Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r620104f4a9e3148575703981a3063b9605b6e9b8 -r941afbaab7fc86f40fa49f9d110d481f65b44b68
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 620104f4a9e3148575703981a3063b9605b6e9b8)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 941afbaab7fc86f40fa49f9d110d481f65b44b68)
@@ -133,6 +133,9 @@
 static void stopBloodPump( void );
 static void releaseBloodPumpStop( void );
 static void setBloodPumpDirection( MOTOR_DIR_T dir );
+static void publishBloodFlowData( void );
+static void checkBloodPumpDirection( void );
+static void checkBloodPumpMCCurrent( void );
 static DATA_GET_PROTOTYPE( U32, getPublishBloodFlowDataInterval );
 
 /*************************************************************************
@@ -183,7 +186,6 @@
             bloodPumpDirection = dir;
             // set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we'll 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%)
-            bloodPumpPWMDutyCyclePct = MIN(bloodPumpPWMDutyCyclePct,MAX_BLOOD_PUMP_PWM_DUTY_CYCLE);  // limit pwm duty cycle to controller maximum
             // reset flow control stats
             bpFlowError = 0.0;
             bpFlowErrorSum = 0.0;
@@ -241,8 +243,7 @@
 {
     U16 bpRPM = getIntADCReading( INT_ADC_BLOOD_PUMP_SPEED );
     U16 bpmA = getIntADCReading( INT_ADC_BLOOD_PUMP_MOTOR_CURRENT );
-    F32 bpFlow = getFPGABloodFlow();  // TODO - change to avg. blood flow when available from FPGA
-    MOTOR_DIR_T bpMCDir;
+    F32 bpFlow = getFPGABloodFlow();
 
     adcBloodPumpSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpRPM)) * BP_SPEED_ADC_TO_RPM_FACTOR;
     adcBloodPumpCurrentmA.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpmA)) * BP_CURRENT_ADC_TO_MA_FACTOR;
@@ -256,71 +257,12 @@
         // don't start enforcing checks until out of init/POST mode
     if ( getCurrentOperationMode() != MODE_INIT )
     {
-        if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState )
-        {
-            // check set direction vs. direction from sign of motor controller speed
-            bpMCDir = ( getMeasuredBloodPumpSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE );
-            if ( bloodPumpDirectionSet != bpMCDir )
-            {
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK, (U32)bloodPumpDirectionSet, (U32)bpMCDir )
-            }
-        }
-
-        // check motor controller current thresholds as appropriate
-        if ( BLOOD_PUMP_OFF_STATE == bloodPumpState )
-        {
-            F32 bpCurr = fabs( getMeasuredBloodPumpCurrent() );
-
-            if ( bpCurr > BP_MAX_CURR_WHEN_STOPPED_MA )
-            {
-                bpCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL;
-                if ( bpCurrErrorDurationCtr > BP_MAX_CURR_ERROR_DURATION_MS )
-                {
-                    SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, getMeasuredBloodPumpCurrent() );
-                }
-            }
-            else
-            {
-                bpCurrErrorDurationCtr = 0;
-            }
-        }
-        else // pump s/b running
-        {
-            F32 bpCurr = fabs( getMeasuredBloodPumpCurrent() );
-
-            if ( ( bpCurr < BP_MIN_CURR_WHEN_RUNNING_MA ) || ( bpCurr > BP_MAX_CURR_WHEN_RUNNING_MA ) )
-            {
-                bpCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL;
-                if ( bpCurrErrorDurationCtr > BP_MAX_CURR_ERROR_DURATION_MS )
-                {
-                    SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, getMeasuredBloodPumpCurrent() );
-                }
-            }
-            else
-            {
-                bpCurrErrorDurationCtr = 0;
-            }
-        }
+        checkBloodPumpDirection();
+        checkBloodPumpMCCurrent();
     }
 
     // publish blood flow data on interval
-    if ( ++bloodFlowDataPublicationTimerCounter > getPublishBloodFlowDataInterval() )
-    {
-        S32 flowStPt = (S32)getTargetBloodFlowRate();
-        F32 measFlow = getMeasuredBloodFlowRate();
-        F32 measSpd = getMeasuredBloodPumpSpeed();
-        F32 measCurr = getMeasuredBloodPumpCurrent();
-#ifdef DEBUG_ENABLED
-        // TODO - temporary debug code - remove later
-        S32 pwm = (S32)( 100.0 * bloodPumpPWMDutyCyclePctSet );
-        char debugFlowStr[256];
-
-        sprintf( debugFlowStr, "Target Flow:%5d, Meas. Flow:%5d, Speed:%5d RPM, Current:%5d mA, PWM:%5d \n", flowStPt, (S32)measFlow, (S32)measSpd, (S32)measCurr, pwm );
-        sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) );
-#endif
-        broadcastBloodFlowData( flowStPt, measFlow, measSpd, measCurr );
-        bloodFlowDataPublicationTimerCounter = 0;
-    }
+    publishBloodFlowData();
 }
 
