Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -r4ebc1f7e1aeb3a332e91fcdd1bbbe1a01873d93a -rf9b8b75c3686be892799b5446b955fd36ab49fa3
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 4ebc1f7e1aeb3a332e91fcdd1bbbe1a01873d93a)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision f9b8b75c3686be892799b5446b955fd36ab49fa3)
@@ -51,6 +51,8 @@
 
 #define DIP_HOME_RATE                        50              ///< target pump speed (in estimate mL/min) for homing.
 #define DIP_HOME_TIMEOUT_MS                  10000           ///< maximum time allowed for homing to complete (in ms).
+#define DIP_SPEED_CALC_INTERVAL              ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the dialysate inlet pump speed is calculated.
+#define DIP_HALL_EDGE_COUNTS_PER_REV         6               ///< number of hall sensor edge counts per motor revolution.
 
 #define DIP_MAX_CURR_WHEN_STOPPED_MA         150.0           ///> motor controller current should not exceed this when pump should be stopped
 #define DIP_MIN_CURR_WHEN_RUNNING_MA         150.0           ///> motor controller current should always exceed this when pump should be running
@@ -134,6 +136,10 @@
 static BOOL dipStopAtHomePosition = FALSE;                                          ///< stop dialysate inlet pump at next home position
 static U32 dipHomeStartTime = 0;                                                    ///< when did dialysate inlet pump home command begin? (in ms)
 
+static U16 dipLastMotorHallSensorCount = 0;                                         ///< last hall sensor count for the dialysate inlet pump motor
+static MOTOR_DIR_T dipMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;            ///< pump direction according to hall sensor count
+static U32 dipMotorSpeedCalcTimerCtr = 0;                                           ///< counter determines interval for calculating dialysate inlet pump motor speed from hall sensor count.
+
 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
@@ -158,6 +164,8 @@
 static void publishDialInFlowData( void );
 static void resetDialInFlowMovingAverage( void );
 static void filterDialInFlowReadings( F32 flow );
+static void updateDialInPumpSpeedAndDirectionFromHallSensors( void );
+static void checkDialInPumpRotor( void );
 static void checkDialInPumpDirection( void );
 static void checkDialInPumpMCCurrent( void );
 static DATA_GET_PROTOTYPE( U32, getPublishDialInFlowDataInterval );
@@ -338,21 +346,19 @@
 
     filterDialInFlowReadings( dipFlow );
 
+    // calculate dialysate inlet pump motor speed/direction from hall sensor count
+    updateDialInPumpSpeedAndDirectionFromHallSensors();
+
+    // check for home position, zero/low speed
+    checkDialInPumpRotor();
+
     // don't start enforcing checks until out of init/POST mode
     if ( getCurrentOperationMode() != MODE_INIT )
     {
         checkDialInPumpDirection();
         checkDialInPumpMCCurrent();
     }
 
-    // if homing, check timeout
-    if ( ( TRUE == dipStopAtHomePosition ) && ( TRUE == didTimeout( dipHomeStartTime, DIP_HOME_TIMEOUT_MS ) ) )
-    {
-        signalDialInPumpHardStop();
-        dipStopAtHomePosition = FALSE;
-        // TODO - alarm???
-    }
-
     // publish dialIn flow data on interval
     publishDialInFlowData();
 }
@@ -814,6 +820,72 @@
 
 /*********************************************************************//**
  * @brief
+ * The updateDialInPumpSpeedAndDirectionFromHallSensors function calculates \n
+ * the dialysate inlet pump motor speed and direction from hall sensor counter on \n
+ * a 1 second interval.
+ * @details
+ * Inputs : dipLastMotorHallSensorCount, dipMotorSpeedCalcTimerCtr, current count from FPGA
+ * Outputs : dipMotorDirectionFromHallSensors, dialInPumpSpeedRPM
+ * @return none
+ *************************************************************************/
+static void updateDialInPumpSpeedAndDirectionFromHallSensors( void )
+{
+    if ( ++dipMotorSpeedCalcTimerCtr >= DIP_SPEED_CALC_INTERVAL )
+    {
+        U16 dipMotorHallSensorCount = getFPGADialInPumpHallSensorCount();
+        U16 incDelta = ( dipMotorHallSensorCount >= dipLastMotorHallSensorCount ? dipMotorHallSensorCount - dipLastMotorHallSensorCount : ( 0x10000 - dipLastMotorHallSensorCount ) + dipMotorHallSensorCount );
+        U16 decDelta = 0x10000 - incDelta;
+        U16 delta;
+
+        // determine dialysate inlet pump speed/direction from delta hall sensor count since last interval
+        if ( incDelta < decDelta )
+        {
+            dipMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;
+            delta = incDelta;
+            dialInPumpSpeedRPM.data = ( (F32)delta / (F32)DIP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN;
+        }
+        else
+        {
+            dipMotorDirectionFromHallSensors = MOTOR_DIR_REVERSE;
+            delta = decDelta;
+            dialInPumpSpeedRPM.data = ( (F32)delta / (F32)DIP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN * -1.0;
+        }
+
+        // update last count for next time
+        dipLastMotorHallSensorCount = dipMotorHallSensorCount;
+        dipMotorSpeedCalcTimerCtr = 0;
+    }
+}
+
+/*************************************************************************
+ * @brief
+ * The checkDialInPumpRotor function checks the rotor for the dialysate inlet \n
+ * pump.  If homing, this function will stop when hall sensor detected.  If pump \n
+ * is off or running very slowly, rotor speed will be set to zero.
+ * @details
+ * Inputs : dipStopAtHomePosition, dipHomeStartTime, dipRotorRevStartTime
+ * Outputs : pump may be stopped if homing, dialInPumpRotorSpeedRPM may be set to zero.
+ * @return none
+ *************************************************************************/
+static void checkDialInPumpRotor( void )
+{
+    // if homing, check timeout
+    if ( ( TRUE == dipStopAtHomePosition ) && ( TRUE == didTimeout( dipHomeStartTime, DIP_HOME_TIMEOUT_MS ) ) )
+    {
+        signalDialInPumpHardStop();
+        dipStopAtHomePosition = FALSE;
+        // TODO - alarm???
+    }
+
+    // if pump is stopped or running very slowly, set rotor speed to zero
+    if ( TRUE == didTimeout( dipRotorRevStartTime, DIP_HOME_TIMEOUT_MS ) )
+    {
+        dialInPumpRotorSpeedRPM.data = 0.0;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
  * The checkDialInPumpDirection function checks the set direction vs. \n
  * the direction implied by the sign of the measured MC speed.
  * @details