Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -raa6d45143096dfab776ce2ed7c775cfe2dd6db18 -rae3240cfb3237c01472168fee0bfc6beb34e0ed9
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision aa6d45143096dfab776ce2ed7c775cfe2dd6db18)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision ae3240cfb3237c01472168fee0bfc6beb34e0ed9)
@@ -43,8 +43,6 @@
 #define H4_ROT_PERIOD_TO_HZ(p)  ( 1.0F / (F32)((S32)(p) * H4_ROT_PERIOD_SEC) )  ///< Blood pump rotor period to Hz conversion macro.
 #define H4_ROT_PERIOD_TO_RPM(p) ((H4_ROT_PERIOD_TO_HZ(p)) * (F32)SEC_PER_MIN)   ///< Blood pump rotor period to RPM conversion macro.
 
-#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 **********
@@ -153,6 +151,18 @@
 
 /*********************************************************************//**
  * @brief
+ * The cancelPeristalticPumpHome function cancels a pump home operation.
+ * @details \b Inputs: none
+ * @details \b Outputs: pumpHomeInProgress
+ * @return none
+ *************************************************************************/
+void cancelPeristalticPumpHome( void )
+{
+    pumpHomeInProgress = FALSE;
+}
+
+/*********************************************************************//**
+ * @brief
  * The isPeristalticPumpHome function determines whether the rotor is currently
  * in the home position.
  * @details \b Inputs: FPGA
@@ -161,14 +171,27 @@
  *************************************************************************/
 BOOL isPeristalticPumpHome( void )
 {
-    U08  status = getH6Status() & H6_STATUS_HOME_BIT_POS;
-    BOOL result = ( status != 0 ? TRUE : FALSE );
+    U08  status = getH6RotorStatus() & H6_STATUS_HOME_BIT_POS;
+    BOOL result = ( status != 0 ? FALSE : TRUE );
 
     return result;
 }
 
 /*********************************************************************//**
  * @brief
+ * The isPumpHomeInProgress function determines whether a home operation is
+ * currently in progress.
+ * @details \b Inputs: pumpHomeInProgress
+ * @details \b Outputs: none
+ * @return pumpHomeInProgress
+ *************************************************************************/
+BOOL isPumpHomeInProgress( void )
+{
+    return pumpHomeInProgress;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setPeristalticPumpSetSpeed function sets the target pump speed (in RPM).
  * @note A negative set speed indicates reverse (CCW) direction.
  * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given set speed is out