 /*************************************************************************
@@ -498,7 +440,6 @@
         bpFlowErrorSum += bpFlowError;
         iTerm = RANGE( bpFlowErrorSum, BP_MIN_ERROR_SUM, BP_MAX_ERROR_SUM );
         iTerm *= BP_I_COEFFICIENT;
-        iTerm = RANGE( iTerm, BP_MIN_PWM_DC_DELTA, BP_MAX_PWM_DC_DELTA );
         // compute new PWM duty cycle % for blood pump motor
         newPWM = bloodPumpPWMDutyCyclePctSet + pTerm + iTerm;
         newPWM = RANGE( newPWM, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, MAX_BLOOD_PUMP_PWM_DUTY_CYCLE );
@@ -633,6 +574,114 @@
 DATA_GET( F32, getMeasuredBloodPumpCurrent, adcBloodPumpCurrentmA )
 
 /*************************************************************************
+ * @brief publishBloodFlowData
+ * The publishBloodFlowData function publishes blood flow data at the set \n
+ * interval.
+ * @details
+ * Inputs : target flow rate, measured flow rate, measured MC speed, \n
+ * measured MC current
+ * Outputs : Blood flow data is published to CAN bus.
+ * @param none
+ * @return none
+ *************************************************************************/
+static void publishBloodFlowData( void )
+{
+    // publish blood flow data on interval
+    if ( ++bloodFlowDataPublicationTimerCounter > getPublishBloodFlowDataInterval() )
+    {
+        S32 flowStPt = (S32)getTargetBloodFlowRate();
+        F32 measFlow = getMeasuredBloodFlowRate();
+        F32 measSpd = getMeasuredBloodPumpSpeed();
+        F32 measCurr = getMeasuredBloodPumpCurrent();
+#ifdef DEBUG_ENABLED
+        // TODO - temporary debug code - remove later
+        S32 pwm = (S32)( 100.0 * bloodPumpPWMDutyCyclePctSet );
+        char debugFlowStr[256];
+
+        sprintf( debugFlowStr, "Target Flow:%5d, Meas. Flow:%5d, Speed:%5d RPM, Current:%5d mA, PWM:%5d \n", flowStPt, (S32)measFlow, (S32)measSpd, (S32)measCurr, pwm );
+        sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) );
+#endif
+        broadcastBloodFlowData( flowStPt, measFlow, measSpd, measCurr );
+        bloodFlowDataPublicationTimerCounter = 0;
+    }
+}
+
+/*************************************************************************
+ * @brief checkBloodPumpDirection
+ * The checkBloodPumpDirection function checks the set direction vs. \n
+ * the direction implied by the sign of the measured MC speed.
+ * @details
+ * Inputs :
+ * Outputs :
+ * @param none
+ * @return none
+ *************************************************************************/
+static void checkBloodPumpDirection( void )
+{
+    MOTOR_DIR_T bpMCDir;
+
+    if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState )
+    {
+        // check set direction vs. direction from sign of motor controller speed
+        bpMCDir = ( getMeasuredBloodPumpSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE );
+        if ( bloodPumpDirectionSet != bpMCDir )
+        {
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_BLOOD_PUMP_MC_DIRECTION_CHECK, (U32)bloodPumpDirectionSet, (U32)bpMCDir )
+        }
+    }
+}
+
+/*************************************************************************
+ * @brief checkBloodPumpMCCurrent
+ * The checkBloodPumpMCCurrent function checks the measured MC current vs. \n
+ * the set state of the blood pump (stopped or running).
+ * @details
+ * Inputs :
+ * Outputs :
+ * @param none
+ * @return none
+ *************************************************************************/
+static void checkBloodPumpMCCurrent( void )
+{
+    F32 bpCurr;
+
+    // blood pump should be off
+    if ( BLOOD_PUMP_OFF_STATE == bloodPumpState )
+    {
+        bpCurr = fabs( getMeasuredBloodPumpCurrent() );
+        if ( bpCurr > BP_MAX_CURR_WHEN_STOPPED_MA )
+        {
+            bpCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL;
+            if ( bpCurrErrorDurationCtr > BP_MAX_CURR_ERROR_DURATION_MS )
+            {
+                SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, getMeasuredBloodPumpCurrent() );
+            }
+        }
+        else
+        {
+            bpCurrErrorDurationCtr = 0;
+        }
+    }
+    // blood pump should be running
+    else
+    {
+        bpCurr = fabs( getMeasuredBloodPumpCurrent() );
+        if ( ( bpCurr < BP_MIN_CURR_WHEN_RUNNING_MA ) || ( bpCurr > BP_MAX_CURR_WHEN_RUNNING_MA ) )
+        {
+            bpCurrErrorDurationCtr += TASK_PRIORITY_INTERVAL;
+            if ( bpCurrErrorDurationCtr > BP_MAX_CURR_ERROR_DURATION_MS )
+            {
+                SET_ALARM_WITH_1_F32_DATA( ALARM_ID_BLOOD_PUMP_MC_CURRENT_CHECK, getMeasuredBloodPumpCurrent() );
+            }
+        }
+        else
+        {
+            bpCurrErrorDurationCtr = 0;
+        }
+    }
+}
+
+/*************************************************************************
  * @brief execBloodFlowTest
  * The execBloodFlowTest function executes the state machine for the \n
  * BloodFlow self test.