Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -rff3e2e33857a7e2ea65969e87fb5b9e49937aafc -rba9341bc691b500d5ec3904fec1eb38279c5fbbd
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision ff3e2e33857a7e2ea65969e87fb5b9e49937aafc)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision ba9341bc691b500d5ec3904fec1eb38279c5fbbd)
@@ -342,13 +342,27 @@
  * @param roFlowRate which is target RO flow rate in mL/min
  * @return TRUE if new target flow rate is set successfully, FALSE if not
  *************************************************************************/
-BOOL setROPumpTargetFlowRateMLPM( U32 roFlowRate )
+BOOL setROPumpTargetFlowRateMLPM( U32 roFlowRate, BOOL firmwareCall )
 {
     BOOL result = FALSE;
 
     // First of all, the flow rate must be in range
     if ( ( roFlowRate <= MAX_RO_FLOWRATE_MLPM ) && ( roFlowRate >= MIN_RO_FLOWRATE_MLPM ) )
     {
+        if ( firmwareCall == TRUE )  // firmware call
+        {
+            if ( ( targetROPumpFlowRate.override == OVERRIDE_RESET ) && ( targetROPumpPressure.override == OVERRIDE_RESET ) && ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET ) )
+            {
+                targetROPumpPressure.data = 0;
+                roPumpOpenLoopTargetDutyCycle.data = 0.0F;
+            }
+            else
+            {
+                result = TRUE;
+                return result;
+            }
+
+        }
         targetROPumpFlowRate.data = roFlowRate;
         // Get the initial guess of the duty cycle
         roPumpDutyCyclePctSet = roPumpFlowToPWM( getTargetROPumpFlowRateMLPM() );
@@ -375,13 +389,26 @@
  * @param roPressure which is target RO pressure
  * @return TRUE if new target flow rate is set successfully, FALSE if not
  *************************************************************************/
-BOOL setROPumpTargetPressure( F32 roPressure )
+BOOL setROPumpTargetPressure( F32 roPressure, BOOL firmwareCall )
 {
     BOOL result = FALSE;
 
     // First of all, the pressure must be in range
     if ( ( roPressure <= MAX_RO_PRESSURE_PSI ) && ( roPressure >= MIN_RO_PRESSURE_PSI ) )
     {
+        if ( firmwareCall == TRUE ) // firmware call
+        {
+            if ( ( targetROPumpFlowRate.override == OVERRIDE_RESET ) && ( targetROPumpPressure.override == OVERRIDE_RESET ) && ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET ) )
+            {
+                targetROPumpFlowRate.data = 0;
+                roPumpOpenLoopTargetDutyCycle.data = 0.0F;
+            }
+            else
+            {
+                result = TRUE;
+                return result;
+            }
+        }
         targetROPumpPressure.data = roPressure;
         // Get the initial guess of the duty cycle
         roPumpDutyCyclePctSet = roPumpPresToPWM( getTargetROPumpPressure() );
@@ -409,19 +436,33 @@
  * @param duty which is the duty cycle
  * @return none
  *************************************************************************/
-BOOL setROPumpTargetDutyCycle( F32 dutyCycle )
+BOOL setROPumpTargetDutyCycle( F32 dutyCycle, BOOL firmwareCall )
 {
     BOOL result = FALSE;
 
     if ( ( dutyCycle >= MIN_FLUID_PUMP_DUTY_CYCLE_PCT ) && ( dutyCycle <= MAX_FLUID_PUMP_DUTY_CYCLE_PCT ) )
     {
+        if ( firmwareCall == TRUE ) // firmware call
+        {
+            if ( ( targetROPumpFlowRate.override == OVERRIDE_RESET ) && ( targetROPumpPressure.override == OVERRIDE_RESET ) && ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET ) )
+            {
+                targetROPumpFlowRate.data = 0;
+                targetROPumpPressure.data = 0.0F;
+            }
+            else
+            {
+                result = TRUE;
+                return result;
+            }
+        }
+
         // Set the new duty cycle of the pump
         roPumpOpenLoopTargetDutyCycle.data = dutyCycle;
         result = TRUE;
         // stop RO Pump if duty cycle is set to zero
-        if ( dutyCycle == 0.0 )
+        if ( dutyCycle == 0.0F )
         {
-            if ( ( targetROPumpFlowRate.data == 0 ) && ( targetROPumpPressure.data == 0.0  ) )
+            if ( ( targetROPumpFlowRate.data == 0 ) && ( targetROPumpPressure.data == 0.0F  ) )
             {
                 signalROPumpHardStop();
             }
@@ -618,7 +659,6 @@
     }
 }
 
