Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r2a368aaf6d568f021e1bba806bf46e1174250f56 -r90945afbe3866bf383c44c2a1f52438192c267c5
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 2a368aaf6d568f021e1bba806bf46e1174250f56)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 90945afbe3866bf383c44c2a1f52438192c267c5)
@@ -64,7 +64,7 @@
 #define RPM_2_ML_MIN_CONVERSION                 0.215964F       ///< Conversion factor for estimating flow rate from pump motor RPM.
 #define SIZE_OF_ROLLING_AVG                     100             ///< Number of samples in DPo flow estimation moving average.
 
-#define DOP_HOME_RATE                           100             ///< Target pump speed (in estimate mL/min) for homing.
+#define DOP_HOME_SPEED                          400             ///< Target pump speed (in RPM) for homing.
 #define DOP_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).
@@ -102,11 +102,14 @@
 #define DOP_ML_PER_MIN_TO_PUMP_RPM_FACTOR       ( DOP_REV_PER_LITER / ML_PER_LITER )   ///< Conversion factor from mL/min to pump motor RPM.
 #define DOP_GEAR_RATIO                          32.0F           ///< Pump motor to pump gear ratio.
 #define DOP_PWM_ZERO_OFFSET                     0.1F            ///< 10% PWM duty cycle = zero speed.
+#define DOP_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.
 
 /// Macro converts a flow rate to an estimated PWM duty cycle %.
 #define DOP_PWM_FROM_ML_PER_MIN(rate)           ( ( ( rate ) * 0.0009F ) + 0.0972F + DOP_PWM_ZERO_OFFSET )
 /// Conversion from PWM duty cycle % to commanded pump motor speed.
-#define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)     ( ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
+#define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)     ( ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * DOP_100_PCT_PWM_RPM_RANGE ) * ( dir == MOTOR_DIR_FORWARD ? 1.0F : -1.0F ) )
+/// Conversion from RPM to PWM duty cycle %.
+#define DOP_MOTOR_SPEED_RPM_TO_PWM(rpm)         ( ( (F32)(rpm) / DOP_100_PCT_PWM_RPM_RANGE ) + DOP_PWM_ZERO_OFFSET )
 /// Macro converts a PWM to an estimated flow rate.
 #define DOP_ML_PER_MIN_FROM_PWM(pwm)            ( ( ( pwm - DOP_PWM_ZERO_OFFSET ) - 0.0972F ) / 0.0009F  )
 
@@ -347,6 +350,27 @@
 
 /*********************************************************************//**
  * @brief
+ * The setDialOutPumpTargetRPM 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 outlet pump speed (in RPM)
+ * @param dir new dialysate outlet flow direction
+ * @return TRUE if new flow rate & direction are set, FALSE if not
+ *************************************************************************/
+BOOL setDialOutPumpTargetRPM( U32 rpm, MOTOR_DIR_T dir )
+{
+    BOOL result = FALSE;
+    F32 pwm = DOP_MOTOR_SPEED_RPM_TO_PWM( rpm );
+    F32 targetRate = DOP_ML_PER_MIN_FROM_PWM( pwm );
+
+    result = setDialOutPumpTargetRate( (U32)targetRate, dir, PUMP_CONTROL_MODE_OPEN_LOOP );
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setDialOutUFVolumes function sets the ultrafiltration reference and
  * measured total volumes (in mL).
  * @details Inputs: none
@@ -469,7 +493,7 @@
     {
         dopStopAtHomePosition = TRUE;
         dopHomeStartTime = getMSTimerCount();
-        result = setDialOutPumpTargetRate( DOP_HOME_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        result = setDialOutPumpTargetRPM( DOP_HOME_SPEED, MOTOR_DIR_FORWARD );
     }
 
     return result;
@@ -1661,16 +1685,16 @@
 BOOL testSetDialOutPumpTargetDutyCycle( F32 value )
 {
     BOOL result = FALSE;
-    F32 targetPWM = DOP_ML_PER_MIN_FROM_PWM(value) ;
+    F32 targetRate = DOP_ML_PER_MIN_FROM_PWM( value );
 
     if ( TRUE == isTestingActivated() )
     {
         // currently conversion can create negative values with values <= 10%.
-        if ( targetPWM < 0 )
+        if ( targetRate < 0 )
         {
-            targetPWM = 0;
+            targetRate = 0;
         }
-        setDialOutPumpTargetRate( (U32)targetPWM, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        setDialOutPumpTargetRate( (U32)targetRate, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
         result = TRUE;
     }