Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -ra0aca1a4d87df989303b4f7f41208a4916861afa -r1f3647830e9de0a1f0a4e445ce8d72d5525f51fb
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision a0aca1a4d87df989303b4f7f41208a4916861afa)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 1f3647830e9de0a1f0a4e445ce8d72d5525f51fb)
@@ -32,6 +32,8 @@
 #define BP_SPEED_ADC_2_RPM_FACTOR           1.0     // conversion factor from ADC counts to RPM for blood pump motor  TODO - set appropriate value
 #define BP_CURRENT_ADC_2_MA_FACTOR          1.0     // conversion factor from ADC counts to mA for blood pump motor   TODO - set appropriate value
 
+#define BLOOD_FLOW_DATA_PUB_INTERVAL        (1000 / TASK_PRIORITY_INTERVAL)  // interval (ms) at which the blood flow data is published on the CAN bus
+
 typedef enum BloodPump_States
 {
     BLOOD_PUMP_OFF_STATE = 0,
@@ -60,21 +62,23 @@
 
 // ********** private data **********
 
-static BLOOD_PUMP_STATE_T bloodPumpState = BLOOD_PUMP_OFF_STATE;    // current state of blood flow controller state machine
-static BOOL isBloodPumpOn = FALSE;                                  // blood pump is currently running
-DATA_DECL( U32, TargetBloodFlowRate, targetBloodFlowRate, 0, 0 );   // requested blood flow rate
-static U32 targetBloodFlowRateSet = 0;                              // currently set blood flow rate
-static F32 bloodPumpPWMDutyCyclePct = 0.0;                          // initial blood pump PWM duty cycle
-static F32 bloodPumpPWMDutyCyclePctSet = 0.0;                       // currently set blood pump PWM duty cycle
-static MOTOR_DIR_T bloodPumpDirection = MOTOR_DIR_FORWARD;          // requested blood flow direction
-static MOTOR_DIR_T bloodPumpDirectionSet = MOTOR_DIR_FORWARD;       // currently set blood flow direction
+static BLOOD_PUMP_STATE_T bloodPumpState = BLOOD_PUMP_OFF_STATE;                // current state of blood flow controller state machine
+static U32 bloodFlowDataPublicationTimerCounter = 0;                            // used to schedule blood flow data publication to CAN bus
+DATA_DECL( U32, BloodFlowDataPub, bloodFlowDataPublishInterval, BLOOD_FLOW_DATA_PUB_INTERVAL, BLOOD_FLOW_DATA_PUB_INTERVAL );  // interval (in ms) at which to publish blood flow data to CAN bus
+static BOOL isBloodPumpOn = FALSE;                                              // blood pump is currently running
+static F32 bloodPumpPWMDutyCyclePct = 0.0;                                      // initial blood pump PWM duty cycle
+static F32 bloodPumpPWMDutyCyclePctSet = 0.0;                                   // currently set blood pump PWM duty cycle
+static MOTOR_DIR_T bloodPumpDirection = MOTOR_DIR_FORWARD;                      // requested blood flow direction
+static MOTOR_DIR_T bloodPumpDirectionSet = MOTOR_DIR_FORWARD;                   // currently set blood flow direction
 
-DATA_DECL( F32, MeasuredBloodFlowRate, measuredBloodFlowRate, 0.0, 0.0 );       // requested blood flow rate
-DATA_DECL( F32, MeasuredBloodPumpSpeed, adcBloodPumpSpeedRPM, 0.0, 0.0 );       // requested blood flow rate
-DATA_DECL( F32, MeasuredBloodPumpCurrent, adcBloodPumpCurrentmA, 0.0, 0.0 );    // requested blood flow rate
+DATA_DECL( U32, TargetBloodFlowRate, targetBloodFlowRate, 0, 0 );               // requested blood flow rate
+static U32 targetBloodFlowRateSet = 0;                                          // currently set blood flow rate
+DATA_DECL( F32, MeasuredBloodFlowRate, measuredBloodFlowRate, 0.0, 0.0 );       // measured blood flow rate
+DATA_DECL( F32, MeasuredBloodPumpSpeed, adcBloodPumpSpeedRPM, 0.0, 0.0 );       // measured blood pump speed
+DATA_DECL( F32, MeasuredBloodPumpCurrent, adcBloodPumpCurrentmA, 0.0, 0.0 );    // measured blood pump motor current
 