-
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/
@@ -661,14 +701,14 @@
     {
         // Restore previous flow, duty cycle and pressure values
         targetROPumpPressure.data = targetROPumpPressure.ovInitData;
-        targetROPumpPressure.ovInitData = 0.0;
+        targetROPumpPressure.ovInitData = 0.0F;
         targetROPumpPressure.ovData = targetROPumpPressure.ovInitData;
         targetROPumpPressure.override = OVERRIDE_RESET;
         if ( targetROPumpFlowRate.override == OVERRIDE_RESET &&  targetROPumpFlowRate.ovInitData != 0 )
         {
             targetROPumpFlowRate.data = targetROPumpFlowRate.ovInitData;
         }
-        if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET &&  roPumpOpenLoopTargetDutyCycle.ovInitData != 0 )
+        if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET &&  roPumpOpenLoopTargetDutyCycle.ovInitData != 0.0F )
         {
             roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovInitData;
         }
@@ -678,40 +718,14 @@
     {
         targetROPumpPressure.ovData = payload.state.f32;
         targetROPumpPressure.override = OVERRIDE_KEY;
-        if ( targetROPumpPressure.ovInitData == 0 )
+        if ( targetROPumpPressure.ovInitData == 0.0F )
         {
             targetROPumpPressure.ovInitData = targetROPumpPressure.data;
         }
-        if ( roPumpOpenLoopTargetDutyCycle.data > 0 )
-        {
-            if ( roPumpOpenLoopTargetDutyCycle.override != OVERRIDE_RESET )
-            {
-                roPumpOpenLoopTargetDutyCycle.ovData = 0;
-                roPumpOpenLoopTargetDutyCycle.override = OVERRIDE_RESET;
-                roPumpOpenLoopTargetDutyCycle.data = 0;
-            }
-            else if ( roPumpOpenLoopTargetDutyCycle.ovInitData == 0 )
-            {
-                roPumpOpenLoopTargetDutyCycle.ovInitData = roPumpOpenLoopTargetDutyCycle.data;
-                roPumpOpenLoopTargetDutyCycle.data = 0;
-            }
-        }
-        if ( targetROPumpFlowRate.data > 0.0 )
-        {
-            if ( targetROPumpFlowRate.override != OVERRIDE_RESET )
-            {
-                targetROPumpFlowRate.ovData = 0.0;
-                targetROPumpFlowRate.override = OVERRIDE_RESET;
-                targetROPumpFlowRate.data = 0;
-            }
-            else if ( targetROPumpFlowRate.ovInitData == 0 )
-            {
-                targetROPumpFlowRate.ovInitData = targetROPumpFlowRate.data;
-                targetROPumpFlowRate.data = 0.0;
-            }
-        }
+        handleFluidPumpF32Data( &roPumpOpenLoopTargetDutyCycle );
+        handleFluidPumpU32Data( &targetROPumpFlowRate );
     }
-    result = setROPumpTargetPressure(getTargetROPumpPressure());
+    result = setROPumpTargetPressure(getTargetROPumpPressure(), FALSE);
 
