Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r8e72441bc5cd51272b1dc6b14d6c95b4888d6301 -r2652d50bbc5e78ed6fe3ad9ccbca0be6f802f1ff
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 8e72441bc5cd51272b1dc6b14d6c95b4888d6301)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 2652d50bbc5e78ed6fe3ad9ccbca0be6f802f1ff)
@@ -38,21 +38,24 @@
 
 // ********** private definitions **********
 
-#define RO_PUMP_DATA_PUB_INTERVAL                      ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )    ///< Interval (ms/task time) at which the RO Pump data is published on the CAN bus.
-#define ROP_CONTROL_INTERVAL                           ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )    ///< Interval (ms/task time) at which the RO pump is controlled.
+#define RO_PUMP_DATA_PUB_INTERVAL                   ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )                           ///< Interval (ms/task time) at which the RO Pump data is published on the CAN bus.
+#define ROP_CONTROL_INTERVAL                        ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )                           ///< Interval (ms/task time) at which the RO pump is controlled.
 
-#define ROP_FLOW_CONTROL_P_COEFFICIENT                 0.15F                                        ///< P term for RO pump flow control.
-#define ROP_FLOW_CONTROL_I_COEFFICIENT                 0.65F                                        ///< I term for RO pump flow control.
-#define ROP_PRESSURE_CONTROL_P_COEFFICIENT             0.15F                                        ///< P term for RO pump pressure control.
-#define ROP_PRESSURE_CONTROL_I_COEFFICIENT             0.65F                                        ///< I term for RO pump pressure control.
+#define ROP_FLOW_CONTROL_P_COEFFICIENT              0.15F                                                               ///< P term for RO pump flow control.
+#define ROP_FLOW_CONTROL_I_COEFFICIENT              0.65F                                                               ///< I term for RO pump flow control.
+#define ROP_PRESSURE_CONTROL_P_COEFFICIENT          0.15F                                                               ///< P term for RO pump pressure control.
+#define ROP_PRESSURE_CONTROL_I_COEFFICIENT          0.65F                                                               ///< I term for RO pump pressure control.
 
-#define ROP_FLOW_TO_PWM_SLOPE                          0.5F                                        ///< Slope of flow to PWM line equation.
-#define ROP_FLOW_TO_PWM_INTERCEPT                      0.0F                                        ///< Intercept of flow to PWM line equation.
-#define ROP_PRESSURE_TO_PWM_SLOPE                      0.5F                                        ///< Slope of pressure to PWM line equation.
-#define ROP_PRESSURE_TO_PWM_INTERCEPT                  0.0F                                        ///< Intercept of pressure  to PWM line equation.
+#define ROP_FLOW_TO_PWM_SLOPE                       0.5F                                                                ///< Slope of flow to PWM line equation.
+#define ROP_FLOW_TO_PWM_INTERCEPT                   0.0F                                                                ///< Intercept of flow to PWM line equation.
+#define ROP_PRESSURE_TO_PWM_SLOPE                   0.5F                                                                ///< Slope of pressure to PWM line equation.
+#define ROP_PRESSURE_TO_PWM_INTERCEPT               0.0F                                                                ///< Intercept of pressure  to PWM line equation.
 
-#define DATA_PUBLISH_COUNTER_START_COUNT               10                                           ///< Data publish counter start count.
+#define DATA_PUBLISH_COUNTER_START_COUNT            10                                                                  ///< Data publish counter start count.
 
+#define ROP_FLOW_TO_PWM(flow)                       ( ROP_FLOW_TO_PWM_SLOPE * flow + ROP_FLOW_TO_PWM_INTERCEPT )        ///< PWM line equation for flow.
+#define ROP_PRESSURE_TO_PWM(pres)                   ( ROP_PRESSURE_TO_PWM_SLOPE * pres + ROP_PRESSURE_TO_PWM_INTERCEPT )///< PWM line equation for pressure.
+
 // ********** private data **********
 
 static RO_PUMP_STATE_T roPumpState;                                                                 ///< Current state of pump controller state machine.
@@ -264,21 +267,21 @@
     RO_PUMP_STATE_T state = RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
 
     // Check if need to switch control modes
-    if ( getTargetROPumpPressure() > 0.0F && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
+    if ( ( getTargetROPumpPressure() > 0.0F ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         // Transition to target pressure
         resetPIController( PI_CONTROLLER_ID_RO_PUMP_PRES, roPumpDutyCyclePctSet, 0 );
         state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
     }
-    else if ( getTargetROPumpDutyCyclePCT() > 0.0F && ( PUMP_CONTROL_MODE_OPEN_LOOP == roPumpControlMode ) )
+    else if ( ( getTargetROPumpDutyCyclePCT() > 0.0F ) && ( PUMP_CONTROL_MODE_OPEN_LOOP == roPumpControlMode ) )
     {
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, getTargetROPumpDutyCyclePCT() );
         roPumpDutyCyclePctSet = getTargetROPumpDutyCyclePCT();
         state = RO_PUMP_OPEN_LOOP_STATE;
     }
 
     // Control at set interval or shut off
-    if ( getTargetROPumpFlowRateMLPM() == 0.0F && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
+    if ( ( getTargetROPumpFlowRateMLPM() == 0.0F ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         signalROPumpHardStop();
     }
@@ -305,20 +308,20 @@
     RO_PUMP_STATE_T state = RO_PUMP_CONTROL_TO_TARGET_PRESSURE_STATE;
 
     // Check if we are changing control
-    if ( getTargetROPumpFlowRateMLPM() > 0 && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
+    if ( ( getTargetROPumpFlowRateMLPM() > 0 ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         resetPIController( PI_CONTROLLER_ID_RO_PUMP_FLOW, roPumpDutyCyclePctSet, 0 );
         state = RO_PUMP_CONTROL_TO_TARGET_FLOW_STATE;
     }
-    else if ( getTargetROPumpDutyCyclePCT() > 0.0F && ( PUMP_CONTROL_MODE_OPEN_LOOP == roPumpControlMode ) )
+    else if ( ( getTargetROPumpDutyCyclePCT() > 0.0F ) && ( PUMP_CONTROL_MODE_OPEN_LOOP == roPumpControlMode ) )
     {
         setFluidPumpPctToPWMDutyCycle( P12_PUMP, getTargetROPumpDutyCyclePCT() );
         roPumpDutyCyclePctSet = getTargetROPumpDutyCyclePCT();
         state = RO_PUMP_OPEN_LOOP_STATE;
     }
 
     // Control at set interval or shut off
-    if ( getTargetROPumpPressure() == 0.0F && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
+    if ( ( getTargetROPumpPressure() == 0.0F ) && ( PUMP_CONTROL_MODE_CLOSED_LOOP == roPumpControlMode ) )
     {
         signalROPumpHardStop();
     }
@@ -737,5 +740,4 @@
     return result;
 }
 
-
 /**@}*/