Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -ra3a01327c8fe80f65f6658ae6cbef4910a4a8033 -r8e7158d8231435496fcf1d5649e51babf859ccc7
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision a3a01327c8fe80f65f6658ae6cbef4910a4a8033)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 8e7158d8231435496fcf1d5649e51babf859ccc7)
@@ -1,14 +1,14 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2021 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
 * @file DialOutFlow.c
 *
 * @author (last) Sean Nash
-* @date (last) 19-Jun-2020
+* @date (last) 01-Dec-2020
 *
 * @author (original) Sean
 * @date (original) 24-Jan-2020
@@ -25,6 +25,7 @@
 #include "InternalADC.h"
 #include "OperationModes.h"
 #include "PIControllers.h"
+#include "SafetyShutdown.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
 #include "TaskPriority.h"
@@ -38,7 +39,8 @@
 
 // ********** private definitions **********
 
-#define DIAL_OUT_DATA_PUB_INTERVAL              ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< Interval (ms/task time) at which the dialysate outlet pump data is published on the CAN bus.
+/// Interval (ms/task time) at which the dialysate outlet pump data is published on the CAN bus.
+#define DIAL_OUT_DATA_PUB_INTERVAL              ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )
 
 #define MAX_DIAL_OUT_FLOW_RATE                  650             ///< Maximum dialysate outlet pump flow rate in mL/min.
 #define MIN_DIAL_OUT_FLOW_RATE                  100             ///< Minimum dialysate outlet pump flow rate in mL/min.
@@ -55,19 +57,23 @@
 
 #define DOP_HOME_RATE                           100             ///< target pump speed (in estimate mL/min) for homing.
 #define DOP_HOME_TIMEOUT_MS                     10000           ///< maximum time allowed for homing to complete (in ms).
-#define DOP_SPEED_CALC_INTERVAL                 ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )  ///< interval (ms/task time) at which the dialysate outlet pump speed is calculated.
+/// interval (ms/task time) at which the blood pump speed is calculated (every 40 ms).
+#define DOP_SPEED_CALC_INTERVAL                 ( 40 / TASK_PRIORITY_INTERVAL )
+/// number of hall sensor counts kept in buffer to hold last 1 second of count data.
+#define DOP_SPEED_CALC_BUFFER__LEN              ( 1000 / DOP_SPEED_CALC_INTERVAL / TASK_PRIORITY_INTERVAL )
 #define DOP_HALL_EDGE_COUNTS_PER_REV            48              ///< number of hall sensor edge counts per motor revolution.
 
 #define DOP_MAX_MOTOR_SPEED_WHILE_OFF_RPM       100.0           ///< maximum motor speed (RPM) while motor is commanded off.
 #define DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM         5.0             ///< maximum difference in speed between motor and rotor (in rotor RPM).
 #define DOP_MAX_MOTOR_SPEED_ERROR_RPM           300.0           ///< maximum difference in speed between measured and commanded RPM.
-#define DOP_OFF_ERROR_PERSIST                   ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL)   ///< persist time (task intervals) for motor off error condition.
-#define DOP_MOTOR_SPEED_ERROR_PERSIST           ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL)   ///< persist time (task intervals) motor speed error condition.
-#define DOP_ROTOR_SPEED_ERROR_PERSIST           ((12 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL)   ///< persist time (task intervals) rotor speed error condition.
+#define DOP_OFF_ERROR_PERSIST                   ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL)  ///< persist time (task intervals) for motor off error condition.
+#define DOP_MOTOR_SPEED_ERROR_PERSIST           ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL)  ///< persist time (task intervals) motor speed error condition.
+#define DOP_ROTOR_SPEED_ERROR_PERSIST           ((12 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL) ///< persist time (task intervals) rotor speed error condition.
+#define DOP_DIRECTION_ERROR_PERSIST             (250 / TASK_PRIORITY_INTERVAL)                  ///< persist time (task intervals) pump direction error condition.
 
 #define DOP_MAX_CURR_WHEN_STOPPED_MA            150.0           ///< Motor controller current should not exceed this when pump should be stopped.
 #define DOP_MIN_CURR_WHEN_RUNNING_MA            150.0           ///< Motor controller current should always exceed this when pump should be running.
-#define DOP_MAX_CURR_WHEN_RUNNING_MA            1000.0          ///< Motor controller current should not exceed this when pump should be running.
+#define DOP_MAX_CURR_WHEN_RUNNING_MA            2000.0          ///< Motor controller current should not exceed this when pump should be running.
 #define DOP_MAX_CURR_ERROR_DURATION_MS          2000            ///< Motor controller current errors persisting beyond this duration will trigger an alarm.
 
 #define DOP_SPEED_ADC_TO_RPM_FACTOR             1.280938        ///< Conversion factor from ADC counts to RPM for dialysate outlet pump motor.
@@ -78,12 +84,13 @@
 
 
 /*** setDialOutFlowRxTotalVolumeAndRxTime ***/
-#define DOP_REV_PER_LITER                       150.24          ///< Rotor revolutions per liter.
+#define DOP_REV_PER_LITER                       150.0           ///< Rotor revolutions per liter.
 #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                          32.0            ///< Pump motor to pump gear ratio.
 #define DOP_MOTOR_RPM_TO_PWM_DC_FACTOR          0.00028         ///< ~28 DPo motor RPM = 1% PWM duty cycle.
 #define DOP_PWM_ZERO_OFFSET                     0.1             ///< 10% PWM duty cycle = zero speed.
-#define DOP_PWM_FROM_ML_PER_MIN(rate)           ( (rate) * DOP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * DOP_GEAR_RATIO * DOP_MOTOR_RPM_TO_PWM_DC_FACTOR + DOP_PWM_ZERO_OFFSET )  ///< Macro converts a flow rate to an estimated PWM duty cycle %.
+/// Macro converts a flow rate to an estimated PWM duty cycle %.
+#define DOP_PWM_FROM_ML_PER_MIN(rate)           ( (rate) * DOP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * DOP_GEAR_RATIO * DOP_MOTOR_RPM_TO_PWM_DC_FACTOR + DOP_PWM_ZERO_OFFSET )
 
