Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r1bbf9da32e622975efed00b1a7589387a9829440 -r197ee67d1cc0e0e3c80ccae58858dda09cad0834
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 1bbf9da32e622975efed00b1a7589387a9829440)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 197ee67d1cc0e0e3c80ccae58858dda09cad0834)
@@ -321,7 +321,7 @@
     {
         // set initial PWM duty cycle
         bloodPumpPWMDutyCyclePctSet = MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) );
+        etpwmSetCmpA( etpwmREG1, (U32)( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) + FLOAT_TO_INT_ROUNDUP_OFFSET ) );
         // allow blood pump to run in requested direction
         setBloodPumpDirection( bloodPumpDirection );
         releaseBloodPumpStop();
@@ -353,7 +353,7 @@
     {
         // start ramp down to stop
         bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) );
+        etpwmSetCmpA( etpwmREG1, (U32)( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) + FLOAT_TO_INT_ROUNDUP_OFFSET ) );
         result = BLOOD_PUMP_RAMPING_DOWN_STATE;
     }
     // have we reached end of ramp up?
@@ -365,7 +365,7 @@
     else
     {
         bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) );
+        etpwmSetCmpA( etpwmREG1, (U32)( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) + FLOAT_TO_INT_ROUNDUP_OFFSET ) );
     }
 
     return result;
@@ -400,7 +400,7 @@
     else
     {
         bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
-        etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) );
+        etpwmSetCmpA( etpwmREG1, (U32)( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) + FLOAT_TO_INT_ROUNDUP_OFFSET ) );
     }
 
     return result;
@@ -446,7 +446,7 @@
         newPWM = bloodPumpPWMDutyCyclePctSet + pTerm + iTerm;
         newPWM = RANGE( newPWM, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, MAX_BLOOD_PUMP_PWM_DUTY_CYCLE );
         bloodPumpPWMDutyCyclePctSet = newPWM;
-        etpwmSetCmpA( etpwmREG1, (U32)(bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD)) );
+        etpwmSetCmpA( etpwmREG1, (U32)( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) + FLOAT_TO_INT_ROUNDUP_OFFSET ) );
         bpControlTimerCounter = 0;
     }