Index: firmware/App/Modes/Dialysis.c
===================================================================
diff -u -r07a39ac5f935a84b2dbb93e3f3d3b3eaa8f37cc4 -rcd5be724d5a3ba7457e761191d82f278654d7f5c
--- firmware/App/Modes/Dialysis.c	(.../Dialysis.c)	(revision 07a39ac5f935a84b2dbb93e3f3d3b3eaa8f37cc4)
+++ firmware/App/Modes/Dialysis.c	(.../Dialysis.c)	(revision cd5be724d5a3ba7457e761191d82f278654d7f5c)
@@ -1,14 +1,14 @@
 /**************************************************************************
 *
-* Copyright (c) 2020-2023 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2020-2024 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.
 *
 * @file    Dialysis.c
 *
 * @author  (last)      Sean Nash
-* @date    (last)      11-Jul-2023
+* @date    (last)      11-Oct-2023
 *
 * @author  (original)  Sean
 * @date    (original)  15-Jan-2020
@@ -40,8 +40,8 @@
 
 // ********** private definitions **********
 
-#define MAX_UF_VOLUME_ACCURACY_ERROR_ML         100.0F                          ///< Maximum ultrafiltration volume accuracy error in mL over the entire treatment.
-#define MAX_UF_RATE_ACCURACY_ERROR_ML_MIN       10.0F                           ///< Maximum ultrafiltration rate accuracy error in mL/min over use of single reservoir during treatment.
+#define MAX_UF_VOLUME_ACCURACY_ERROR_ML                   100.0F                ///< Maximum ultrafiltration volume accuracy error in mL over the entire treatment.
+#define LOAD_CELL_PRIMARY_BACKUP_MAX_ALLOWED_DRIFT_GRAMS  20.0F                 ///< Reservoir load cell drift difference allowed
 
 /// Saline bolus data broadcast interval (ms/task time) count.
 static const U32 SALINE_BOLUS_DATA_PUB_INTERVAL = ( MS_PER_SECOND / TASK_GENERAL_INTERVAL );
@@ -277,11 +277,12 @@
     F32 hepRate  = getTreatmentParameterF32( TREATMENT_PARAM_HEPARIN_DISPENSE_RATE );
 
     // Do not run syringe pump if no Heparin included in prescription or it was paused or if Heparin should be stopped at this stage of treatment
-    if ( ( minRem > (F32)preStop ) && ( HEPARIN_STATE_STOPPED == currentHeparinState ) )
+    if ( ( minRem > (F32)preStop ) &&
+         ( ( HEPARIN_STATE_STOPPED == currentHeparinState ) || ( HEPARIN_STATE_DISPENSING == currentHeparinState ) ) )
     {
         if ( hepRate > 0.0 )
         {
-            startHeparinContinuous();  // TODO - check return status
+            startHeparinContinuous();
         }
         else
         {
@@ -396,7 +397,7 @@
     {
         accept = TRUE;
         salineBolusStartRequested = TRUE;
-        signalInitiatePressureStabilization();
+        signalInitiatePressureStabilization( USE_NORMAL_STABILIZATION_PERIOD );
     }
 
     // Send response
@@ -437,7 +438,7 @@
     {
         accept = TRUE;
         salineBolusAbortRequested = TRUE;
-        signalInitiatePressureStabilization();
+        signalInitiatePressureStabilization( USE_NORMAL_STABILIZATION_PERIOD );
     }
 
     // Send response
@@ -522,7 +523,7 @@
 /*********************************************************************//**
  * @brief
  * The pauseUF function pauses ultrafiltration.
- * @details Inputs: currentDialysisState, currentUFState
+ * @details Inputs: currentDialysisState, currentUFState, setUFRate
  * @details Outputs: currentUFState, outlet pump set point
  * @return TRUE if pause successful, FALSE if not
  *************************************************************************/
@@ -537,10 +538,12 @@
          ( DIALYSIS_UF_STATE == currentDialysisState ) && ( UF_RUNNING_STATE == currentUFState ) )
     {
         result = TRUE;
-        sendTreatmentLogEventData( UF_PAUSE_EVENT, setUFRate, 0.0 );
+        if ( setUFRate > 0.0 )
+        {
+            sendTreatmentLogEventData( UF_PAUSE_EVENT, setUFRate, 0.0 );
+        }
         // Go to UF paused state
         currentUFState = UF_PAUSED_STATE;
-        sendTreatmentLogEventData( UF_START_RESUME_EVENT, UF_RUNNING_STATE, UF_PAUSED_STATE );
     }
     else
     {
@@ -571,7 +574,7 @@
 /*********************************************************************//**
  * @brief
  * The resumeUF function resumes ultrafiltration.
- * @details Inputs: currentDialysisState, currentUFState
+ * @details Inputs: currentDialysisState, currentUFState, setUFRate
  * @details Outputs: currentUFState, outlet pump set point
  * @return TRUE if resume successful, FALSE if not
  *************************************************************************/
@@ -586,12 +589,14 @@
          ( DIALYSIS_UF_STATE == currentDialysisState ) && ( UF_PAUSED_STATE == currentUFState ) )
     {
         result = TRUE;
-        sendTreatmentLogEventData( UF_START_RESUME_EVENT, 0.0, setUFRate );
+        if ( setUFRate > 0.0 )
+        {
+            sendTreatmentLogEventData( UF_START_RESUME_EVENT, 0.0, setUFRate );
+        }
         // Restart UF time accumulation for reference volume calculation
         lastUFTimeStamp = getMSTimerCount();
         // Go to UF running state
         currentUFState = UF_RUNNING_STATE;
-        sendTreatmentLogEventData( UF_START_RESUME_EVENT, UF_PAUSED_STATE, UF_RUNNING_STATE );
     }
     else
     {
@@ -860,9 +865,9 @@
     {
         salineBolusStartRequested = FALSE;
         // Cmd all pumps to stop
-        setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
-        setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
-        setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
+        setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
         stopSyringePump();
         // Begin saline bolus
         result = SALINE_BOLUS_STATE_WAIT_FOR_PUMPS_STOP;
@@ -986,7 +991,7 @@
                 sendOperationStatusEvent();
 
             }
-            signalInitiatePressureStabilization();
+            signalInitiatePressureStabilization( USE_NORMAL_STABILIZATION_PERIOD );
             // Resume dialysis
             transitionToDialysis();
         }