Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -rab35376c6b8ff81a4aa4095eb6c9bd33e1bf46d4 -r18783d138aec872e3f5b73e60e14e3c53bf740ec
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision ab35376c6b8ff81a4aa4095eb6c9bd33e1bf46d4)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 18783d138aec872e3f5b73e60e14e3c53bf740ec)
@@ -27,19 +27,22 @@
 
 // ********** private definitions **********
 
-#define MAX_PUMP_SPEED_RPM      5000U                                       ///< Maximum speed (in RPM) that a peristaltic pump can be set to.
+#define MAX_PUMP_SPEED_RPM      3080U                                           ///< Maximum speed (in RPM) that a peristaltic pump can be set to.
+#define BP_PUMP_CMD_GAIN        0.9F                                            ///< Gain for blood pump commanded RPM that must be applied before sending to FPGA.
+#define BP_PUMP_CMD_OFFSET      80.0F                                           ///< Offset for blood pump commanded RPM that must be applied before sending to FPGA.
+#define BP_PUMP_CMD_CAL(r)      ((r) * BP_PUMP_CMD_GAIN + BP_PUMP_CMD_OFFSET )  ///< Macro to calibrate a commanded blood pump RPM before sending to FPGA.
 
-#define BP_PERIOD_SEC           0.00001F                                    ///< Blood pump feedback period in seconds.
-#define BP_HZ_TO_RPM_SCALAR     10.0F                                       ///< Blood pump Hz to RPM scalar.
-#define BP_PERIOD_TO_HZ(p)      ( 1.0F / (F32)((S32)(p) * BP_PERIOD_SEC) )  ///< Blood pump period to Hz conversion macro.
-#define BP_HZ_TO_RPM(h)         ((h) * BP_HZ_TO_RPM_SCALAR)                 ///< Blood pump Hz to RPM conversion macro.
-#define BP_ZERO_SPEED_PERIOD    0xFFFF                                      ///< Blood pump period reported when pump is stopped.
+#define BP_PERIOD_SEC           0.00001F                                        ///< Blood pump feedback period in seconds.
+#define BP_HZ_TO_RPM_SCALAR     10.0F                                           ///< Blood pump Hz to RPM scalar.
+#define BP_PERIOD_TO_HZ(p)      ( 1.0F / (F32)((S32)(p) * BP_PERIOD_SEC) )      ///< Blood pump period to Hz conversion macro.
+#define BP_HZ_TO_RPM(h)         ((h) * BP_HZ_TO_RPM_SCALAR)                     ///< Blood pump Hz to RPM conversion macro.
+#define BP_ZERO_SPEED_PERIOD    0xFFFF                                          ///< Blood pump period reported when pump is stopped.
 
 // ********** private data **********
 
-static S32 pumpSetSpeedRPM;                                                 ///< Current set speed for the pump (in RPM).  Negative indicates reverse direction.
-static OVERRIDE_F32_T pumpMeasSpeedRPM;                                     ///< Latest measured pump speed (in RPM).
-static BOOL pumpHomeRequested;                                              ///< Flag indicates a pump home operation has been requested.
+static S32 pumpSetSpeedRPM;                                                     ///< Current set speed for the pump (in RPM).  Negative indicates reverse direction.
+static OVERRIDE_F32_T pumpMeasSpeedRPM;                                         ///< Latest measured pump speed (in RPM).
+static BOOL pumpHomeRequested;                                                  ///< Flag indicates a pump home operation has been requested.
 
 // ********** private function prototypes **********
 
@@ -78,14 +81,14 @@
  *************************************************************************/
 void readPeristalticPumps( void )
 {
-    S16 period = (S16)getBPPeriod();
+    U16 period = getBPPeriod();
     F32 Hz     = BP_PERIOD_TO_HZ(period);
     F32 rpm    = BP_HZ_TO_RPM(Hz);
 
     // update measured pump speed
     if ( period != BP_ZERO_SPEED_PERIOD )
     {
-        if ( pumpSetSpeedRPM < 0 )
+        if ( pumpSetSpeedRPM < 0 )  // TODO - can we get a real measured direction to base measured speed sign on?
         {
             pumpMeasSpeedRPM.data = rpm * -1.0F;
         }
@@ -137,7 +140,8 @@
 
     if ( abs( rpm ) < MAX_PUMP_SPEED_RPM )
     {
-        U16 setRpm      = (U16)( abs( rpm ) );
+        F32 calRpm      = BP_PUMP_CMD_CAL( (F32)rpm );
+        U16 setRpm      = (U16)( abs( (S32)calRpm ) );
         MOTOR_DIR_T dir = MOTOR_DIR_FORWARD;
 
         if ( rpm < 0 )
@@ -192,41 +196,5 @@
     return result;
 }
 
-
-/*************************************************************************
- *                       TEST SUPPORT FUNCTIONS
- *************************************************************************/
-
-
-/*********************************************************************//**
- * @brief
- * The testSetPeristalticPumpSetSpeed function sets the pump to a given speed
- * (RPM).  A negative speed indicates reverse (CCW) direction.
- * @details \b Inputs: none
- * @details \b Outputs: pumpSetSpeedRPM
- * @param message set message from Dialin which includes the speed (RPM) to set
- * the peristaltic pump to.
- * @return TRUE if set request is successful, FALSE if not
- *************************************************************************/
-BOOL testSetPeristalticPumpSetSpeed( MESSAGE_T *message )
-{
-    BOOL result = FALSE;
-
-    // Verify tester has logged in with TD and override type is valid
-    if ( TRUE == isTestingActivated() )
-    {
-        // Verify payload length is valid
-        if ( sizeof( S32 ) == message->hdr.payloadLen )
-        {
-            S32 speed;
-
-            memcpy( &speed, message->payload, sizeof(S32) );
-            result = setPeristalticPumpSetSpeed( (S16)speed );
-        }
-    }
-
-    return result;
-}
-
 /**@}*/