Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -r5217f70ca5c74bd586dc14540e6404b43feea004 -re5bb82cad756fbb10f04d576dffd499df78f6b35
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 5217f70ca5c74bd586dc14540e6404b43feea004)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision e5bb82cad756fbb10f04d576dffd499df78f6b35)
@@ -1,6 +1,6 @@
 /**************************************************************************
  *
- *  Copyright (c) 2019-2019 Diality Inc. - All Rights Reserved.
+ *  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.
@@ -22,7 +22,7 @@
 #include "gio.h"
 #include "mibspi.h"
 
-#include "Common.h"
+#include <HDCommon.h>
 #include "FPGA.h"
 #include "InternalADC.h"
 #include "OperationModes.h"
@@ -44,9 +44,9 @@
 #define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE       0.88            // controller will error if PWM duty cycle > 90%, so set max to 88%
 #define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE       0.12            // controller will error if PWM duty cycle < 10%, so set min to 12%
 
-#define DIP_CONTROL_INTERVAL                 ( 500 / TASK_GENERAL_INTERVAL ) // interval (ms/task time) at which the dialIn pump is controlled
-#define DIP_P_COEFFICIENT                    0.0002          // P term for dialIn pump control
-#define DIP_I_COEFFICIENT                    0.00002         // I term for dialIn pump control
+#define DIP_CONTROL_INTERVAL                 ( 1000 / TASK_GENERAL_INTERVAL ) // interval (ms/task time) at which the dialIn pump is controlled
+#define DIP_P_COEFFICIENT                    0.00005         // P term for dialIn pump control
+#define DIP_I_COEFFICIENT                    0.00015         // I term for dialIn pump control
 #define DIP_MAX_PWM_DC_DELTA                 0.01            // prevents large steps in PWM duty cycle
 #define DIP_MIN_PWM_DC_DELTA                -0.01
 
@@ -61,7 +61,7 @@
 #define DIP_REV_PER_LITER                    124.0           // rotor revolutions per liter
 #define DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR    ( DIP_REV_PER_LITER / ML_PER_LITER )
 #define DIP_GEAR_RATIO                       32.0            // dialIn pump motor to dialIn pump gear ratio
-#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.0003717       // ~27 BP motor RPM = 1% PWM duty cycle
+#define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.00042         // ~24 BP motor RPM = 1% PWM duty cycle
 #define DIP_PWM_ZERO_OFFSET                  0.1             // 10% PWM duty cycle = zero speed
 #define DIP_PWM_FROM_ML_PER_MIN(rate)        ( (rate) * DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * DIP_GEAR_RATIO * DIP_MOTOR_RPM_TO_PWM_DC_FACTOR + DIP_PWM_ZERO_OFFSET )
 
@@ -70,7 +70,7 @@
 #define SIGN_FROM_12_BIT_VALUE(v)            ( (S16)(v) - (S16)DIAL_IN_PUMP_ADC_MID_PT_BITS )
 
 #define DIAL_IN_FLOW_SAMPLE_FREQ             ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )
-#define SIZE_OF_ROLLING_AVG                  (U32)( (F32)DIAL_IN_FLOW_SAMPLE_FREQ * 0.8 )     // measured dialIn flow is filtered w/ moving average
+#define SIZE_OF_ROLLING_AVG                  ( DIAL_IN_FLOW_SAMPLE_FREQ * 2 )     // measured dialIn flow is filtered w/ moving average
 #define MAX_FLOW_FILTER_INTERVAL             5               // slowest sample interval for filter is every 5th sample
 
 typedef enum DialInPump_States
@@ -136,6 +136,7 @@
 static DIAL_IN_PUMP_STATE_T handleDialInPumpRampingUpState( void );
 static DIAL_IN_PUMP_STATE_T handleDialInPumpRampingDownState( void );
 static DIAL_IN_PUMP_STATE_T handleDialInPumpControlToTargetState( void );
+static void setDialInPumpControlSignalPWM( F32 newPWM );
 static void stopDialInPump( void );
 static void releaseDialInPumpStop( void );
 static void setDialInPumpDirection( MOTOR_DIR_T dir );
@@ -339,7 +340,7 @@
     {
         // set initial PWM duty cycle
         dialInPumpPWMDutyCyclePctSet = DIP_PWM_ZERO_OFFSET + MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( dialInPumpPWMDutyCyclePctSet * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet );
         // allow dialIn pump to run in requested direction
         setDialInPumpDirection( dialInPumpDirection );
         releaseDialInPumpStop();
@@ -369,7 +370,7 @@
     {
         // start ramp down to stop
         dialInPumpPWMDutyCyclePctSet -= MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( dialInPumpPWMDutyCyclePctSet * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet );
         result = DIAL_IN_PUMP_RAMPING_DOWN_STATE;
     }
     // have we reached end of ramp up?
@@ -383,7 +384,7 @@
     else
     {
         dialInPumpPWMDutyCyclePctSet += MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( dialInPumpPWMDutyCyclePctSet * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet );
     }
 
     return result;
@@ -420,7 +421,7 @@
     else
     {
         dialInPumpPWMDutyCyclePctSet -= MAX_DIAL_IN_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( dialInPumpPWMDutyCyclePctSet * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePctSet );
     }
 
     return result;
@@ -448,14 +449,29 @@
     {
         newPWM = runPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, tgtFlow, actFlow );
         dialInPumpPWMDutyCyclePctSet = newPWM;
-        etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( dialInPumpPWMDutyCyclePctSet * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setDialInPumpControlSignalPWM( newPWM );
         dipControlTimerCounter = 0;
     }
 
     return result;
 }
 
 /*************************************************************************
+ * @brief setDialInPumpControlSignalPWM
+ * The setDialInPumpControlSignalPWM function sets the PWM duty cycle for \n
+ * the dialysate inlet pump to a given %.
+ * @details
+ * Inputs : none
+ * Outputs : dialIn pump stop signal activated, PWM duty cycle zeroed
+ * @param newPWM : new duty cycle % to apply to PWM
+ * @return none
+ *************************************************************************/
+static void setDialInPumpControlSignalPWM( F32 newPWM )
+{
+    etpwmSetCmpA( etpwmREG2, (U32)( (S32)( ( newPWM * (F32)(etpwmREG2->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+}
+
+/*************************************************************************
  * @brief stopDialInPump
  * The stopDialInPump function sets the dialIn pump stop signal.
  * @details