Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -refd96d27277f97c8ca1ca035cdd4ac3be5b5d6f9 -re190a7eb5fb36d4a0c42e9db709571db3037d39d
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision efd96d27277f97c8ca1ca035cdd4ac3be5b5d6f9)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision e190a7eb5fb36d4a0c42e9db709571db3037d39d)
@@ -8,7 +8,7 @@
 * @file    DialInFlow.c
 *
 * @author  (last)      Dara Navaei
-* @date    (last)      15-Jun-2022
+* @date    (last)      01-Sep-2022
 *
 * @author  (original)  Sean
 * @date    (original)  16-Dec-2019
@@ -77,8 +77,8 @@
 static const U32 DIP_OFF_ERROR_PERSIST         = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
 /// Persist time (task intervals) motor speed error condition.
 static const U32 DIP_MOTOR_SPEED_ERROR_PERSIST = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
-/// Persist time (task intervals) rotor speed error condition.
-static const U32 DIP_ROTOR_SPEED_ERROR_PERSIST = ((12 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
+/// Rotor speed persist time test needs a minimum number of rotations.
+static const U32 DIP_ROTOR_ERROR_PERSIST_ROTATION_MIN = 3;
 /// Persist time (task intervals) pump direction error condition.
 static const U32 DIP_DIRECTION_ERROR_PERSIST   = (250 / TASK_PRIORITY_INTERVAL);
 /// Persist time (task intervals) dialysate flow rate out of range error condition.
@@ -268,7 +268,7 @@
  * @param pwm PWM duty cycle to set pump controller to (optional for open loop)
  * @return TRUE if new flow rate & dir are set, FALSE if not
  *************************************************************************/
-BOOL setDialInPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode, F32 pwm )
+BOOL setDialInPumpTargetFlowRate( U32 flowRate, MOTOR_DIR_T dir, PUMP_CONTROL_MODE_T mode)
 {
     BOOL result = FALSE;
 
@@ -278,7 +278,7 @@
         S32 dirFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
 
         // Don't interrupt pump control unless rate or mode is changing
-        if ( ( dirFlowRate != targetDialInFlowRate ) || ( mode != dialInPumpControlMode ) || ( fabs(pwm) > NEARLY_ZERO ) )
+        if ( ( dirFlowRate != targetDialInFlowRate ) || ( mode != dialInPumpControlMode ) )
         {
             BOOL isFlowRateInRange = ( flowRate <= MAX_DIAL_IN_FLOW_RATE ? TRUE : FALSE );
 
@@ -297,14 +297,7 @@
                 dialInPumpDirection = dir;
                 dialInPumpControlMode = mode;
                 // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
-                if ( PUMP_CONTROL_MODE_CLOSED_LOOP == mode || fabs(pwm) < NEARLY_ZERO )
-                {
-                    dialInPumpPWMDutyCyclePct = ( 0 == flowRate ? DIP_PWM_ZERO_OFFSET : DIP_PWM_FROM_ML_PER_MIN( (F32)flowRate ) );
-                }
-                else  // Dialin command to open loop w/ set PWM duty cycle
-                {
-                    dialInPumpPWMDutyCyclePct = pwm;
-                }
+                dialInPumpPWMDutyCyclePct = ( 0 == flowRate ? DIP_PWM_ZERO_OFFSET : DIP_PWM_FROM_ML_PER_MIN( (F32)flowRate ) );
 
                 switch ( dialInPumpState )
                 {
@@ -414,7 +407,7 @@
     {
         dipStopAtHomePosition = TRUE;
         dipHomeStartTime = getMSTimerCount();
-        result = setDialInPumpTargetFlowRate( DIP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F );
+        result = setDialInPumpTargetFlowRate( DIP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
     }
 
     return result;
@@ -891,6 +884,28 @@
     return result;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The getPumpRotorErrorPersistTime function calculates the Rotor error persist time.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @param mtr_rpm, RPM of the motor.
+ *        gear_ratio, Gear ratio of motor vs motor
+ * @return Persistent error test time in (ms)
+ *************************************************************************/
+U32 getPumpRotorErrorPersistTime( F32 mtr_rpm, F32 gear_ratio )
+{
+    U32 err_persist_time = 0xFFFFFFF;
+
+    if ( mtr_rpm > 0 )
+    {
+        /// Calculate persist time for rotor speed error condition.
+        err_persist_time = ( ( DIP_ROTOR_ERROR_PERSIST_ROTATION_MIN / ( mtr_rpm / gear_ratio / SEC_PER_MIN ) ) * MS_PER_SECOND );
+    }
+
+   return err_persist_time;
+}
+
 /*********************************************************************//**
  * @brief
  * The publishDialInFlowData function publishes dialIn flow data at the set
@@ -1141,7 +1156,7 @@
         F32 cmdMotorSpeed = DIP_PWM_TO_MOTOR_SPEED_RPM( dialInPumpPWMDutyCyclePctSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
-        F32 measRotorSpeed = getMeasuredDialInPumpRotorSpeed();
+        F32 measRotorSpeed = fabs( getMeasuredDialInPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DIP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
@@ -1166,7 +1181,7 @@
         // Check measured rotor speed vs. measured motor speed while controlling to target
         if ( deltaRotorSpeed > DIP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
         {
-            if ( ++errorDialInRotorSpeedPersistTimerCtr >= DIP_ROTOR_SPEED_ERROR_PERSIST )
+            if ( ++errorDialInRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, DIP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL ) )
             {
 #ifndef _RELEASE_
                 if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_SPEED_CHECKS ) != SW_CONFIG_ENABLE_VALUE )
@@ -1418,7 +1433,7 @@
             }
             else
             {
-                result = setDialInPumpTargetFlowRate( abs(value), dir, (PUMP_CONTROL_MODE_T)ctrlMode, 0.0F );
+                result = setDialInPumpTargetFlowRate( abs(value), dir, (PUMP_CONTROL_MODE_T)ctrlMode );
             }
         }
     }
@@ -1665,7 +1680,7 @@
 
     if ( TRUE == isTestingActivated() )
     {
-        setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, value  );
+        setDialInPumpTargetFlowRate( (U32)DIP_ML_PER_MIN_FROM_PWM(value), MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
         result = TRUE;
     }