Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r2eacb97f43f15f317779635681ed81051828af4f -r2593d24ad372b16af13b5e7022a86498a4010ada
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 2eacb97f43f15f317779635681ed81051828af4f)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 2593d24ad372b16af13b5e7022a86498a4010ada)
@@ -275,58 +275,64 @@
 
     // Direction change while pump is running is not allowed
     if ( ( FALSE == isBloodPumpOn ) || ( 0 == flowRate ) || ( dir == bloodPumpDirectionSet ) )
-    {
+    {
+        U32 dirFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
+
+        // Don't interrupt pump control unless rate or mode is changing
+        if ( ( dirFlowRate != targetBloodFlowRate ) || ( mode != bloodPumpControlMode ) )
+        {
 #ifndef NO_PUMP_FLOW_LIMITS
-        // Verify flow rate
-        if ( flowRate <= MAX_SET_BLOOD_FLOW_RATE )
+            // Verify flow rate
+            if ( flowRate <= MAX_SET_BLOOD_FLOW_RATE )
 #endif
-        {
-            resetBloodPumpRPMMovingAverage();
-            targetBloodFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
-            bloodPumpDirection = dir;
-            bloodPumpControlMode = mode;
-            // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
-            bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
-
-            switch ( bloodPumpState )
             {
-                case BLOOD_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
-                    if ( bloodPumpPWMDutyCyclePct < bloodPumpPWMDutyCyclePctSet )
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    break;
+                resetBloodPumpRPMMovingAverage();
+                targetBloodFlowRate = dirFlowRate;
+                bloodPumpDirection = dir;
+                bloodPumpControlMode = mode;
+                // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
+                bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
 
-                case BLOOD_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
-                    if ( bloodPumpPWMDutyCyclePct > bloodPumpPWMDutyCyclePctSet )
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
+                switch ( bloodPumpState )
+                {
+                    case BLOOD_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
+                        if ( bloodPumpPWMDutyCyclePct < bloodPumpPWMDutyCyclePctSet )
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        break;
 
-                case BLOOD_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
-                    if ( bloodPumpPWMDutyCyclePctSet > bloodPumpPWMDutyCyclePct )
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    else
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
+                    case BLOOD_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
+                        if ( bloodPumpPWMDutyCyclePct > bloodPumpPWMDutyCyclePctSet )
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
 
-                default:
-                    // Ok - not all states need to be handled here
-                    break;
+                    case BLOOD_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
+                        if ( bloodPumpPWMDutyCyclePctSet > bloodPumpPWMDutyCyclePct )
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        else
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
+
+                    default:
+                        // Ok - not all states need to be handled here
+                        break;
+                }
+                result = TRUE;
             }
-            result = TRUE;
-        }
 #ifndef NO_PUMP_FLOW_LIMITS
-        else  // Requested flow rate too high
-        {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate )
-        }
-#endif
+            else  // Requested flow rate too high
+            {
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate )
+            }
+#endif
+        }
     }
 
     return result;