     return result;
 }
@@ -739,11 +753,11 @@
         targetROPumpFlowRate.ovInitData = 0;
         targetROPumpFlowRate.ovData = targetROPumpFlowRate.ovInitData;
         targetROPumpFlowRate.override = OVERRIDE_RESET;
-        if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET &&  roPumpOpenLoopTargetDutyCycle.ovInitData != 0 )
+        if ( roPumpOpenLoopTargetDutyCycle.override == OVERRIDE_RESET &&  roPumpOpenLoopTargetDutyCycle.ovInitData != 0.0F )
         {
             roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovInitData;
         }
-        if ( targetROPumpPressure.override == OVERRIDE_RESET &&  targetROPumpPressure.ovInitData != 0 )
+        if ( targetROPumpPressure.override == OVERRIDE_RESET &&  targetROPumpPressure.ovInitData != 0.0F )
         {
             targetROPumpPressure.data = targetROPumpPressure.ovInitData;
         }
@@ -757,36 +771,10 @@
         {
             targetROPumpFlowRate.ovInitData = targetROPumpFlowRate.data;
         }
-        if ( roPumpOpenLoopTargetDutyCycle.data > 0 )
-        {
-            if ( roPumpOpenLoopTargetDutyCycle.override != OVERRIDE_RESET )
-            {
-                roPumpOpenLoopTargetDutyCycle.ovData = 0;
-                roPumpOpenLoopTargetDutyCycle.override = OVERRIDE_RESET;
-                roPumpOpenLoopTargetDutyCycle.data = 0;
-            }
-            else if ( roPumpOpenLoopTargetDutyCycle.ovInitData == 0 )
-            {
-                roPumpOpenLoopTargetDutyCycle.ovInitData = roPumpOpenLoopTargetDutyCycle.data;
-                roPumpOpenLoopTargetDutyCycle.data = 0;
-            }
-        }
-        if ( targetROPumpPressure.data > 0.0 )
-        {
-            if ( targetROPumpPressure.override != OVERRIDE_RESET )
-            {
-                targetROPumpPressure.ovData = 0.0;
-                targetROPumpPressure.override = OVERRIDE_RESET;
-                targetROPumpPressure.data = 0;
-            }
-            else if ( targetROPumpPressure.ovInitData == 0 )
-            {
-                targetROPumpPressure.ovInitData = targetROPumpPressure.data;
-                targetROPumpPressure.data = 0.0;
-            }
-        }
+        handleFluidPumpF32Data( &roPumpOpenLoopTargetDutyCycle );
+        handleFluidPumpF32Data( &targetROPumpPressure );
     }
-    result = setROPumpTargetFlowRateMLPM(getTargetROPumpFlowRateMLPM());
+    result = setROPumpTargetFlowRateMLPM(getTargetROPumpFlowRateMLPM(), FALSE);
 
     return result;
 }
@@ -811,7 +799,7 @@
     {
         // Restore previous flow, duty cycle and pressure values
         roPumpOpenLoopTargetDutyCycle.data = roPumpOpenLoopTargetDutyCycle.ovInitData;
-        roPumpOpenLoopTargetDutyCycle.ovInitData = 0.0;
+        roPumpOpenLoopTargetDutyCycle.ovInitData = 0.0F;
         roPumpOpenLoopTargetDutyCycle.ovData = roPumpOpenLoopTargetDutyCycle.ovInitData;
         roPumpOpenLoopTargetDutyCycle.override = OVERRIDE_RESET;
         if ( targetROPumpFlowRate.override == OVERRIDE_RESET &&  targetROPumpFlowRate.ovInitData != 0 )
@@ -828,40 +816,14 @@
     {
         roPumpOpenLoopTargetDutyCycle.ovData = payload.state.f32;
         roPumpOpenLoopTargetDutyCycle.override = OVERRIDE_KEY;
-        if ( roPumpOpenLoopTargetDutyCycle.ovInitData == 0 )
+        if ( roPumpOpenLoopTargetDutyCycle.ovInitData == 0.0F )
         {
             roPumpOpenLoopTargetDutyCycle.ovInitData = roPumpOpenLoopTargetDutyCycle.data;
         }
-        if ( targetROPumpFlowRate.data > 0 )
-        {
-            if ( targetROPumpFlowRate.override != OVERRIDE_RESET )
-            {
-                targetROPumpFlowRate.ovData = 0;
-                targetROPumpFlowRate.override = OVERRIDE_RESET;
-                targetROPumpFlowRate.data = 0;
-            }
-            else if ( targetROPumpFlowRate.ovInitData == 0 )
-            {
-                targetROPumpFlowRate.ovInitData = targetROPumpFlowRate.data;
-                targetROPumpFlowRate.data = 0;
-            }
-        }
-        if ( targetROPumpPressure.data > 0.0 )
-        {
-            if ( targetROPumpPressure.override != OVERRIDE_RESET )
-            {
-                targetROPumpPressure.ovData = 0.0;
-                targetROPumpPressure.override = OVERRIDE_RESET;
-                targetROPumpPressure.data = 0;
-            }
-            else if ( targetROPumpPressure.ovInitData == 0 )
-            {
-                targetROPumpPressure.ovInitData = targetROPumpPressure.data;
-                targetROPumpPressure.data = 0.0;
-            }
-        }
+        handleFluidPumpU32Data( &targetROPumpFlowRate );
+        handleFluidPumpF32Data( &targetROPumpPressure );
     }
-    result = setROPumpTargetDutyCycle(getTargetROPumpDutyCyclePCT());
+    result = setROPumpTargetDutyCycle(getTargetROPumpDutyCyclePCT(), FALSE);
 
     return result;
 }