 /// Enumeration of dialysate outlet pump controller states.
 typedef enum DialOutPump_States
@@ -146,20 +153,18 @@
 static BOOL dopStopAtHomePosition = FALSE;                                                  ///< stop dialysate outlet pump at next home position
 static U32 dopHomeStartTime = 0;                                                            ///< when did dialysate outlet pump home command begin? (in ms)
 
-static U16 dopLastMotorHallSensorCount = 0;                                                 ///< last hall sensor count for the dialysate outlet pump motor
-static MOTOR_DIR_T dopMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;                    ///< pump direction according to hall sensor count
+static U16 dopLastMotorHallSensorCounts[ DOP_SPEED_CALC_BUFFER__LEN ];                      ///< last hall sensor count for the dialysate outlet pump motor
+static U32 dopMotorSpeedCalcIdx = 0;                                                        ///< index into 1 second buffer of motor speed hall sensor counts
 static U32 dopMotorSpeedCalcTimerCtr = 0;                                                   ///< counter determines interval for calculating dialysate outlet pump motor speed from hall sensor count.
 
 static U32 errorDialOutMotorOffPersistTimerCtr = 0;                                         ///< persistence timer counter for motor off check error condition.
 static U32 errorDialOutMotorSpeedPersistTimerCtr = 0;                                       ///< persistence timer counter for motor speed error condition.
 static U32 errorDialOutRotorSpeedPersistTimerCtr = 0;                                       ///< persistence timer counter for rotor speed error condition.
+static U32 errorDialOutPumpDirectionPersistTimerCtr = 0;                                    ///< persistence timer counter for pump direction error condition.
 
 static DIAL_OUT_PUMP_SELF_TEST_STATE_T dialOutPumpSelfTestState = DIAL_OUT_PUMP_SELF_TEST_STATE_START;  ///< Current state of the dialysate outlet pump self-test state machine.
 static U32 dialOutPumpSelfTestTimerCount = 0;                                               ///< Timer counter for time reference during self-test.
 
-// Broadcasting record
-DIAL_OUT_FLOW_DATA_T dialOutBroadCastVariables;                                             ///< Record containing latest dialysate outlet data for broadcasting.
-
 // ********** private function prototypes **********
 
 static DIAL_OUT_PUMP_STATE_T handleDialOutPumpOffState( void );
@@ -185,35 +190,30 @@
 /*********************************************************************//**
  * @brief
  * The initDialOutFlow function initializes the DialOutFlow module.
- * @details
- * Inputs : none
- * Outputs : DialOutFlow module initialized.
+ * @details Inputs: none
+ * @details Outputs: DialOutFlow module initialized.
  * @return none
  *************************************************************************/
 void initDialOutFlow( void )
 {
     U32 i;
 
-    dopLastMotorHallSensorCount = getFPGADialOutPumpHallSensorCount();
-
     stopDialOutPump();
     setDialOutPumpDirection( MOTOR_DIR_FORWARD );
 
+    // zero motor hall sensors counts buffer
+    dopMotorSpeedCalcIdx = 0;
+    for ( i = 0; i < DOP_SPEED_CALC_BUFFER__LEN; i++ )
+    {
+        dopLastMotorHallSensorCounts[ i ] = 0;
+    }
+
     // initialize load cell weights
     for ( i = 0; i < NUM_OF_LOAD_CELLS; i++ )
     {
         loadCellWeightInGrams[ i ].data = 0.0;
     }
 
-    // initialize broadcast data
-    dialOutBroadCastVariables.refUFVolMl = 0.0;
-    dialOutBroadCastVariables.measUFVolMl = 0.0;
-    dialOutBroadCastVariables.measRotSpdRPM = 0.0;
-    dialOutBroadCastVariables.measSpdRPM = 0.0;
-    dialOutBroadCastVariables.measMCSpdRPM = 0.0;
-    dialOutBroadCastVariables.measMCCurrmA = 0.0;
-    dialOutBroadCastVariables.setPWMpct = 0.0;
-
     // initialize dialysate outlet flow PI controller
     initializePIController( PI_CONTROLLER_ID_ULTRAFILTRATION, MIN_DIAL_OUT_PUMP_PWM_DUTY_CYCLE,
                             DOP_P_COEFFICIENT, DOP_I_COEFFICIENT,
@@ -224,9 +224,8 @@
  * @brief
  * The setDialOutPumpTargetRate function sets a new target flow rate, pump
  * direction, and control mode.
- * @details
- * Inputs : isDialOutPumpOn, dialOutPumpDirectionSet
- * Outputs : targetDialOutFlowRate, dialOutPumpdirection, dialOutPumpPWMDutyCyclePct
+ * @details Inputs: isDialOutPumpOn, dialOutPumpDirectionSet
+ * @details Outputs: targetDialOutFlowRate, dialOutPumpdirection, dialOutPumpPWMDutyCyclePct
  * @param flowRate new target dialysate outlet flow rate
  * @param dir new dialysate outlet flow direction
  * @param mode new control mode
@@ -297,9 +296,8 @@
  * @brief
  * The setDialOutUFVolumes function sets the ultrafiltration reference and
  * measured total volumes (in mL).
- * @details
- * Inputs : none
- * Outputs : referenceUFVolumeInMl and totalMeasuredUFVolumeInMl
+ * @details Inputs: none
+ * @details Outputs: referenceUFVolumeInMl and totalMeasuredUFVolumeInMl
  * @param refVol New ultrafiltration reference volume (in mL)
  * @param totVol New ultrafiltration total volume (in mL)
  * @return none
@@ -314,9 +312,8 @@
  * @brief
  * The signalDialOutPumpHardStop function stops the dialysate outlet pump
  * immediately.
- * @details
- * Inputs : none
- * Outputs : Dialysate outlet pump stopped, set point reset, state changed to off
+ * @details Inputs: none
+ * @details Outputs: Dialysate outlet pump stopped, set point reset, state changed to off
  * @return none
  *************************************************************************/
 void signalDialOutPumpHardStop( void )
@@ -334,9 +331,8 @@
  * The signalDialOutPumpRotorHallSensor function handles the dialysate outlet
  * pump rotor hall sensor detection.  Calculates rotor speed (in RPM).
  * Stops pump if there is a pending request to home the pump.
- * @details
- * Inputs : dopRotorRevStartTime, dopStopAtHomePosition
- * Outputs : dopRotorRevStartTime, dialOutPumpRotorSpeedRPM
+ * @details Inputs: dopRotorRevStartTime, dopStopAtHomePosition
+ * @details Outputs: dopRotorRevStartTime, dialOutPumpRotorSpeedRPM
  * @return none
  *************************************************************************/
 void signalDialOutPumpRotorHallSensor( void )
@@ -359,9 +355,8 @@
 /*********************************************************************//**
  * @brief
  * The homeDialOutPump function initiates a dialysate outlet pump home operation.
- * @details
- * Inputs : dialOutPumpState
- * Outputs : dopStopAtHomePosition, dopHomeStartTime, dialysate outlet pump started (slow)
+ * @details Inputs: dialOutPumpState
+ * @details Outputs: dopStopAtHomePosition, dopHomeStartTime, dialysate outlet pump started (slow)
  * @return none
  *************************************************************************/
 BOOL homeDialOutPump( void )
@@ -380,11 +375,23 @@
 
