Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r46b163d19c65e8c21db7b0247bbb1af0dba1ece5 -rb66c3225a5845574b9a4214b391fff4b213e7298
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 46b163d19c65e8c21db7b0247bbb1af0dba1ece5)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision b66c3225a5845574b9a4214b391fff4b213e7298)
@@ -7,8 +7,8 @@
 *
 * @file    BloodFlow.c
 *
-* @author  (last)      Sean Nash
-* @date    (last)      09-Aug-2022
+* @author  (last)      Michael Garthwaite
+* @date    (last)      12-Oct-2022
 *
 * @author  (original)  Sean Nash
 * @date    (original)  07-Nov-2019
@@ -79,8 +79,6 @@
 static const U32 BP_OFF_ERROR_PERSIST             = ( 5 * MS_PER_SECOND );
 /// Persist time (in ms) motor speed error condition.
 static const U32 BP_MOTOR_SPEED_ERROR_PERSIST     = ( 5 * MS_PER_SECOND );
-/// Persist time (in ms) rotor speed error condition.
-static const U32 BP_ROTOR_SPEED_ERROR_PERSIST     = ( 22 * MS_PER_SECOND );
 /// Persist time (in ms) pump direction error condition.
 static const U32 BP_DIRECTION_ERROR_PERSIST       = ( 250 );
 /// Persist time period (in ms) blood pump rotor speed too fast error condition.
@@ -112,6 +110,8 @@
 #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 )
+/// 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 ) ) )
 
 /// Measured blood flow is filtered w/ moving average.
 #define SIZE_OF_ROLLING_AVG                 ( ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) * 1 )
@@ -166,6 +166,7 @@
 static MOTOR_DIR_T bloodPumpDirectionSet = MOTOR_DIR_FORWARD;                       ///< Currently set blood flow direction
 static PUMP_CONTROL_MODE_T bloodPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;    ///< Requested blood pump control mode.
 static PUMP_CONTROL_MODE_T bloodPumpControlModeSet = PUMP_CONTROL_MODE_CLOSED_LOOP; ///< Currently set blood pump control mode.
+static U32 errorBloodRotorSpeedPersistTimerCtr = 0;                                 ///< Persistence timer counter for rotor speed error condition.
 
 /// Interval (in task intervals) at which to publish blood flow data to CAN bus.
 static OVERRIDE_U32_T bloodFlowDataPublishInterval = { BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL, 0 };
@@ -254,7 +255,6 @@
     // Initialize persistent alarm for flow sensor
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_OFF_CHECK, 0, BP_OFF_ERROR_PERSIST );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK, 0, BP_MOTOR_SPEED_ERROR_PERSIST );
-    initPersistentAlarm( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, 0, BP_ROTOR_SPEED_ERROR_PERSIST );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK, 0, BP_DIRECTION_ERROR_PERSIST );
     initTimeWindowedCount( TIME_WINDOWED_COUNT_BP_COMMUTATION_ERROR, BP_COMMUTATION_ERROR_MAX_CNT, BP_COMMUTATION_ERROR_TIME_WIN_MS );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH, 0, BP_MAX_ROTOR_SPEED_ERROR_PERSIST );
@@ -1164,7 +1164,7 @@
         F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
-        F32 measRotorSpeed = getMeasuredBloodPumpRotorSpeed();
+        F32 measRotorSpeed = fabs( getMeasuredBloodPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
@@ -1181,20 +1181,28 @@
         }
 
         // Check measured rotor speed vs. measured motor speed while controlling to target
-        if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM ) ) )
+        if ( deltaRotorSpeed > BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
         {
+            if ( ++errorBloodRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, BP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL ) )
+            {
 #ifndef _RELEASE_
-          if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_SPEED_CHECKS ) != SW_CONFIG_ENABLE_VALUE )
+                if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_SPEED_CHECKS ) != SW_CONFIG_ENABLE_VALUE )
 #endif
-          {
-            SET_ALARM_WITH_2_F32_DATA( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, measRotorSpeed, measMotorSpeed );
-          }
+                {
+                    SET_ALARM_WITH_2_F32_DATA( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK, measRotorSpeed, measMotorSpeed );
+                }
+            }
+        }
+        else
+        {
+            errorBloodRotorSpeedPersistTimerCtr = 0;
         }
     }
     else
     {
         resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_MOTOR_SPEED_CHECK );
-        resetPersistentAlarmTimer( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK );
+        errorBloodRotorSpeedPersistTimerCtr = 0;
+
     }
 }
 
@@ -1634,5 +1642,27 @@
 
     return result;
 }
+
+/*********************************************************************//**
+ * @brief
+ * The testSetBloodPumpTargetDutyCycle function sets the duty cycle of the
+ * blood pump by calling setBloodPumpTargetFlowRate.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @param value duty cycle of the blood pump (as a percentage).
+ * @return TRUE if reset successful, FALSE if not
+ *************************************************************************/
+BOOL testSetBloodPumpTargetDutyCycle( F32 value )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        setBloodPumpTargetFlowRate( (U32)BP_ML_PER_MIN_FROM_PWM( value ), MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        result = TRUE;
+    }
+
+    return result;
+}
 
 /**@}*/