Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r07a5add2dff254f7be3699e4efac2b99d3554847 -r9a9d04b84f4345fca87fb14d26f09d497b08aae8
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 07a5add2dff254f7be3699e4efac2b99d3554847)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 9a9d04b84f4345fca87fb14d26f09d497b08aae8)
@@ -135,6 +135,7 @@
 static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void );
 static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void );
 static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void );
+static void setBloodPumpControlSignalPWM( F32 newPWM );
 static void stopBloodPump( void );
 static void releaseBloodPumpStop( void );
 static void setBloodPumpDirection( MOTOR_DIR_T dir );
@@ -338,7 +339,7 @@
     {
         // set initial PWM duty cycle
         bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET + MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
         // allow blood pump to run in requested direction
         setBloodPumpDirection( bloodPumpDirection );
         releaseBloodPumpStop();
@@ -368,7 +369,7 @@
     {
         // start ramp down to stop
         bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
         result = BLOOD_PUMP_RAMPING_DOWN_STATE;
     }
     // have we reached end of ramp up?
@@ -382,7 +383,7 @@
     else
     {
         bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
     }
 
     return result;
@@ -419,7 +420,7 @@
     else
     {
         bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
     }
 
     return result;
@@ -447,14 +448,29 @@
     {
         newPWM = runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow );
         bloodPumpPWMDutyCyclePctSet = newPWM;
-        etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+        setBloodPumpControlSignalPWM( newPWM );
         bpControlTimerCounter = 0;
     }
 
     return result;
 }
 
 /*************************************************************************
+ * @brief setBloodPumpControlSignalPWM
+ * The setBloodPumpControlSignalPWM function sets the PWM duty cycle for \n
+ * the blood pump to a given %.
+ * @details
+ * Inputs : none
+ * Outputs : blood pump stop signal activated, PWM duty cycle zeroed
+ * @param newPWM : new duty cycle % to apply to PWM
+ * @return none
+ *************************************************************************/
+static void setBloodPumpControlSignalPWM( F32 newPWM )
+{
+    etpwmSetCmpA( etpwmREG1, (U32)( (S32)( ( newPWM * (F32)(etpwmREG1->TBPRD) ) + FLOAT_TO_INT_ROUNDUP_OFFSET ) ) );
+}
+
+/*************************************************************************
  * @brief stopBloodPump
  * The stopBloodPump function sets the blood pump stop signal.
  * @details