Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -r44a100f8e5210a02c23b8fcc4527d8e96d577381 -rafa9d4924d55ac4fc98270a012e92dd1f6ee65d0
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 44a100f8e5210a02c23b8fcc4527d8e96d577381)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision afa9d4924d55ac4fc98270a012e92dd1f6ee65d0)
@@ -42,17 +42,18 @@
 // ********** private definitions **********
 
 /// Interval (ms/task time) at which the dialIn flow data is published on the CAN bus.
-#define DIAL_IN_FLOW_DATA_PUB_INTERVAL        ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )
+#define DIAL_IN_FLOW_DATA_PUB_INTERVAL       ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )
 
-#define MAX_DIAL_IN_PUMP_PWM_STEP_UP_CHANGE   0.0133          ///< Max duty cycle change when ramping up ~ 200 mL/min/s.
-#define MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE   0.02            ///< Max duty cycle change when ramping down ~ 300 mL/min/s.
-#define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE       0.89            ///< Controller will error if PWM duty cycle > 90%, so set max to 89%.
-#define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE       0.10            ///< Controller will error if PWM duty cycle < 10%, so set min to 10%.
+#define MAX_DIAL_IN_PUMP_PWM_STEP_UP_CHANGE  0.0133          ///< Max duty cycle change when ramping up ~ 200 mL/min/s.
+#define MAX_DIAL_IN_PUMP_PWM_STEP_DN_CHANGE  0.02            ///< Max duty cycle change when ramping down ~ 300 mL/min/s.
+#define MAX_DIAL_IN_PUMP_PWM_DUTY_CYCLE      0.89            ///< Controller will error if PWM duty cycle > 90%, so set max to 89%.
+#define MIN_DIAL_IN_PUMP_PWM_DUTY_CYCLE      0.10            ///< Controller will error if PWM duty cycle < 10%, so set min to 10%.
 
+#define DIP_CONTROL_INTERVAL_SEC             10              ///< Dialysate inlet pump control interval (in seconds).
 /// Interval (ms/task time) at which the dialIn pump is controlled.
-static const U32 DIP_CONTROL_INTERVAL      = ( 10000 / TASK_GENERAL_INTERVAL );
-#define DIP_P_COEFFICIENT                    0.00035         ///< P term for dialIn pump control.
-#define DIP_I_COEFFICIENT                    0.00035         ///< I term for dialIn pump control.
+static const U32 DIP_CONTROL_INTERVAL      = ( DIP_CONTROL_INTERVAL_SEC * MS_PER_SECOND / TASK_GENERAL_INTERVAL );
+#define DIP_P_COEFFICIENT                    0.0001          ///< P term for dialIn pump control.
+#define DIP_I_COEFFICIENT                    0.00075         ///< I term for dialIn pump control.
 
 #define DIP_HOME_RATE                        100             ///< Target pump speed (in estimate mL/min) for homing.
 #define DIP_HOME_TIMEOUT_MS                  10000           ///< Maximum time allowed for homing to complete (in ms).
@@ -85,9 +86,9 @@
 
 #ifndef V2_0_SYSTEM
     #define DIP_SPEED_ADC_TO_RPM_FACTOR          1.751752    ///< Conversion factor from ADC counts to RPM for dialIn pump motor.
-    #define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.00025     ///< ~40 BP motor RPM = 1% PWM duty cycle
+    #define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.000193    ///< ~52 BP motor RPM = 1% PWM duty cycle
 #else
-    #define DIP_SPEED_ADC_TO_RPM_FACTOR          1.280938    ///< Conversion factor from ADC counts to RPM for blood pump motor
+    #define DIP_SPEED_ADC_TO_RPM_FACTOR          1.280938    ///< Conversion factor from ADC counts to RPM for dialIn pump motor
     #define DIP_MOTOR_RPM_TO_PWM_DC_FACTOR       0.0003125   ///< ~32 BP motor RPM = 1% PWM duty cycle
 #endif
 #define DIP_CURRENT_ADC_TO_MA_FACTOR         3.002           ///< Conversion factor from ADC counts to mA for dialIn pump motor.
@@ -106,7 +107,7 @@
 #define SIGN_FROM_12_BIT_VALUE(v)            ( (S16)(v) - (S16)DIAL_IN_PUMP_ADC_ZERO )
 
