Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rf861c4c5ab64f429e0b8b9cc456e2ed14e472f2b -rb5756e5b5041288a2e95585990cce5a93756d693
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision f861c4c5ab64f429e0b8b9cc456e2ed14e472f2b)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision b5756e5b5041288a2e95585990cce5a93756d693)
@@ -44,7 +44,8 @@
 
 #define BLOOD_FLOW_DATA_PUB_INTERVAL        ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the blood flow data is published on the CAN bus
 
-#define MAX_BLOOD_PUMP_PWM_STEP_CHANGE      0.01            ///< max duty cycle change when ramping
+#define MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE   0.008           ///< max duty cycle change when ramping up ~ 100 mL/min/s.
+#define MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE   0.016           ///< max duty cycle change when ramping down ~ 200 mL/min/s.
 #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%
 
@@ -437,7 +438,7 @@
     if ( getTargetBloodFlowRate() != 0 )
     {
         // set initial PWM duty cycle
-        bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET + MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
+        bloodPumpPWMDutyCyclePctSet = BP_PWM_ZERO_OFFSET + MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE;
         setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
         // allow blood pump to run in requested direction
         setBloodPumpDirection( bloodPumpDirection );
@@ -466,7 +467,7 @@
     if ( 0 == getTargetBloodFlowRate() )
     {
         // start ramp down to stop
-        bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
+        bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE;
         setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
         result = BLOOD_PUMP_RAMPING_DOWN_STATE;
     }
@@ -487,7 +488,7 @@
     // continue ramp up
     else
     {
-        bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
+        bloodPumpPWMDutyCyclePctSet += MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE;
         setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
     }
 
@@ -508,7 +509,7 @@
     BLOOD_PUMP_STATE_T result = BLOOD_PUMP_RAMPING_DOWN_STATE;
 
     // have we essentially reached zero speed
-    if ( bloodPumpPWMDutyCyclePctSet < (MAX_BLOOD_PUMP_PWM_STEP_CHANGE + BP_PWM_ZERO_OFFSET) )
+    if ( bloodPumpPWMDutyCyclePctSet < (MAX_BLOOD_PUMP_PWM_STEP_UP_CHANGE + BP_PWM_ZERO_OFFSET) )
     {
         stopBloodPump();
         result = BLOOD_PUMP_OFF_STATE;
@@ -530,7 +531,7 @@
     // continue ramp down
     else
     {
-        bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_CHANGE;
+        bloodPumpPWMDutyCyclePctSet -= MAX_BLOOD_PUMP_PWM_STEP_DN_CHANGE;
         setBloodPumpControlSignalPWM( bloodPumpPWMDutyCyclePctSet );
     }
 
@@ -803,7 +804,7 @@
 static void publishBloodFlowData( void )
 {
     // publish blood flow data on interval
-#ifndef READ_FPGA_ASYNC_DATA
+#ifndef FLOW_DEBUG
     if ( ++bloodFlowDataPublicationTimerCounter >= getPublishBloodFlowDataInterval() )
 #endif
     {
@@ -814,7 +815,7 @@
         F32 measMCSpd = getMeasuredBloodPumpMCSpeed();
         F32 measMCCurr = getMeasuredBloodPumpMCCurrent();
         F32 pumpPWMPctDutyCycle = bloodPumpPWMDutyCyclePctSet * FRACTION_TO_PERCENT_FACTOR;
-#ifdef READ_FPGA_ASYNC_DATA
+#ifdef FLOW_DEBUG
         // TODO - temporary debug code - remove later
         char debugFlowStr[ 256 ];
 
@@ -827,8 +828,9 @@
 
         sprintf( debugFlowStr, "Blood: %5d, %5d, %5d     Dial-I: %5d, %5d, %5d    Dial-O: %5d\n", (S32)measFlowSig, (S32)measFlow, (S32)bldOccl, (S32)dialFlowSig, (S32)dialFlow, (S32)dpiOccl, (S32)dpoOccl );
         sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) );
-#endif
+#else
         broadcastBloodFlowData( flowStPt, measFlow, measRotSpd, measSpd, measMCSpd, measMCCurr, pumpPWMPctDutyCycle );
+#endif
         bloodFlowDataPublicationTimerCounter = 0;
     }
 }