 /*********************************************************************//**
  * @brief
+ * The isDialOutPumpRunning function returns whether the dialysate outlet
+ * pump is currently running or not.
+ * @details Inputs: isDialOutPumpOn
+ * @details Outputs: none
+ * @return isDialOutPumpOn
+ *************************************************************************/
+BOOL isDialOutPumpRunning( void )
+{
+    return isDialOutPumpOn;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setDialOutUFVolumes function sets the ultrafiltration reference and
  * measured total volumes (in mL).
- * @details
- * Inputs : none
- * Outputs : loadCellWeightInGrams[]
+ * @details Inputs: none
+ * @details Outputs: loadCellWeightInGrams[]
  * @param res1Primary New weight from primary load cell of reservoir 1
  * @param res1Backup New weight from backup load cell of reservoir 1
  * @param res2Primary New weight from primary load cell of reservoir 2
@@ -408,9 +415,8 @@
  * The execDialOutFlowMonitor function executes the dialysate outlet pump
  * and load cell sensor monitor.  Checks are performed.  Data is published
  * at appropriate interval.
- * @details
- * Inputs : latest sensor data
- * Outputs : dialOutPumpMCSpeedRPM, dialOutPumpMCCurrentmA
+ * @details Inputs: latest sensor data
+ * @details Outputs: dialOutPumpMCSpeedRPM, dialOutPumpMCCurrentmA
  * @return none
  *************************************************************************/
 void execDialOutFlowMonitor( void )
@@ -444,9 +450,8 @@
  * @brief
  * The execDialOutFlowController function executes the dialysate outlet pump
  * ultrafiltration controller state machine.
- * @details
- * Inputs : dialOutPumpState
- * Outputs : dialOutPumpState
+ * @details Inputs: dialOutPumpState
+ * @details Outputs: dialOutPumpState
  * @return none
  *************************************************************************/
 void execDialOutFlowController( void )
@@ -479,9 +484,8 @@
  * @brief
  * The handleDialOutPumpOffState function handles the dialOut pump off state
  * of the dialOut pump controller state machine.
- * @details
- * Inputs : targetDialOutFlowRate, dialOutPumpDirection
- * Outputs : dialOutPumpPWMDutyCyclePctSet, dialOutPumpDirectionSet, isDialOutPumpOn
+ * @details Inputs: targetDialOutFlowRate, dialOutPumpDirection
+ * @details Outputs: dialOutPumpPWMDutyCyclePctSet, dialOutPumpDirectionSet, isDialOutPumpOn
  * @return next state
  *************************************************************************/
 static DIAL_OUT_PUMP_STATE_T handleDialOutPumpOffState( void )
@@ -512,17 +516,16 @@
  * @brief
  * The handleDialOutPumpRampingUpState function handles the ramp up state
  * of the dialOut pump controller state machine.
- * @details
- * Inputs : dialOutPumpPWMDutyCyclePctSet
- * Outputs : dialOutPumpPWMDutyCyclePctSet
+ * @details Inputs: dialOutPumpPWMDutyCyclePctSet
+ * @details Outputs: dialOutPumpPWMDutyCyclePctSet
  * @return next state
  *************************************************************************/
 static DIAL_OUT_PUMP_STATE_T handleDialOutPumpRampingUpState( void )
 {
     DIAL_OUT_PUMP_STATE_T result = DIAL_OUT_PUMP_RAMPING_UP_STATE;
 
