Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r29b65975bb4d6a5720ef39119a9af49fafc902fa -r44e745e602377ae878e1d31f0469cdcc47248ace
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 29b65975bb4d6a5720ef39119a9af49fafc902fa)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 44e745e602377ae878e1d31f0469cdcc47248ace)
@@ -7,8 +7,8 @@
 *
 * @file    BloodFlow.c
 *
-* @author  (last)      Dara Navaei
-* @date    (last)      18-Oct-2022
+* @author  (last)      Sean Nash
+* @date    (last)      16-Dec-2022
 *
 * @author  (original)  Sean Nash
 * @date    (original)  07-Nov-2019
@@ -72,8 +72,9 @@
 #define BP_MAX_FLOW_RATE                   1320.0F          ///< Maximum measured BP flow rate allowed.
 #define BP_MIN_FLOW_RATE                  -1320.0F          ///< Minimum measured BP flow rate allowed.
 #define BP_MAX_MOTOR_SPEED_WHILE_OFF_RPM    100.0F          ///< Maximum motor speed (RPM) while motor is commanded off.
-#define BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM      5.0F            ///< Maximum difference in speed between motor and rotor (in rotor RPM).
+#define BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM      2.0F            ///< Maximum difference in speed between motor and rotor (in rotor RPM).
 #define BP_MAX_MOTOR_SPEED_ERROR_RPM        300.0F          ///< Maximum difference in speed between measured and commanded RPM.
+#define BP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT 0.15F           ///< Maximum motor speed vs target difference in percent.
 
 /// Persist time (in ms) for motor off error condition.
 static const U32 BP_OFF_ERROR_PERSIST             = ( 5 * MS_PER_SECOND );
@@ -109,7 +110,7 @@
 /// Conversion macro from mL/min to estimated PWM duty cycle %.
 #define BP_PWM_FROM_ML_PER_MIN(rate)        ( (rate) * BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * BP_GEAR_RATIO * BP_MOTOR_RPM_TO_PWM_DC_FACTOR + BP_PWM_ZERO_OFFSET )
 /// Conversion from PWM duty cycle % to commanded pump motor speed.
-#define BP_PWM_TO_MOTOR_SPEED_RPM(pwm)      ( ((pwm) - BP_PWM_ZERO_OFFSET) * 4000.0F )
+#define BP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)  ( ( ((pwm) - BP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
 /// Conversion macro from mL/min to estimated PWM duty cycle %.
 #define BP_ML_PER_MIN_FROM_PWM(pwm)         ( ( ( pwm - BP_PWM_ZERO_OFFSET ) / ( BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * BP_GEAR_RATIO * BP_MOTOR_RPM_TO_PWM_DC_FACTOR ) ) )
 
@@ -409,7 +410,7 @@
     bloodPumpRotorCounter.data++;
 
     // Calculate rotor speed (in RPM)
-    bloodPumpRotorSpeedRPM.data = ( 1.0 / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN;
+    bloodPumpRotorSpeedRPM.data = ( 1.0F / (F32)deltaTime ) * (F32)MS_PER_SECOND * (F32)SEC_PER_MIN;
     bpRotorRevStartTime = rotTime;
 
     // If we are supposed to stop pump at home position, stop pump now.
@@ -1136,14 +1137,14 @@
  * 2. while pump is controlling, measured motor speed should be within allowed range of commanded speed.
  * 3. measured motor speed should be within allowed range of measured rotor speed.
  * All 3 checks have a persistence time that must be met before an alarm is triggered.
- * @details Inputs: targetBloodFlowRate, bloodPumpSpeedRPM, bloodPumpRotorSpeedRPM
- * @details Outputs: alarm(s) may be triggered
+ * @details Inputs: bloodPumpState, targetBloodFlowRate, bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet
+ * @details Outputs: errorBloodRotorSpeedPersistTimerCtr, alarm(s) may be triggered
  * @return none
  *************************************************************************/
 static void checkBloodPumpSpeeds( void )
 {
-    F32 measMotorSpeed = fabs( getMeasuredBloodPumpSpeed() );
-    F32 measMCMotorSpeed = fabs( getMeasuredBloodPumpMCSpeed() );
+    F32 measMotorSpeed = getMeasuredBloodPumpSpeed();
+    F32 measMCMotorSpeed = getMeasuredBloodPumpMCSpeed();
 
     // Check for pump running while commanded off
     if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_OFF_CHECK,
@@ -1161,12 +1162,13 @@
     // Checks that only occur when pump is running (and beyond ramp).
     if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState )
     {
-        F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet );
+        F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredBloodPumpRotorSpeed() );
-        F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO;
-        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / BP_GEAR_RATIO );
+        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedDeltaPct = fabs( deltaRotorSpeed / measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
         if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK,
@@ -1181,7 +1183,7 @@
         }
 
         // Check measured rotor speed vs. measured motor speed while controlling to target
-        if ( deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
+        if ( ( deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) && ( measMotorSpeedDeltaPct > BP_MAX_MOTOR_SPEED_VS_TRGT_DIFF_PCT ) )
         {
             if ( ++errorBloodRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, BP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL ) )
             {