Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rbe83f01a4d54cbd0d92b68cb95a15dcbb06a9a51 -r070554b23739bf16ea2bf9528ebabda1ce0ffeb3
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision be83f01a4d54cbd0d92b68cb95a15dcbb06a9a51)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 070554b23739bf16ea2bf9528ebabda1ce0ffeb3)
@@ -23,6 +23,7 @@
 #include "FPGA.h"
 #include "InternalADC.h"
 #include "SystemCommMessages.h"
+#include "TaskGeneral.h"
 #include "TaskPriority.h"
 #include "Timers.h"
 #include "BloodFlow.h"
@@ -33,19 +34,22 @@
 
 #define MAX_BLOOD_FLOW_RATE                 600             // mL/min
 
-#define MAX_BLOOD_PUMP_PWM_STEP_CHANGE      0.005           // duty cycle    TODO - fixed or parameterized or set in motor controller?
+#define MAX_BLOOD_PUMP_PWM_STEP_CHANGE      0.02            // duty cycle    TODO - fixed or parameterized or set in motor controller?
 #define MAX_BLOOD_PUMP_PWM_DUTY_CYCLE       0.88            // controller will error if PWM duty cycle > 90%, so set max to 88%
 #define MIN_BLOOD_PUMP_PWM_DUTY_CYCLE       0.12            // controller will error if PWM duty cycle < 10%, so set min to 12%
 
-#define BP_CONTROL_INTERVAL                 (200 / TASK_PRIORITY_INTERVAL) // interval (ms/task time) at which the blood pump is controlled
-#define BP_P_COEFFICIENT                    0.001           // P term for blood pump control
-#define BP_I_COEFFICIENT                    0.001           // I term for blood pump control
-#define BP_MAX_ERROR_SUM                    20.0            // for anti-wind-up in I term
+#define BP_CONTROL_INTERVAL                 (500 / TASK_GENERAL_INTERVAL) // interval (ms/task time) at which the blood pump is controlled
+#define BP_P_COEFFICIENT                    0.0002          // P term for blood pump control
+#define BP_I_COEFFICIENT                    0.00002         // I term for blood pump control
+#define BP_MAX_ERROR_SUM                    10.0            // for anti-wind-up in I term
+#define BP_MIN_ERROR_SUM                   -10.0
+#define BP_MAX_PWM_DC_DELTA                 0.01            // prevents large steps in PWM duty cycle
+#define BP_MIN_PWM_DC_DELTA                -0.01
 
-#define BP_SPEED_ADC_TO_RPM_FACTOR          1.375           // conversion factor from ADC counts to RPM for blood pump motor  TODO - set appropriate value
-#define BP_CURRENT_ADC_TO_MA_FACTOR         2.65            // conversion factor from ADC counts to mA for blood pump motor   TODO - set appropriate value
+#define BP_SPEED_ADC_TO_RPM_FACTOR          1.375           // conversion factor from ADC counts to RPM for blood pump motor
+#define BP_CURRENT_ADC_TO_MA_FACTOR         2.65            // conversion factor from ADC counts to mA for blood pump motor
 
-#define BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR    (80.0 / 1000.0) // 80 pump revolutions = 1 liter or 1,000 mL
+#define BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR    (124.0 / 1000.0)// 124 pump revolutions = 1 liter or 1,000 mL
 #define BP_GEAR_RATIO                       32.0            // blood pump motor to blood pump gear ratio
 #define BP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.0003125       // ~32 BP motor RPM = 1% PWM duty cycle
 #define BP_PWM_ZERO_OFFSET                  0.1             // 10% PWM duty cycle = zero speed
@@ -55,6 +59,8 @@
 #define BLOODPUMP_ADC_MID_PT_BITS           ((F32)(INT_ADC_FULL_SCALE_BITS >> 1) * (BLOODPUMP_ADC_FULL_SCALE_V / INT_ADC_REF_V))
 #define SIGN_FROM_12_BIT_VALUE(v)           ((S16)(v) - (S16)BLOODPUMP_ADC_MID_PT_BITS)
 
+#define SIZE_OF_ROLLING_AVG                 100             // flow samples in rolling average calculations
+
 typedef enum BloodPump_States
 {
     BLOOD_PUMP_OFF_STATE = 0,
@@ -101,6 +107,10 @@
 static F32 bpFlowErrorSum = 0.0;                                                // blood flow error sum
 static U32 bpControlTimerCounter = 0;                                           // determines when to perform control on blood flow
 
+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
+
 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
 
@@ -126,8 +136,16 @@
  *************************************************************************/
 void initBloodFlow( void )
 {
+    U32 i;
+
     stopBloodPump();
     setBloodPumpDirection( MOTOR_DIR_FORWARD );
+
+    // zero rolling flow average buffer
+    for ( i = 0; i < SIZE_OF_ROLLING_AVG; i++ )
+    {
+        flowReadings[i] = 0.0;
+    }
 }
 
 /*************************************************************************
@@ -213,11 +231,17 @@
 {
     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
 
-    measuredBloodFlowRate.data = 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;
 
+    flowReadingsTotal -= flowReadings[flowReadingsIdx];
+    flowReadings[flowReadingsIdx] = bpFlow;
+    flowReadingsTotal += bpFlow;
+    flowReadingsIdx = INC_WRAP( flowReadingsIdx, 0, SIZE_OF_ROLLING_AVG-1 );
+    measuredBloodFlowRate.data = flowReadingsTotal / (F32)SIZE_OF_ROLLING_AVG;
+
     // publish blood flow data on interval
     if ( ++bloodFlowDataPublicationTimerCounter > getPublishBloodFlowDataInterval() )
     {
@@ -226,10 +250,10 @@
         F32 measSpd = getMeasuredBloodPumpSpeed();
         F32 measCurr = getMeasuredBloodPumpCurrent();
 #ifdef DEBUG_ENABLED
-        F32 tmp = getFPGADialysateFlow();
+        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, (S32)bloodPumpPWMDutyCyclePctSet );
+        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 );
@@ -398,12 +422,21 @@
     if ( ++bpControlTimerCounter >= BP_CONTROL_INTERVAL )
     {
         // compute P term
-        bpFlowError = tgtFlow - actFlow;
+        if ( MOTOR_DIR_FORWARD == bloodPumpDirectionSet )
+        {
+            bpFlowError = tgtFlow - actFlow;
+        }
+        else
+        {
+            bpFlowError = (tgtFlow * -1.0) - (actFlow * -1.0);
+        }
         pTerm = bpFlowError * BP_P_COEFFICIENT;
+        pTerm = RANGE( pTerm, BP_MIN_PWM_DC_DELTA, BP_MAX_PWM_DC_DELTA );
         // compute I term
         bpFlowErrorSum += bpFlowError;
-        iTerm = RANGE( bpFlowErrorSum, BP_MAX_ERROR_SUM * -1.0, BP_MAX_ERROR_SUM );
+        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 );