     // have we been asked to stop the dialOut pump?
-    if ( dialOutPumpPWMDutyCyclePct < NEARLY_ZERO )
+    if ( dialOutPumpPWMDutyCyclePct < (MAX_DIAL_OUT_PUMP_PWM_STEP_DN_CHANGE + DOP_PWM_ZERO_OFFSET) )
     {
         // start ramp down to stop
         dialOutPumpPWMDutyCyclePctSet -= MAX_DIAL_OUT_PUMP_PWM_STEP_DN_CHANGE;
@@ -556,17 +559,16 @@
  * @brief
  * The handleDialOutPumpRampingDownState function handles the ramp down state
  * of the dialOut pump controller state machine.
- * @details
- * Inputs : dialOutPumpPWMDutyCyclePctSet
- * Outputs : dialOutPumpPWMDutyCyclePctSet
+ * @details Inputs: dialOutPumpPWMDutyCyclePctSet
+ * @details Outputs: dialOutPumpPWMDutyCyclePctSet
  * @return next state
  *************************************************************************/
 static DIAL_OUT_PUMP_STATE_T handleDialOutPumpRampingDownState( void )
 {
     DIAL_OUT_PUMP_STATE_T result = DIAL_OUT_PUMP_RAMPING_DOWN_STATE;
 
     // have we essentially reached zero speed
-    if ( dialOutPumpPWMDutyCyclePctSet < (MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE + DOP_PWM_ZERO_OFFSET) )
+    if ( dialOutPumpPWMDutyCyclePctSet < (MAX_DIAL_OUT_PUMP_PWM_STEP_DN_CHANGE + DOP_PWM_ZERO_OFFSET) )
     {
         stopDialOutPump();
         result = DIAL_OUT_PUMP_OFF_STATE;
@@ -598,9 +600,8 @@
  * @brief
  * The handleDialOutPumpControlToTargetState function handles the "control to
  * target" state of the dialOut pump controller state machine.
- * @details
- * Inputs : dopControlTimerCounter, dialOutPumpControlModeSet, volumes.
- * Outputs : dopControlTimerCounter, pump controlled.
+ * @details Inputs: dopControlTimerCounter, dialOutPumpControlModeSet, volumes.
+ * @details Outputs: dopControlTimerCounter, pump controlled.
  * @return next state
  *************************************************************************/
 static DIAL_OUT_PUMP_STATE_T handleDialOutPumpControlToTargetState( void )
@@ -614,20 +615,22 @@
         {
             F32 refVol = getTotalTargetDialOutUFVolumeInMl();
             F32 totVol = getTotalMeasuredUFVolumeInMl();
-            F32 newPWM;
-            F32 deltaPWM;
+            F32 newPWMDutyCyclePct;
+            F32 deltaPWMDutyCyclePct;
 
             // get new PWM from PI controller
-            newPWM = runPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, refVol, totVol );
+            newPWMDutyCyclePct = runPIController( PI_CONTROLLER_ID_ULTRAFILTRATION, refVol, totVol );
             // limit PWM change to max
-            deltaPWM = newPWM - dialOutPumpPWMDutyCyclePctSet;
-            if ( fabs( deltaPWM ) > MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE )
+            deltaPWMDutyCyclePct = newPWMDutyCyclePct - dialOutPumpPWMDutyCyclePctSet;
+            if ( fabs( deltaPWMDutyCyclePct ) > MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE )
             {
-                newPWM = ( deltaPWM < 0.0 ? dialOutPumpPWMDutyCyclePctSet - MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE : dialOutPumpPWMDutyCyclePctSet + MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE );
+                newPWMDutyCyclePct = ( deltaPWMDutyCyclePct < 0.0 ? \
+                                       dialOutPumpPWMDutyCyclePctSet - MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE : \
+                                       dialOutPumpPWMDutyCyclePctSet + MAX_DIAL_OUT_PUMP_PWM_STEP_UP_CHANGE );
             }
             // set new PWM
-            dialOutPumpPWMDutyCyclePctSet = newPWM;
-            setDialOutPumpControlSignalPWM( newPWM );
+            dialOutPumpPWMDutyCyclePctSet = newPWMDutyCyclePct;
+            setDialOutPumpControlSignalPWM( newPWMDutyCyclePct );
         }
         dopControlTimerCounter = 0;
     }
@@ -639,9 +642,8 @@
  * @brief
  * The setDialOutPumpControlSignalPWM function set the PWM duty cycle of
  * the dialysate outlet pump to a given %.
- * @details
- * Inputs : none
- * Outputs : dialysis outlet pump PWM duty cycle is set.
+ * @details Inputs: none
+ * @details Outputs: dialysis outlet pump PWM duty cycle is set.
  * @param newPWM A percentage duty cycle between 0.0 and 1.0
  * @return none
  *************************************************************************/
@@ -654,9 +656,8 @@
  * @brief
  * The stopDialOutPump function sets the dialout flow stop signal and PWM
  * duty cycle to 0.0.
- * @details
- * Inputs : none
- * Outputs : dialOut pump stop signal activated, PWM duty cycle zeroed
+ * @details Inputs: none
+ * @details Outputs: dialOut pump stop signal activated, PWM duty cycle zeroed
  * @return none
  *************************************************************************/
 static void stopDialOutPump( void )
@@ -670,9 +671,8 @@
 /*********************************************************************//**
  * @brief
  * The releaseDialOutPumpStop function clears the dialysate outlet pump stop signal.
- * @details
- * Inputs : none
- * Outputs : dialysate outlet pump stop signal is cleared.
+ * @details Inputs: none
+ * @details Outputs: dialysate outlet pump stop signal is cleared.
  * @return none
  *************************************************************************/
 static void releaseDialOutPumpStop( void )
@@ -684,9 +684,8 @@
  * @brief
  * The setDialOutPumpDirection function sets the set dialOut pump direction to
  * the given direction.
- * @details
- * Inputs : none
- * Outputs : dialOutPumpDirectionSet, pump direction signal set to match given direction.
+ * @details Inputs: none
+ * @details Outputs: dialOutPumpDirectionSet, pump direction signal set to match given direction.
  * @param dir dialysate outlet pump direction to set
  * @return none
  *************************************************************************/
@@ -714,16 +713,17 @@
  * @brief
  * The publishDialOutFlowData function publishes dialysate outlet data at
  * the set interval.
- * @details
- * Inputs : Dialysate outlet pump data
- * Outputs : Dialysate outlet pump data is published to CAN bus.
+ * @details Inputs: Dialysate outlet pump data
+ * @details Outputs: Dialysate outlet pump data is published to CAN bus.
  * @return none
  *************************************************************************/
 static void publishDialOutFlowData( void )
 {
     // publish dialysate outlet pump and UF volume data on interval
     if ( ++dialOutFlowDataPublicationTimerCounter >= getPublishDialOutDataInterval() )
     {
+        DIAL_OUT_FLOW_DATA_T dialOutBroadCastVariables;
+
         dialOutBroadCastVariables.refUFVolMl = getTotalTargetDialOutUFVolumeInMl();
         dialOutBroadCastVariables.measUFVolMl = getTotalMeasuredUFVolumeInMl();
         dialOutBroadCastVariables.measRotSpdRPM = getMeasuredDialOutPumpRotorSpeed();
@@ -742,36 +742,37 @@
  * The updateDialOutPumpSpeedAndDirectionFromHallSensors function calculates
  * the dialysate outlet pump motor speed and direction from hall sensor counter on
  * a 1 second interval.
- * @details
- * Inputs : dopLastMotorHallSensorCount, dopMotorSpeedCalcTimerCtr, current count from FPGA
- * Outputs : dopMotorDirectionFromHallSensors, dialOutPumpSpeedRPM
+ * @details Inputs: dopLastMotorHallSensorCount, dopMotorSpeedCalcTimerCtr, current count from FPGA
+ * @details Outputs: dopMotorDirectionFromHallSensors, dialOutPumpSpeedRPM
  * @return none
  *************************************************************************/
 static void updateDialOutPumpSpeedAndDirectionFromHallSensors( void )
 {
     if ( ++dopMotorSpeedCalcTimerCtr >= DOP_SPEED_CALC_INTERVAL )
     {
         U16 dopMotorHallSensorCount = getFPGADialOutPumpHallSensorCount();
-        U16 incDelta = ( dopMotorHallSensorCount >= dopLastMotorHallSensorCount ? dopMotorHallSensorCount - dopLastMotorHallSensorCount : ( HEX_64_K - dopLastMotorHallSensorCount ) + dopMotorHallSensorCount );
+        U32 nextIdx = INC_WRAP( dopMotorSpeedCalcIdx, 0, DOP_SPEED_CALC_BUFFER__LEN - 1 );
+        U16 incDelta = ( dopMotorHallSensorCount >= dopLastMotorHallSensorCounts[ nextIdx ] ? \
+                         dopMotorHallSensorCount - dopLastMotorHallSensorCounts[ nextIdx ] : \
+                       ( HEX_64_K - dopLastMotorHallSensorCounts[ nextIdx ] ) + dopMotorHallSensorCount );
         U16 decDelta = HEX_64_K - incDelta;
         U16 delta;
 