 /// Measured dialIn flow is filtered w/ moving average.
-#define SIZE_OF_ROLLING_AVG                  ( ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) * 10 )
+#define SIZE_OF_ROLLING_AVG                  ( ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL ) * DIP_CONTROL_INTERVAL_SEC )
 
 /// Dialysate flow sensor signal strength low alarm persistence.
 #define FLOW_SIG_STRGTH_ALARM_PERSIST        ( 5 * MS_PER_SECOND )
@@ -280,8 +281,10 @@
     // Direction change while pump is running is not allowed
     if ( ( FALSE == isDialInPumpOn ) || ( 0 == flowRate ) || ( dir == dialInPumpDirectionSet ) )
     {
+#ifndef NO_PUMP_FLOW_LIMITS
         // Verify flow rate
-        if ( flowRate <= MAX_DIAL_IN_FLOW_RATE )
+        if ( flowRate <= MAX_DIAL_IN_FLOW_RATE )
+#endif
         {
             resetDialInFlowMovingAverage();
             targetDialInFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
@@ -320,10 +323,12 @@
             }
             result = TRUE;
         }
+#ifndef NO_PUMP_FLOW_LIMITS
         else  // Requested flow rate too high
         {
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_SET_TOO_HIGH, flowRate )
-        }
+        }
+#endif
     }
 
     return result;
@@ -566,14 +571,11 @@
     else if ( dialInPumpPWMDutyCyclePctSet >= dialInPumpPWMDutyCyclePct )
     {
         resetDialInFlowMovingAverage();
+        dialInPumpPWMDutyCyclePctSet = dialInPumpPWMDutyCyclePct;
         resetPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, dialInPumpPWMDutyCyclePctSet );
         dialInPumpControlModeSet = dialInPumpControlMode;
-        // If open loop mode, set PWM to requested duty cycle where it will stay during control state
-        if ( dialInPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP )
-        {
-            dialInPumpPWMDutyCyclePctSet = dialInPumpPWMDutyCyclePct;
-            setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePct );
-        }
+        setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePct );
+        dipControlTimerCounter = 0;
         result = DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // Continue ramp up
@@ -608,14 +610,11 @@
     else if ( dialInPumpPWMDutyCyclePctSet <= dialInPumpPWMDutyCyclePct )
     {
         resetDialInFlowMovingAverage();
+        dialInPumpPWMDutyCyclePctSet = dialInPumpPWMDutyCyclePct;
         resetPIController( PI_CONTROLLER_ID_DIALYSATE_FLOW, dialInPumpPWMDutyCyclePctSet );
         dialInPumpControlModeSet = dialInPumpControlMode;
-        // If open loop mode, set PWM to requested duty cycle where it will stay during control state
-        if ( dialInPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP )
-        {
-            dialInPumpPWMDutyCyclePctSet = dialInPumpPWMDutyCyclePct;
-            setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePct );
-        }
+        setDialInPumpControlSignalPWM( dialInPumpPWMDutyCyclePct );
+        dipControlTimerCounter = 0;
         result = DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // Continue ramp down
@@ -880,6 +879,19 @@
     }
 
     return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getDialInPumpPWMDutyCyclePct function gets the current dialIn pump
+ * PWM duty cycle percentage.
+ * @details Inputs: dialInPumpPWMDutyCyclePctSet
+ * @details Outputs: none
+ * @return the current dialIn pump PWM duty cycle percentage (0..1).
+ *************************************************************************/
+F32 getDialInPumpPWMDutyCyclePct( void )
+{
+    return dialInPumpPWMDutyCyclePctSet;
 }
 
 /*********************************************************************//**