Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r2a368aaf6d568f021e1bba806bf46e1174250f56 -r90945afbe3866bf383c44c2a1f52438192c267c5
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 2a368aaf6d568f021e1bba806bf46e1174250f56)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 90945afbe3866bf383c44c2a1f52438192c267c5)
@@ -57,7 +57,7 @@
 #define BP_P_COEFFICIENT                    0.0001F         ///< P term for blood pump control
 #define BP_I_COEFFICIENT                    0.00075F        ///< I term for blood pump control
 
-#define BP_HOME_RATE                        100             ///< Target pump speed (in estimate mL/min) for homing.
+#define BP_HOME_SPEED                       400             ///< Target pump speed (in RPM) for homing.
 #define BP_HOME_TIMEOUT_MS                  10000           ///< Maximum time (in ms) allowed for homing to complete.
 #define BP_MAX_ROTOR_HALL_INTERVAL_MS       20000           ///< Maximum time (in ms) allowed between rotor hall sensor detects (50 mL/min worst case).
 
@@ -106,11 +106,14 @@
 #define BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR    ( BP_REV_PER_LITER / ML_PER_LITER )     ///< Conversion factor from mL/min to motor RPM.
 #define BP_GEAR_RATIO                       32.0F           ///< Blood pump motor to blood pump gear ratio.
 #define BP_PWM_ZERO_OFFSET                  0.1F            ///< 10 pct PWM duty cycle = zero speed.
+#define BP_100_PCT_PWM_RPM_RANGE            4000.0F         ///< 10-90% PWM range yields 0-3,200 RPM range.  Full 100% PWM range would yield 4,000 RPM range.
 
 /// 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,dir)  ( ( ((pwm) - BP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
+#define BP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)  ( ( ((pwm) - BP_PWM_ZERO_OFFSET) * BP_100_PCT_PWM_RPM_RANGE ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
+/// Conversion from RPM to PWM duty cycle %.
+#define BP_MOTOR_SPEED_RPM_TO_PWM(rpm)      ( ( (F32)(rpm) / BP_100_PCT_PWM_RPM_RANGE ) + BP_PWM_ZERO_OFFSET )
 /// 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 ) ) )
 
@@ -351,6 +354,26 @@
     }
 
     return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setBloodPumpTargetRPM function sets a new target pump speed and pump
+ * direction.  Pump is set to open loop control.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @param rpm new target blood pump speed (in RPM)
+ * @param dir new blood flow direction
+ * @return TRUE if new flow rate & direction are set, FALSE if not
+ *************************************************************************/
+BOOL setBloodPumpTargetRPM( U32 rpm, MOTOR_DIR_T dir )
+{
+    BOOL result = FALSE;
+    F32 pwm = BP_MOTOR_SPEED_RPM_TO_PWM( rpm );
+
+    result = setBloodPumpTargetFlowRate( (U32)BP_ML_PER_MIN_FROM_PWM( pwm ), dir, PUMP_CONTROL_MODE_OPEN_LOOP );
+
+    return result;
 }
 
 /*********************************************************************//**
@@ -436,7 +459,7 @@
     {
         bpStopAtHomePosition = TRUE;
         bpHomeStartTime = getMSTimerCount();
-        result = setBloodPumpTargetFlowRate( BP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        result = setBloodPumpTargetRPM( BP_HOME_SPEED, MOTOR_DIR_FORWARD );
     }
 
     return result;