         // determine dialysate outlet pump speed/direction from delta hall sensor count since last interval
         if ( incDelta < decDelta )
         {
-            dopMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;
             delta = incDelta;
             dialOutPumpSpeedRPM.data = ( (F32)delta / (F32)DOP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN;
         }
         else
         {
-            dopMotorDirectionFromHallSensors = MOTOR_DIR_REVERSE;
             delta = decDelta;
             dialOutPumpSpeedRPM.data = ( (F32)delta / (F32)DOP_HALL_EDGE_COUNTS_PER_REV ) * (F32)SEC_PER_MIN * -1.0;
         }
 
         // update last count for next time
-        dopLastMotorHallSensorCount = dopMotorHallSensorCount;
+        dopLastMotorHallSensorCounts[ nextIdx ] = dopMotorHallSensorCount;
+        dopMotorSpeedCalcIdx = nextIdx;
         dopMotorSpeedCalcTimerCtr = 0;
     }
 }
@@ -781,9 +782,8 @@
  * The checkDialOutPumpRotor function checks the rotor for the dialysate outlet
  * pump.  If homing, this function will stop when hall sensor detected.  If pump
  * is off or running very slowly, rotor speed will be set to zero.
- * @details
- * Inputs : dopStopAtHomePosition, dopHomeStartTime, dopRotorRevStartTime
- * Outputs : pump may be stopped if homing, dialOutPumpRotorSpeedRPM may be set to zero.
+ * @details Inputs: dopStopAtHomePosition, dopHomeStartTime, dopRotorRevStartTime
+ * @details Outputs: pump may be stopped if homing, dialOutPumpRotorSpeedRPM may be set to zero.
  * @return none
  *************************************************************************/
 static void checkDialOutPumpRotor( void )
@@ -807,26 +807,48 @@
  * @brief
  * The checkDialOutPumpDirection function checks the set direction vs.
  * the direction implied by the sign of the measured MC speed.
- * @details
- * Inputs : adcDialOutPumpMCSpeedRPM, dialOutPumpDirectionSet, dialOutPumpState
- * Outputs : none
+ * @details Inputs: adcDialOutPumpMCSpeedRPM, dialOutPumpDirectionSet, dialOutPumpState
+ * @details Outputs: none
  * @return none
  *************************************************************************/
 static void checkDialOutPumpDirection( void )
 {
-    MOTOR_DIR_T dopMCDir;
-
     if ( DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE == dialOutPumpState )
     {
-        // check set direction vs. direction from hall sensors or sign of motor controller speed
+        MOTOR_DIR_T dopMCDir, dopDir;
+
         dopMCDir = ( getMeasuredDialOutPumpMCSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE );
-        if ( ( dialOutPumpDirectionSet != dopMCDir ) || ( dialOutPumpDirectionSet != dopMotorDirectionFromHallSensors ) )
+        dopDir = ( getMeasuredDialOutPumpSpeed() >= 0.0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE );
+
+        // check set direction vs. direction from hall sensors
+        if ( dialOutPumpDirectionSet != dopDir )
         {
+            if ( ++errorDialOutPumpDirectionPersistTimerCtr >= DOP_DIRECTION_ERROR_PERSIST )
+            {
 #ifndef DISABLE_PUMP_DIRECTION_CHECKS
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DIAL_OUT_PUMP_MC_DIRECTION_CHECK, (U32)dialOutPumpDirectionSet, (U32)dopMotorDirectionFromHallSensors )
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DIAL_OUT_PUMP_MC_DIRECTION_CHECK, (U32)dialOutPumpDirectionSet, (U32)dopDir )
 #endif
+            }
         }
+        // check set direction vs. direction from sign of motor controller speed
+        else if ( dialOutPumpDirectionSet != dopMCDir )
+        {
+            if ( ++errorDialOutPumpDirectionPersistTimerCtr >= DOP_DIRECTION_ERROR_PERSIST )
+            {
+#ifndef DISABLE_PUMP_DIRECTION_CHECKS
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DIAL_OUT_PUMP_MC_DIRECTION_CHECK, (U32)dialOutPumpDirectionSet, (U32)dopMCDir )
+#endif
+            }
+        }
+        else
+        {
+            errorDialOutPumpDirectionPersistTimerCtr = 0;
+        }
     }
+    else
+    {
+        errorDialOutPumpDirectionPersistTimerCtr = 0;
+    }
 }
 
