Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r9d4666bf3064df18a6d935125d7a69e4e8234e84 -rf9b8b75c3686be892799b5446b955fd36ab49fa3
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 9d4666bf3064df18a6d935125d7a69e4e8234e84)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision f9b8b75c3686be892799b5446b955fd36ab49fa3)
@@ -50,6 +50,8 @@
 
 #define BP_HOME_RATE                        50              ///< target pump speed (in estimate mL/min) for homing.
 #define BP_HOME_TIMEOUT_MS                  10000           ///< maximum time allowed for homing to complete (in ms).
+#define BP_SPEED_CALC_INTERVAL              ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the blood pump speed is calculated.
+#define BP_HALL_EDGE_COUNTS_PER_REV         6               ///< number of hall sensor edge counts per motor revolution.
 
 #define BP_MAX_CURR_WHEN_STOPPED_MA         150.0           ///< motor controller current should not exceed this when pump should be stopped
 #define BP_MIN_CURR_WHEN_RUNNING_MA         150.0           ///< motor controller current should always exceed this when pump should be running
@@ -133,6 +135,10 @@
 static BOOL bpStopAtHomePosition = FALSE;                                       ///< stop blood pump at next home position
 static U32 bpHomeStartTime = 0;                                                 ///< when did blood pump home command begin? (in ms)
 
+static U16 bpLastMotorHallSensorCount = 0;                                      ///< last hall sensor count for the blood pump motor
+static MOTOR_DIR_T bpMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;         ///< pump direction according to hall sensor count
+static U32 bpMotorSpeedCalcTimerCtr = 0;                                        ///< counter determines interval for calculating blood pump motor speed from hall sensor count.
+
 static F32 flowReadings[ SIZE_OF_ROLLING_AVG ];                                 ///< holds flow samples for a rolling average
 static U32 flowReadingsIdx = 0;                                                 ///< index for next sample in rolling average array
 static F32 flowReadingsTotal = 0.0;                                             ///< rolling total - used to calc average
@@ -157,6 +163,8 @@
 static void publishBloodFlowData( void );
 static void resetBloodFlowMovingAverage( void );
 static void filterBloodFlowReadings( F32 flow );
+static void updateBloodPumpSpeedAndDirectionFromHallSensors( void );
+static void checkBloodPumpRotor( void );
 static void checkBloodPumpDirection( void );
 static void checkBloodPumpMCCurrent( void );
 static DATA_GET_PROTOTYPE( U32, getPublishBloodFlowDataInterval );
@@ -337,21 +345,19 @@
 
     filterBloodFlowReadings( bpFlow );
 
+    // calculate blood pump motor speed/direction from hall sensor count
+    updateBloodPumpSpeedAndDirectionFromHallSensors();
+
+    // check for home position, zero/low speed
+    checkBloodPumpRotor();
+
     // don't start enforcing checks until out of init/POST mode
     if ( getCurrentOperationMode() != MODE_INIT )
     {
         checkBloodPumpDirection();
         checkBloodPumpMCCurrent();
     }
 
-    // if homing, check timeout
-    if ( ( TRUE == bpStopAtHomePosition ) && ( TRUE == didTimeout( bpHomeStartTime, BP_HOME_TIMEOUT_MS ) ) )
-    {
-        signalBloodPumpHardStop();
-        bpStopAtHomePosition = FALSE;
-        // TODO - alarm???
-    }
-
     // publish blood flow data on interval
     publishBloodFlowData();
 }
@@ -893,6 +899,72 @@
 
 /*********************************************************************//**
  * @brief
+ * The updateBloodPumpSpeedAndDirectionFromHallSensors function calculates \n
+ * the blood pump motor speed and direction from hall sensor counter on \n
+ * a 1 second interval.
+ * @details
+ * Inputs : bpLastMotorHallSensorCount, bpMotorSpeedCalcTimerCtr, current count from FPGA
+ * Outputs : bpMotorDirectionFromHallSensors, bloodPumpSpeedRPM
+ * @return none
+ *************************************************************************/
+static void updateBloodPumpSpeedAndDirectionFromHallSensors( void )
+{
+    if ( ++bpMotorSpeedCalcTimerCtr >= BP_SPEED_CALC_INTERVAL )
+    {
+        U16 bpMotorHallSensorCount = getFPGABloodPumpHallSensorCount();
+        U16 incDelta = ( bpMotorHallSensorCount >= bpLastMotorHallSensorCount ? bpMotorHallSensorCount - bpLastMotorHallSensorCount : ( 0x10000 - bpLastMotorHallSensorCount ) + bpMotorHallSensorCount );
+        U16 decDelta = 0x10000 - incDelta;
+        U16 delta;
+
+        // determine blood pump speed/direction from delta hall sensor count since last interval
+        if ( incDelta < decDelta )
+        {
+            bpMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;
+            delta = incDelta;
+            bloodPumpSpeedRPM.data = ( (F32)delta / (F32)BP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN;
+        }
+        else
+        {
+            bpMotorDirectionFromHallSensors = MOTOR_DIR_REVERSE;
+            delta = decDelta;
+            bloodPumpSpeedRPM.data = ( (F32)delta / (F32)BP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN * -1.0;
+        }
+
+        // update last count for next time
+        bpLastMotorHallSensorCount = bpMotorHallSensorCount;
+        bpMotorSpeedCalcTimerCtr = 0;
+    }
+}
+
+/*************************************************************************
+ * @brief
+ * The checkBloodPumpRotor function checks the rotor for the blood \n
+ * pump.  If homing, this function will stop when hall sensor detected.  If pump \n
+ * is off or running very slowly, rotor speed will be set to zero.
+ * @details
+ * Inputs : bpStopAtHomePosition, bpHomeStartTime, bpRotorRevStartTime
+ * Outputs : pump may be stopped if homing, bloodPumpRotorSpeedRPM may be set to zero.
+ * @return none
+ *************************************************************************/
+static void checkBloodPumpRotor( void )
+{
+    // if homing, check timeout
+    if ( ( TRUE == bpStopAtHomePosition ) && ( TRUE == didTimeout( bpHomeStartTime, BP_HOME_TIMEOUT_MS ) ) )
+    {
+        signalBloodPumpHardStop();
+        bpStopAtHomePosition = FALSE;
+        // TODO - alarm???
+    }
+
+    // if pump is stopped or running very slowly, set rotor speed to zero
+    if ( TRUE == didTimeout( bpRotorRevStartTime, BP_HOME_TIMEOUT_MS ) )
+    {
+        bloodPumpRotorSpeedRPM.data = 0.0;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
  * The checkBloodPumpDirection function checks the set direction vs. \n
  * the direction implied by the sign of the measured MC speed.
  * @details