-static BLOOD_FLOW_SELF_TEST_STATE_T bloodPumpSelfTestState = BLOOD_FLOW_SELF_TEST_STATE_START;
-static U32 bloodPumpSelfTestTimerCount = 0;
+static BLOOD_FLOW_SELF_TEST_STATE_T bloodPumpSelfTestState = BLOOD_FLOW_SELF_TEST_STATE_START;  // current blood pump self test state
+static U32 bloodPumpSelfTestTimerCount = 0;                                     // timer counter for blood pump self test
 
 // ********** private function prototypes **********
 
@@ -181,6 +185,18 @@
 
     adcBloodPumpSpeedRPM.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpRPM)) * BP_SPEED_ADC_2_RPM_FACTOR;
     adcBloodPumpCurrentmA.data = (F32)(SIGN_FROM_12_BIT_VALUE(bpmA)) * BP_CURRENT_ADC_2_MA_FACTOR;
+
+    // publish blood flow data on interval
+    if ( ++bloodFlowDataPublicationTimerCounter > getPublishBloodFlowDataInterval() )
+    {
+        U32 flowStPt = getTargetBloodFlowRate();
+        F32 measFlow = getMeasuredBloodFlowRate();
+        F32 measSpd = getMeasuredBloodPumpSpeed();
+        F32 measCurr = getMeasuredBloodPumpCurrent();
+
+        broadcastBloodFlowData( flowStPt, measFlow, measSpd, measCurr );
+        bloodFlowDataPublicationTimerCounter = 0;
+    }
 }
 
 /*************************************************************************
@@ -360,7 +376,6 @@
 static void stopBloodPump( void )
 {
     SET_BP_STOP();
-//    CLR_BP_STOP();
 }
 
 /*************************************************************************
@@ -375,7 +390,6 @@
 static void releaseBloodPumpStop( void )
 {
     CLR_BP_STOP();
-//    SET_BP_STOP();
 }
 
 /*************************************************************************
@@ -409,6 +423,18 @@
 }
 
 /*************************************************************************
+ * @brief getPublishBloodFlowDataInterval
+ * The getPublishBloodFlowDataInterval function gets the blood flow data \n
+ * publication interval.
+ * @details
+ * Inputs : bloodFlowDataPublishInterval
+ * Outputs : none
+ * @param none
+ * @return the current blood flow data publication interval (in ms).
+ *************************************************************************/
+DATA_GET( U32, getPublishBloodFlowDataInterval, bloodFlowDataPublishInterval )
+
+/*************************************************************************
  * @brief getTargetBloodFlowRate
  * The getTargetBloodFlowRate function gets the current target blood flow \n
  * rate.
@@ -463,6 +489,55 @@
 
 
 /*************************************************************************
+ * @brief testSetBloodFlowDataPublishIntervalOverride
+ * The testSetBloodFlowDataPublishIntervalOverride function overrides the \n
+ * blood flow data publish interval. \n
+ * @details
+ * Inputs : none
+ * Outputs : bloodFlowDataPublishInterval
+ * @param value : override blood flow data publish interval with (in ms)
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testSetBloodFlowDataPublishIntervalOverride( U32 value )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        U32 intvl = value / TASK_PRIORITY_INTERVAL;
+
+        result = TRUE;
+        bloodFlowDataPublishInterval.ovData = intvl;
+        bloodFlowDataPublishInterval.override = OVERRIDE_KEY;
+    }
+
+    return result;
+}
+
+/*************************************************************************
+ * @brief testResetBloodFlowDataPublishIntervalOverride
+ * The testResetBloodFlowDataPublishIntervalOverride function resets the override \n
+ * of the blood flow data publish interval.
+ * @details
+ * Inputs : none
+ * Outputs : bloodFlowDataPublishInterval
+ * @return TRUE if override reset successful, FALSE if not
+ *************************************************************************/
+BOOL testResetBloodFlowDataPublishIntervalOverride( void )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        bloodFlowDataPublishInterval.override = OVERRIDE_RESET;
+        bloodFlowDataPublishInterval.ovData = bloodFlowDataPublishInterval.ovInitData;
+    }
+
+    return result;
+}
+
+/*************************************************************************
  * @brief testSetTargetBloodFlowRateOverride and testResetTargetBloodFlowRateOverride
  * The testSetTargetBloodFlowRateOverride function overrides the target \n
  * blood flow rate. \n