 /*********************************************************************//**
@@ -837,9 +859,8 @@
  * 2. while pump is controlling, measured motor speed should be within allowed range of measured motor controller speed.
  * 3. measured motor speed should be within allowed range of measured rotor speed.
  * All 3 checks have a persistence time that must be met before an alarm is triggered.
- * @details
- * Inputs : targetDialOutFlowRate, dialOutPumpSpeedRPM, dialOutPumpRotorSpeedRPM
- * Outputs : alarm(s) may be triggered
+ * @details Inputs: targetDialOutFlowRate, dialOutPumpSpeedRPM, dialOutPumpRotorSpeedRPM
+ * @details Outputs: alarm(s) may be triggered
  * @return none
  *************************************************************************/
 static void checkDialOutPumpSpeeds( void )
@@ -855,6 +876,7 @@
             {
 #ifndef DISABLE_PUMP_SPEED_CHECKS
                 SET_ALARM_WITH_1_F32_DATA( ALARM_ID_DIAL_OUT_PUMP_OFF_CHECK, measMotorSpeed );
+                activateSafetyShutdown();
 #endif
             }
         }
@@ -905,7 +927,6 @@
         {
             errorDialOutRotorSpeedPersistTimerCtr = 0;
         }
-
     }
     else
     {
@@ -918,9 +939,8 @@
  * @brief
  * The checkDialOutPumpMCCurrent function checks the measured MC current vs.
  * the set state of the dialOut pump (stopped or running).
- * @details
- * Inputs : dialOutPumpState, dopCurrErrorDurationCtr, adcDialOutPumpMCCurrentmA
- * Outputs : none
+ * @details Inputs: dialOutPumpState, dopCurrErrorDurationCtr, adcDialOutPumpMCCurrentmA
+ * @details Outputs: none
  * @return none
  *************************************************************************/
 static void checkDialOutPumpMCCurrent( void )
@@ -972,13 +992,13 @@
  *                       GET SUPPORT FUNCTIONS
  *************************************************************************/
 
