Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r5e85dc21e918ecdae841f8398bca20ff8823c52b -rafa9d4924d55ac4fc98270a012e92dd1f6ee65d0
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 5e85dc21e918ecdae841f8398bca20ff8823c52b)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision afa9d4924d55ac4fc98270a012e92dd1f6ee65d0)
@@ -49,10 +49,11 @@
 #define MAX_BLOOD_PUMP_PWM_DUTY_CYCLE       0.89            ///< Controller will error if PWM duty cycle > 90%, so set max to 89%
 #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      = ( 10000 / TASK_GENERAL_INTERVAL );
-#define BP_P_COEFFICIENT                    0.00035         ///< P term for blood pump control
-#define BP_I_COEFFICIENT                    0.00035         ///< I term for blood pump control
+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 allowed for homing to complete (in ms).
@@ -85,7 +86,7 @@
 
 #ifndef V2_0_SYSTEM
     #define BP_SPEED_ADC_TO_RPM_FACTOR          1.751752    ///< Conversion factor from ADC counts to RPM for blood pump motor
-    #define BP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.00025     ///< ~40 BP motor RPM = 1% PWM duty cycle
+    #define BP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.000238    ///< ~42 BP motor RPM = 1% PWM duty cycle
 #else
     #define BP_SPEED_ADC_TO_RPM_FACTOR          1.280938    ///< Conversion factor from ADC counts to RPM for blood pump motor
     #define BP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.0003125   ///< ~32 BP motor RPM = 1% PWM duty cycle
@@ -107,7 +108,7 @@
 #define SIZE_OF_ROLLING_AVG                 ( ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) * 10 )
 
 /// Blood flow sensor signal strength low alarm persistence.
-#define FLOW_SIG_STRGTH_ALARM_PERSIST       ( 5 * MS_PER_SECOND )
+#define FLOW_SIG_STRGTH_ALARM_PERSIST       ( BP_CONTROL_INTERVAL_SEC * MS_PER_SECOND )
 #define MIN_FLOW_SIG_STRENGTH               0.9             ///< Minimum flow sensor signal strength (90%).
 
 /// Blood flow fast read timeout alarm persistence.
@@ -247,15 +248,15 @@
                             BP_P_COEFFICIENT, BP_I_COEFFICIENT,
                             MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, MAX_BLOOD_PUMP_PWM_DUTY_CYCLE );
 
-    // Initialize persistent alarm for flow sensor
+    // Initialize persistent alarm for flow sensor signal strength too low
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_FLOW_VS_MOTOR_SPEED_CHECK, 0, BP_FLOW_VS_SPEED_PERSIST );
     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 );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH, 0, BP_MAX_ROTOR_SPEED_ERROR_PERSIST );
-    initPersistentAlarm( ALARM_ID_BLOOD_FLOW_SIGNAL_STRENGTH_TOO_LOW, 0, FLOW_SIG_STRGTH_ALARM_PERSIST );
     initPersistentAlarm( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, 0, BP_MAX_CURR_ERROR_DURATION_MS );
+    initPersistentAlarm( ALARM_ID_BLOOD_FLOW_SIGNAL_STRENGTH_TOO_LOW, FLOW_SIG_STRGTH_ALARM_PERSIST, FLOW_SIG_STRGTH_ALARM_PERSIST );
     initPersistentAlarm( ALARM_ID_HD_BP_FLOW_READ_TIMEOUT_ERROR, 0, BLOOD_FLOW_FAST_READ_TO_PERSIST );
     initPersistentAlarm( ALARM_ID_HD_BP_FLOW_SLOW_READ_TIMEOUT_ERROR, 0, BLOOD_FLOW_SLOW_READ_TO_PERSIST );
     initPersistentAlarm( ALARM_ID_HD_BP_FLOW_SENSOR_ERROR, 0, BLOOD_FLOW_COMM_ERROR_PERSIST );
@@ -279,8 +280,10 @@
     // Direction change while pump is running is not allowed
     if ( ( FALSE == isBloodPumpOn ) || ( 0 == flowRate ) || ( dir == bloodPumpDirectionSet ) )
     {
+#ifndef NO_PUMP_FLOW_LIMITS
         // Verify flow rate
-        if ( flowRate <= MAX_BLOOD_FLOW_RATE )
+        if ( flowRate <= MAX_BLOOD_FLOW_RATE )
+#endif
         {
             resetBloodFlowMovingAverage();
             targetBloodFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
@@ -319,10 +322,12 @@
             }
             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
     }
 
     return result;
@@ -594,14 +599,11 @@
     else if ( bloodPumpPWMDutyCyclePctSet >= bloodPumpPWMDutyCyclePct )
     {
         resetBloodFlowMovingAverage();
+        bloodPumpPWMDutyCyclePctSet = bloodPumpPWMDutyCyclePct;
         resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet );
         bloodPumpControlModeSet = bloodPumpControlMode;
-        // If open loop mode, set PWM to requested duty cycle where it will stay during control state
-        if ( bloodPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP )
-        {
-            bloodPumpPWMDutyCyclePctSet = bloodPumpPWMDutyCyclePct;
-            setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePct );
-        }
+        setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePct );
+        bpControlTimerCounter = 0;
         result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // Continue ramp up
@@ -636,14 +638,11 @@
     else if ( bloodPumpPWMDutyCyclePctSet <= bloodPumpPWMDutyCyclePct )
     {
         resetBloodFlowMovingAverage();
+        bloodPumpPWMDutyCyclePctSet = bloodPumpPWMDutyCyclePct;
         resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet );
         bloodPumpControlModeSet = bloodPumpControlMode;
-        // If open loop mode, set PWM to requested duty cycle where it will stay during control state
-        if ( bloodPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP )
-        {
-            bloodPumpPWMDutyCyclePctSet = bloodPumpPWMDutyCyclePct;
-            setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePct );
-        }
+        setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePct );
+        bpControlTimerCounter = 0;
         result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // Continue ramp down
@@ -1280,6 +1279,7 @@
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/
 
+
 /*********************************************************************//**
  * @brief
  * The testSetBloodFlowDataPublishIntervalOverride function overrides the