Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r5bfaf341319b9fd763d07ad0a68a986028c37587 -rf7cdfd3256f195cd8aa06e28009cd5f26b50f08c
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 5bfaf341319b9fd763d07ad0a68a986028c37587)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision f7cdfd3256f195cd8aa06e28009cd5f26b50f08c)
@@ -7,8 +7,8 @@
 *
 * @file    BloodFlow.c
 *
-* @author  (last)      Dara Navaei
-* @date    (last)      06-Nov-2021
+* @author  (last)      Sean Nash
+* @date    (last)      15-Nov-2021
 *
 * @author  (original)  Sean Nash
 * @date    (original)  07-Nov-2019
@@ -50,18 +50,23 @@
 #define MIN_BLOOD_PUMP_PWM_DUTY_CYCLE       0.10            ///< Controller will error if PWM duty cycle < 10%, so set min to 10%
 
 #define BP_CONTROL_INTERVAL_SEC             10              ///< Blood pump control interval (in seconds).
+
 /// Interval (ms/task time) at which the blood pump is controlled.
-static const U32 BP_CONTROL_INTERVAL      = ( BP_CONTROL_INTERVAL_SEC * MS_PER_SECOND / TASK_GENERAL_INTERVAL );
+static const U32 BP_CONTROL_INTERVAL      = ( BP_CONTROL_INTERVAL_SEC * MS_PER_SECOND / TASK_GENERAL_INTERVAL );
+
 #define BP_P_COEFFICIENT                    0.0001          ///< P term for blood pump control
 #define BP_I_COEFFICIENT                    0.00075         ///< I term for blood pump control
 
 #define BP_HOME_RATE                        100             ///< Target pump speed (in estimate mL/min) 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).
+#define BP_MAX_ROTOR_HALL_INTERVAL_MS       20000           ///< Maximum time (in ms) allowed between rotor hall sensor detects (50 mL/min worst case).
+
 /// Interval (ms/task time) at which the blood pump speed is calculated (every 40 ms).
-#define BP_SPEED_CALC_INTERVAL              ( 40 / TASK_PRIORITY_INTERVAL )
+#define BP_SPEED_CALC_INTERVAL              ( 40 / TASK_PRIORITY_INTERVAL )
+
 /// Number of hall sensor counts kept in buffer to hold last 1 second of count data.
 #define BP_SPEED_CALC_BUFFER_LEN            ( MS_PER_SECOND / BP_SPEED_CALC_INTERVAL / TASK_PRIORITY_INTERVAL )
+
 #define BP_MAX_ROTOR_SPEED_RPM              100.0           ///< Maximum rotor speed allowed for blood pump.
 
 #define BP_MAX_FLOW_RATE                   1320.0           ///< Maximum measured BP flow rate allowed.
@@ -98,7 +103,8 @@
 #define BP_ML_PER_ROTOR_REV                 6.81            ///< Milliliters per rotor revolusion.
 #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                       32.0            ///< Blood pump motor to blood pump gear ratio.
-#define BP_PWM_ZERO_OFFSET                  0.1             ///< 10% PWM duty cycle = zero speed.
+#define BP_PWM_ZERO_OFFSET                  0.1             ///< 10 pct PWM duty cycle = zero speed.
+
 /// 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.
@@ -374,7 +380,7 @@
  * hall sensor detection.  Calculates rotor speed (in RPM).  Stops pump if
  * there is a pending request to home the pump.
  * @details Inputs: bpRotorRevStartTime, bpStopAtHomePosition
- * @details Outputs: bpRotorRevStartTime, bloodPumpRotorSpeedRPM
+ * @details Outputs: bpRotorRevStartTime, bloodPumpRotorSpeedRPM, bloodPumpRotorCounter
  * @return none
  *************************************************************************/
 void signalBloodPumpRotorHallSensor( void )
@@ -759,6 +765,18 @@
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_INVALID_BLOOD_PUMP_DIRECTION, dir )
             break;
     }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getTargetBloodFlowRate function gets the target blood flow rate.
+ * @details Inputs: targetBloodFlowRate
+ * @details Outputs: none
+ * @return the current target blood flow rate (in mL/min).
+ *************************************************************************/
+S32 getTargetBloodFlowRate( void )
+{
+    return targetBloodFlowRate;
 }
 
 /*********************************************************************//**
@@ -1121,8 +1139,8 @@
  * @brief
  * The checkBloodPumpMCCurrent function checks the measured MC current vs.
  * the set state of the blood pump (stopped or running).
- * @details Inputs:
- * @details Outputs:
+ * @details Inputs: BP motor controller measured current.
+ * @details Outputs: Alarm triggered it current too high.
  * @return none
  *************************************************************************/
 static void checkBloodPumpMCCurrent( void )