+
 /*********************************************************************//**
  * @brief
  * The getPublishDialOutFlowDataInterval function gets the dialysate out flow
  * data publication interval.
- * @details
- * Inputs : dialOutDataPublishInterval
- * Outputs : none
+ * @details Inputs: dialOutDataPublishInterval
+ * @details Outputs: none
  * @return the current dialysate out flow data publication interval (in ms).
  *************************************************************************/
 static U32 getPublishDialOutDataInterval( void )
@@ -996,9 +1016,8 @@
 /*********************************************************************//**
  * @brief
  * The getLoadCellWeightInGrams function gets the load cell weight.
- * @details
- * Inputs : loadCellWeightInGrams
- * Outputs : none
+ * @details Inputs: loadCellWeightInGrams
+ * @details Outputs: none
  * @param loadCellID ID of load cell to get
  * @return the current load cell weight in grams
  *************************************************************************/
@@ -1028,9 +1047,8 @@
 /*********************************************************************//**
  * @brief
  * The getTotalTargetDialOutUFVolumeInMl function gets the target UF volume.
- * @details
- * Inputs : referenceUFVolumeInMl
- * Outputs : none
+ * @details Inputs: referenceUFVolumeInMl
+ * @details Outputs: none
  * @return the current target UF volume in mL.
  *************************************************************************/
 F32 getTotalTargetDialOutUFVolumeInMl( void )
@@ -1048,9 +1066,8 @@
 /*********************************************************************//**
  * @brief
  * The getTotalMeasuredUFVolumeInMl function gets the measured UF volume.
- * @details
- * Inputs : totalMeasuredUFVolumeInMl
- * Outputs : none
+ * @details Inputs: totalMeasuredUFVolumeInMl
+ * @details Outputs: none
  * @return the current UF volume (in mL).
  *************************************************************************/
 F32 getTotalMeasuredUFVolumeInMl( void )
@@ -1069,9 +1086,8 @@
  * @brief
  * The getMeasuredDialOutPumpRotorSpeed function gets the measured dialysate
  * outlet pump rotor speed.
- * @details
- * Inputs : dialOutPumpRotorSpeedRPM
- * Outputs : none
+ * @details Inputs: dialOutPumpRotorSpeedRPM
+ * @details Outputs: none
  * @return the current dialysate outlet pump rotor speed (in RPM).
  *************************************************************************/
 F32 getMeasuredDialOutPumpRotorSpeed( void )
@@ -1090,9 +1106,8 @@
  * @brief
  * The getMeasuredDialOutPumpSpeed function gets the measured dialysate outlet
  * pump motor speed.
- * @details
- * Inputs : dialOutPumpSpeedRPM
- * Outputs : none
+ * @details Inputs: dialOutPumpSpeedRPM
+ * @details Outputs: none
  * @return the current dialysate outlet pump motor speed (in RPM).
  *************************************************************************/
 F32 getMeasuredDialOutPumpSpeed( void )
@@ -1111,9 +1126,8 @@
  * @brief
  * The getMeasuredDialOutPumpMCSpeed function gets the measured dialOut pump
  * speed.
- * @details
- * Inputs : dialOutPumpMCSpeedRPM
- * Outputs : none
+ * @details Inputs: dialOutPumpMCSpeedRPM
+ * @details Outputs: none
  * @return the current dialOut pump speed (in RPM).
  *************************************************************************/
 F32 getMeasuredDialOutPumpMCSpeed( void )
@@ -1132,9 +1146,8 @@
  * @brief
  * The getMeasuredDialOutPumpMCCurrent function gets the measured dialOut pump
  * current.
- * @details
- * Inputs : dialOutPumpMCCurrentmA
- * Outputs : none
+ * @details Inputs: dialOutPumpMCCurrentmA
+ * @details Outputs: none
  * @return the current dialOut pump current (in mA).
  *************************************************************************/
 F32 getMeasuredDialOutPumpMCCurrent( void )
@@ -1159,9 +1172,8 @@
  * @brief
  * The testSetDialOutPumpAndLoadCellDataPublishIntervalOverride function overrides the
  * dialout data publish interval.
- * @details
- * Inputs : none
- * Outputs : dialOutDataPublishInterval
+ * @details Inputs: none
+ * @details Outputs: dialOutDataPublishInterval
  * @param value override dialout data publish interval with (in ms)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -1185,9 +1197,8 @@
  * @brief
  * The testResetDialOutPumpAndLoadCellDataPublishIntervalOverride function resets the override
  * of the dialout data publish interval.
- * @details
- * Inputs : none
- * Outputs : dialOutDataPublishInterval
+ * @details Inputs: none
+ * @details Outputs: dialOutDataPublishInterval
  * @return TRUE if reset override successful, FALSE if not
  *************************************************************************/
 BOOL testResetDialOutPumpAndLoadCellDataPublishIntervalOverride( void )
@@ -1208,9 +1219,8 @@
  * @brief
  * The testSetTargetDialOutFlowRateOverride function overrides the target
  * dialysate outlet flow rate.
- * @details
- * Inputs : none
- * Outputs : pump started w/ set target rate and control mode
+ * @details Inputs: none
+ * @details Outputs: pump started w/ set target rate and control mode
  * @param value override target dialysate outlet flow rate (in mL/min)
  * @param ctrlMode override pump control mode to this mode (0 = closed loop, 1 = open loop)
  * @return TRUE if override successful, FALSE if not
@@ -1242,32 +1252,10 @@
 
