Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -r036a75d76ab01912646a480b935d97187a231a19 -r52e1d4487a69a1ef0475321084527c0ba86c0892
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 036a75d76ab01912646a480b935d97187a231a19)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 52e1d4487a69a1ef0475321084527c0ba86c0892)
@@ -38,6 +38,10 @@
 #define H4_HZ_TO_RPM(h)         ((h) * H4_HZ_TO_RPM_SCALAR)                     ///< Blood pump Hz to RPM conversion macro.
 #define H4_ZERO_SPEED_PERIOD    0xFFFF                                          ///< Blood pump period reported when pump is stopped.
 
+#define H4_HOME_SPEED_RPM       400                                             ///< Blood pump set speed for rotor homing operation.
+
+#define H6_STATUS_HOME_BIT_POS  0x1                                             ///< Bit position in H6 status register that indicates whether rotor is in home position.
+
 // ********** private data **********
 
 static S32 pumpSetSpeedRPM;                                                     ///< Current set speed for the pump (in RPM).  Negative indicates reverse direction.
@@ -64,7 +68,6 @@
     pumpMeasSpeedRPM.override = OVERRIDE_RESET;
 
     setH4Direction( MOTOR_DIR_FORWARD );
-    resetH4HomeRequest();
     setH4SetSpeed( 0 );
     setH4Enabled( TRUE );
 }
@@ -102,11 +105,11 @@
         pumpMeasSpeedRPM.data = 0.0F;
     }
 
-    // clear home command if previously requested
-    if ( TRUE == pumpHomeRequested )
+    // monitor home command status if in progress, stop pump if rotor in home position
+    if ( ( TRUE == pumpHomeRequested ) && ( TRUE == isPeristalticPumpHome() ) )
     {
         pumpHomeRequested = FALSE;
-        resetH4HomeRequest();
+        setPeristalticPumpSetSpeed( 0 );
     }
 }
 
@@ -115,12 +118,36 @@
  * The cmdPeristalticPumpHome function initiates a pump home operation.
  * @details \b Inputs: none
  * @details \b Outputs: pumpHomeRequested, FPGA
+ * @return TRUE if home operation is initiated, FALSE if not
+ *************************************************************************/
+BOOL cmdPeristalticPumpHome( void )
+{
+    BOOL result = FALSE;
+
+    if ( ( 0 == pumpSetSpeedRPM ) && ( pumpHomeRequested != TRUE ) )
+    {
+        result = TRUE;
+        pumpHomeRequested = TRUE;
+        setPeristalticPumpSetSpeed( H4_HOME_SPEED_RPM );
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The isPeristalticPumpHome function determines whether the rotor is currently
+ * in the home position.
+ * @details \b Inputs: FPGA
+ * @details \b Outputs: none
  * @return none
  *************************************************************************/
-void cmdPeristalticPumpHome( void )
+BOOL isPeristalticPumpHome( void )
 {
-    pumpHomeRequested = TRUE;
-    homeH4();
+    U08  status = getH6Status() & H6_STATUS_HOME_BIT_POS;
+    BOOL result = ( status != 0 ? TRUE : FALSE );
+
+    return result;
 }
 
 /*********************************************************************//**