Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r29b65975bb4d6a5720ef39119a9af49fafc902fa -r59a959e90acca96b44158dcd65706e83069dc859
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 29b65975bb4d6a5720ef39119a9af49fafc902fa)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 59a959e90acca96b44158dcd65706e83069dc859)
@@ -109,7 +109,7 @@
 /// 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 : -1 ) )
 /// 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 ) ) )
 
@@ -1142,8 +1142,8 @@
  *************************************************************************/
 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,
@@ -1161,11 +1161,11 @@
     // 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 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / BP_GEAR_RATIO );
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target