 /*********************************************************************//**
  * @brief
- * The testResetTargetDialOutFlowRateOverride function resets the override of the
- * target dialysate outlet flow rate.
- * @details
- * Inputs : none
- * Outputs : pump stopped
- * @return TRUE if override reset successful, FALSE if not
- *************************************************************************/
-BOOL testResetTargetDialOutFlowRateOverride( void )
-{
-    BOOL result = FALSE;
-
-    if ( TRUE == isTestingActivated() )
-    {
-        result = setDialOutPumpTargetRate( 0, dialOutPumpDirection, dialOutPumpControlMode );
-    }
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
  * The testSetDialOutUFRefVolumeOverride function overrides the target
  * dialout vol rate.
- * @details
- * Inputs : referenceUFVolumeInMl
- * Outputs : referenceUFVolumeInMl
+ * @details Inputs: referenceUFVolumeInMl
+ * @details Outputs: referenceUFVolumeInMl
  * @param value override target dialout vol rate (in mL/min)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -1289,9 +1277,8 @@
  * @brief
  * The testResetDialOutUFRefVolumeOverride function resets the override of the
  * target dialout vol rate.
- * @details
- * Inputs : referenceUFVolumeInMl
- * Outputs : referenceUFVolumeInMl
+ * @details Inputs: referenceUFVolumeInMl
+ * @details Outputs: referenceUFVolumeInMl
  * @return TRUE if reset override successful, FALSE if not
  *************************************************************************/
 BOOL testResetDialOutUFRefVolumeOverride( void )
@@ -1312,9 +1299,8 @@
  * @brief
  * The testSetDialOutUFTotVolumeOverride function overrides the measured
  * dialout vol rate.
- * @details
- * Inputs : totalMeasuredUFVolumeInMl
- * Outputs : totalMeasuredUFVolumeInMl
+ * @details Inputs: totalMeasuredUFVolumeInMl
+ * @details Outputs: totalMeasuredUFVolumeInMl
  * @param value override measured dialout vol rate (in mL/min)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -1336,9 +1322,8 @@
  * @brief
  * The testResetDialOutUFTotVolumeOverride function resets the override of the
  * measured dialout vol rate.
- * @details
- * Inputs : totalMeasuredUFVolumeInMl
- * Outputs : totalMeasuredUFVolumeInMl
+ * @details Inputs: totalMeasuredUFVolumeInMl
+ * @details Outputs: totalMeasuredUFVolumeInMl
  * @return TRUE if reset override successful, FALSE if not
  *************************************************************************/
 BOOL testResetDialOutUFTotVolumeOverride( void )
@@ -1359,9 +1344,8 @@
  * @brief
  * The testSetMeasuredDialOutPumpRotorSpeedOverride function overrides the measured
  * dialOut pump rotor speed.
- * @details
- * Inputs : DialOutPumpRotorSpeedRPM
- * Outputs : DialOutPumpRotorSpeedRPM
+ * @details Inputs: DialOutPumpRotorSpeedRPM
+ * @details Outputs: DialOutPumpRotorSpeedRPM
  * @param value override measured dialOut pump rotor speed (in RPM)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -1383,9 +1367,8 @@
  * @brief
  * The testResetMeasuredDialOutPumpRotorSpeedOverride function resets the override of the
  * measured dialOut pump rotor speed.
- * @details
- * Inputs : DialOutPumpRotorSpeedRPM
- * Outputs : DialOutPumpRotorSpeedRPM
+ * @details Inputs: DialOutPumpRotorSpeedRPM
+ * @details Outputs: DialOutPumpRotorSpeedRPM
  * @return TRUE if reset override successful, FALSE if not
  *************************************************************************/
 BOOL testResetMeasuredDialOutPumpRotorSpeedOverride( void )
@@ -1406,9 +1389,8 @@
  * @brief
  * The testSetMeasuredDialOutPumpSpeedOverride function overrides the measured
  * dialOut pump motor speed.
- * @details
- * Inputs : dialOutPumpSpeedRPM
- * Outputs : dialOutPumpSpeedRPM
+ * @details Inputs: dialOutPumpSpeedRPM
+ * @details Outputs: dialOutPumpSpeedRPM
  * @param value override measured dialOut pump motor speed (in RPM)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -1430,9 +1412,8 @@
  * @brief
  * The testResetMeasuredDialOutPumpSpeedOverride function resets the override of the
  * measured dialOut pump motor speed.
- * @details
- * Inputs : dialOutPumpSpeedRPM
- * Outputs : dialOutPumpSpeedRPM
+ * @details Inputs: dialOutPumpSpeedRPM
+ * @details Outputs: dialOutPumpSpeedRPM
  * @return TRUE if reset override successful, FALSE if not
  *************************************************************************/
 BOOL testResetMeasuredDialOutPumpSpeedOverride( void )
@@ -1453,9 +1434,8 @@
  * @brief
  * The testSetMeasuredDialOutPumpMCSpeedOverride function overrides the measured
  * dialOut pump motor speed.
- * @details
- * Inputs : dialOutPumpMCSpeedRPM
- * Outputs : dialOutPumpMCSpeedRPM
+ * @details Inputs: dialOutPumpMCSpeedRPM
+ * @details Outputs: dialOutPumpMCSpeedRPM
  * @param value override measured dialOut pump speed (in RPM)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -1477,9 +1457,8 @@
  * @brief
  * The testResetMeasuredDialOutPumpMCSpeedOverride function resets the override of the
  * measured dialOut pump motor speed.
- * @details
- * Inputs : dialOutPumpMCSpeedRPM
- * Outputs : dialOutPumpMCSpeedRPM
+ * @details Inputs: dialOutPumpMCSpeedRPM
+ * @details Outputs: dialOutPumpMCSpeedRPM
  * @return TRUE if reset override successful, FALSE if not
  *************************************************************************/
 BOOL testResetMeasuredDialOutPumpMCSpeedOverride( void )
@@ -1500,9 +1479,8 @@
  * @brief
  * The testSetMeasuredDialOutPumpMCCurrentOverride function overrides the measured
  * dialOut pump motor current.
- * @details
- * Inputs : dialOutPumpMCCurrentmA
- * Outputs : dialOutPumpMCCurrentmA
+ * @details Inputs: dialOutPumpMCCurrentmA
+ * @details Outputs: dialOutPumpMCCurrentmA
  * @param value override measured dialOut pump current (in mA)
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/
@@ -1524,9 +1502,8 @@
  * @brief
  * The testResetMeasuredDialOutPumpMCCurrentOverride function resets the override of the
  * measured dialOut pump motor current.
- * @details
- * Inputs : dialOutPumpMCCurrentmA
- * Outputs : dialOutPumpMCCurrentmA
+ * @details Inputs: dialOutPumpMCCurrentmA
+ * @details Outputs: dialOutPumpMCCurrentmA
  * @return TRUE if reset override successful, FALSE if not
  *************************************************************************/
 BOOL testResetMeasuredDialOutPumpMCCurrentOverride( void )
@@ -1547,9 +1524,8 @@
  * @brief
  * The testSetDialOutLoadCellWeightOverride function overrides the value of the
  * load cell sensor with a given weight (in grams).
- * @details
- * Inputs : loadCellWeightInGrams[]
- * Outputs : loadCellWeightInGrams[]
+ * @details Inputs: loadCellWeightInGrams[]
+ * @details Outputs: loadCellWeightInGrams[]
  * @param sensor ID of load cell sensor to override weight for
  * @param value override weight (in grams) for the given sensor
  * @return TRUE if override successful, FALSE if not
@@ -1575,9 +1551,8 @@
  * @brief
  * The testResetDialOutLoadCellWeightOverride function resets the override of the
  * load cell sensor.
- * @details
- * Inputs : loadCellWeightInGrams[]
- * Outputs : loadCellWeightInGrams[]
+ * @details Inputs: loadCellWeightInGrams[]
+ * @details Outputs: loadCellWeightInGrams[]
  * @param sensor  ID of load cell sensor to override weight for
  * @return TRUE if reset successful, FALSE if not
  *************************************************************************/