Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r7e22520266e7e928bc0f37e312e293844a3d8a26 -ra07d9c4f115d1fed3c40c129edb5125d29070920
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 7e22520266e7e928bc0f37e312e293844a3d8a26)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision a07d9c4f115d1fed3c40c129edb5125d29070920)
@@ -88,6 +88,7 @@
 #define TEN_PCT_OVER_ALLOWANCE                        1.1F                                  ///< Allow 10 percent over target before alarming on over travel.
 #define FIVE_PCT_OVER_ALLOWANCE                       1.05F                                 ///< Allow 5 percent over target before alarming on over travel.
 #define SYRINGE_PUMP_DAC_VOLTAGE_MAX_ERROR            0.05F                                 ///< Force sensor POST check for DAC voltage - max delta.
+#define MIN_SYRINGE_PUMP_RATE_FOR_DIR_ALARM           0.5F                                  ///< Minimum measured rate (in mL/hr) required before enforcing direction alarm.
 
 /// Expected position of empty in relation to home position.
 #define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 10.84F )
@@ -488,7 +489,7 @@
  *************************************************************************/
 BOOL retractSyringePump( void )
 {
-    if ( ( isSyringePumpHome() != TRUE ) && ( SYRINGE_PUMP_OFF_STATE == syringePumpState ) )
+    if ( SYRINGE_PUMP_OFF_STATE == syringePumpState )
     {
         heparinDeliveryState        = HEPARIN_STATE_STOPPED;
         syringePumpSetRate          = SYRINGE_PUMP_RETRACT_RATE;
@@ -1603,15 +1604,24 @@
     if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
 #endif
     {
-        if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, ( syringePumpEncoderMeasuredDirection != expDir ) ) )
+        // Check direction if rate >= minimum for alarm
+        if ( getSyringePumpMeasRate() >= MIN_SYRINGE_PUMP_RATE_FOR_DIR_ALARM )
         {
-            result = TRUE;
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, (U32)syringePumpEncoderMeasuredDirection, (U32)syringePumpState );
+            if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, ( syringePumpEncoderMeasuredDirection != expDir ) ) )
+            {
+                result = TRUE;
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, (U32)syringePumpEncoderMeasuredDirection, (U32)syringePumpState );
+            }
+            if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, ( syringePumpControllerMeasuredDirection != expDir ) ) )
+            {
+                result = TRUE;
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, (U32)syringePumpControllerMeasuredDirection, (U32)syringePumpState );
+            }
         }
-        if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, ( syringePumpControllerMeasuredDirection != expDir ) ) )
+        else
         {
-            result = TRUE;
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, (U32)syringePumpControllerMeasuredDirection, (U32)syringePumpState );
+            isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, FALSE );
+            isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, FALSE );
         }
     }
 
@@ -1969,13 +1979,14 @@
     }
 }
 
-
-/*************************************************************************
- *                       TEST SUPPORT FUNCTIONS
- *************************************************************************/
 
+/*************************************************************************
+ *                       TEST SUPPORT FUNCTIONS
+ *************************************************************************/
 
 
+
+
 /*********************************************************************//**
  * @brief
  * The testSetSyringePumpDataPublishIntervalOverride function overrides the