Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -r2a368aaf6d568f021e1bba806bf46e1174250f56 -r90945afbe3866bf383c44c2a1f52438192c267c5
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 2a368aaf6d568f021e1bba806bf46e1174250f56)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 90945afbe3866bf383c44c2a1f52438192c267c5)
@@ -57,7 +57,7 @@
 #define DIP_P_COEFFICIENT                    0.0001F         ///< P term for dialIn pump control.
 #define DIP_I_COEFFICIENT                    0.00075F        ///< I term for dialIn pump control.
 
-#define DIP_HOME_RATE                        100             ///< Target pump speed (in estimate mL/min) for homing.
+#define DIP_HOME_SPEED                       400             ///< Target pump speed (in RPM) for homing.
 #define DIP_HOME_TIMEOUT_MS                  10000           ///< Maximum time allowed for homing to complete (in ms).
 /// Interval (ms/task time) at which the blood pump speed is calculated (every 40 ms).
 #define DIP_SPEED_CALC_INTERVAL              ( 40 / TASK_PRIORITY_INTERVAL )
@@ -107,11 +107,12 @@
 #define DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR    ( DIP_REV_PER_LITER / ML_PER_LITER )
 #define DIP_GEAR_RATIO                       32.0F           ///< DialIn pump motor to dialIn pump gear ratio.
 #define DIP_PWM_ZERO_OFFSET                  0.1F            ///< 10% PWM duty cycle = zero speed.
+#define DIP_100_PCT_PWM_RPM_RANGE            4000.0F         ///< 10-90% PWM range yields 0-3,200 RPM range.  Full 100% PWM range would yield 4,000 RPM range.
 
 /// Conversion from PWM duty cycle % to commanded pump motor speed.  PWM range is 10% to 90%.  RPM range is 0 to 3200.  3200 / 0.8 = 4000.
-#define DIP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)  ( ( ((pwm) - DIP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
+#define DIP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)  ( ( ((pwm) - DIP_PWM_ZERO_OFFSET) * DIP_100_PCT_PWM_RPM_RANGE ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
 /// Conversion from pump motor speed to PWM duty cycle.
-#define DIP_MOTOR_SPEED_RPM_TO_PWM(rpm)      ( ( rpm / 4000.0F ) + 0.1 )
+#define DIP_MOTOR_SPEED_RPM_TO_PWM(rpm)      ( ( (F32)(rpm) / DIP_100_PCT_PWM_RPM_RANGE ) + DIP_PWM_ZERO_OFFSET )
 // Macro converts PWM to estimate flow rate needed to achieve it.  TODO - this macro does not reverse the function that estimates PWM from target flow rate - and it should
 #define DIP_ML_PER_MIN_FROM_PWM(pwm)         ( (pwm) - DIP_PWM_ZERO_OFFSET ) / DIP_ML_PER_MIN_TO_PUMP_RPM_FACTOR / DIP_GEAR_RATIO / DIP_MOTOR_RPM_TO_PWM_DC_FACTOR
 
@@ -241,7 +242,7 @@
 static F32  calcDialInFlow( void );
 static F32  dialysateInPumpRPMFromTargetFlowRate( F32 QdTarget );
 static F32  dialysateInPumpPWMFromTargetFlowRate( F32 QdTarget );
-static BOOL testSetDialInPumpWithPWM( F32 pwm );
+static BOOL setDialInPumpToFixedPWM( F32 pwm );
 
 /*********************************************************************//**
  * @brief
@@ -377,6 +378,28 @@
     return result;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The setDialInPumpTargetRPM function sets a new target pump speed and pump
+ * direction.  Pump is set to open loop control.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @param rpm new target dialysate inlet pump speed (in RPM)
+ * @param dir new dialysate inlet flow direction
+ * @return TRUE if new flow rate & direction are set, FALSE if not
+ *************************************************************************/
+BOOL setDialInPumpTargetRPM( U32 rpm, MOTOR_DIR_T dir )
+{
+    BOOL result = FALSE;
+    F32 pwm = DIP_MOTOR_SPEED_RPM_TO_PWM( rpm );
+
+    pwm = ( MOTOR_DIR_REVERSE == dir ? pwm * -1.0F : pwm );
+
+    result = setDialInPumpToFixedPWM( pwm );
+
+    return result;
+}
+
 /*********************************************************************//**
  * @brief
  * The signalDialInPumpHardStop function stops the dialIn pump immediately.
@@ -436,7 +459,7 @@
     {
         dipStopAtHomePosition = TRUE;
         dipHomeStartTime = getMSTimerCount();
-        result = setDialInPumpTargetFlowRate( DIP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        result = setDialInPumpTargetRPM( DIP_HOME_SPEED, MOTOR_DIR_FORWARD );
     }
 
     return result;
@@ -1528,15 +1551,14 @@
 
 /*********************************************************************//**
  * @brief
- * The testSetDialInPumpWithPWM function sets a new pwm value and
- * pump direction.
+ * The setDialInPumpToFixedPWM function sets a new pwm value and pump direction.
  * @details Inputs: isDialInPumpOn, dialInPumpPWMDutyCyclePct, dialInPumpDirectionSet,
  * dialInPumpState
  * @details Outputs: dialInPumpControlMode, dialInPumpdirection, dialInPumpPWMDutyCyclePct
  * @param pwm the new pwm value
  * @return TRUE if new flow rate & dir are set, FALSE if not
  **************************************************************************/
-static BOOL testSetDialInPumpWithPWM( F32 pwm )
+static BOOL setDialInPumpToFixedPWM( F32 pwm )
 {
     MOTOR_DIR_T dir = MOTOR_DIR_FORWARD;
     BOOL result = FALSE;
@@ -1562,6 +1584,7 @@
             resetDialInFlowMovingAverage();
             dialInPumpControlMode = PUMP_CONTROL_MODE_OPEN_LOOP;
             dialInPumpPWMDutyCyclePct = RANGE( pwmFabs, MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE, MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE );
+            targetDialInFlowRate = DIP_ML_PER_MIN_FROM_PWM( pwmFabs );
 
             // clear test flag if we are turning off the pump.
             if ( pwmFabs <= MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE )
@@ -1944,7 +1967,7 @@
         // check for max of pump pwm for acceptance.
         if ( absolutePWM < MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE )
         {
-            result = testSetDialInPumpWithPWM( pwmPct );
+            result = setDialInPumpToFixedPWM( pwmPct );
         }
     }
     return result;