77af6a2334508c428cc50a02ed39
--- firmware/source/sys_main.c	(.../sys_main.c)	(revision a74a984a7059f75d86ad87d6d9499bd8f94cc976)
+++ firmware/source/sys_main.c	(.../sys_main.c)	(revision be6802eb077d77af6a2334508c428cc50a02ed39)
@@ -139,9 +139,9 @@
         etpwmSetCmpA( etpwmREG1, 0 );
         etpwmSetCmpA( etpwmREG2, 0 );
         etpwmSetCmpA( etpwmREG3, 0 );
-        etpwmSetCmpA( etpwmREG4, 0 );
-        etpwmSetCmpA( etpwmREG6, 0 );
-        etpwmSetCmpA( etpwmREG7, 0 );
+        etpwmSetCmpA( etpwmREG4, etpwmREG4->TBPRD / 3 );
+        etpwmSetCmpA( etpwmREG6, etpwmREG6->TBPRD / 3 );
+        etpwmSetCmpA( etpwmREG7, etpwmREG7->TBPRD / 3 );
         etpwmStartTBCLK();
     canInit();      // CAN1 = CAN, re-purposing CAN2 and CAN3 Rx and Tx pins as GPIO
         //canEnableloopback( canREG1, External_Lbk );  // TODO - debug code