Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rfb1673d2282822995ed233f3e9ea5dfb0567780d -r29b65975bb4d6a5720ef39119a9af49fafc902fa
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision fb1673d2282822995ed233f3e9ea5dfb0567780d)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 29b65975bb4d6a5720ef39119a9af49fafc902fa)
@@ -7,8 +7,8 @@
 *
 * @file    DialOutFlow.c
 *
-* @author  (last)      Bill Bracken
-* @date    (last)      29-Jun-2022
+* @author  (last)      Dara Navaei
+* @date    (last)      18-Oct-2022
 *
 * @author  (original)  Sean
 * @date    (original)  24-Jan-2020
@@ -82,8 +82,6 @@
 static const U32 DOP_OFF_ERROR_PERSIST          = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
 /// Persist time (task intervals) motor speed error condition.
 static const U32 DOP_MOTOR_SPEED_ERROR_PERSIST  = ((5 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
-/// Persist time (task intervals) rotor speed error condition.
-static const U32 DOP_ROTOR_SPEED_ERROR_PERSIST  = ((12 * MS_PER_SECOND) / TASK_PRIORITY_INTERVAL);
 /// Persist time (task intervals) pump direction error condition.
 static const U32 DOP_DIRECTION_ERROR_PERSIST    = (250 / TASK_PRIORITY_INTERVAL);
 
@@ -105,9 +103,11 @@
 #define DOP_PWM_ZERO_OFFSET                     0.1F            ///< 10% PWM duty cycle = zero speed.
 
 /// Macro converts a flow rate to an estimated PWM duty cycle %.
-#define DOP_PWM_FROM_ML_PER_MIN(rate)           ( ( (rate) * 0.0009 ) + 0.0972 + DOP_PWM_ZERO_OFFSET )
+#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)         ( ((pwm) - DOP_PWM_ZERO_OFFSET) * 4000.0F )
+#define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm)         ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * 4000.0F )
+/// 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  )
 
 #define PUMP_DIR_ERROR_COUNT_MASK                0x3F           ///< Bit mask for pump direction error counter.
 #define DOP_MIN_DIR_CHECK_SPEED_RPM              10.0F          ///< Minimum motor speed before we check pump direction.
@@ -1045,7 +1045,7 @@
         F32 cmdMotorSpeed = DOP_PWM_TO_MOTOR_SPEED_RPM( dialOutPumpPWMDutyCyclePctSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
-        F32 measRotorSpeed = getMeasuredDialOutPumpRotorSpeed();
+        F32 measRotorSpeed = fabs( getMeasuredDialOutPumpRotorSpeed() );
         F32 measMotorSpeedInRotorRPM = measMotorSpeed / DOP_GEAR_RATIO;
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
@@ -1070,7 +1070,7 @@
         // Check measured rotor speed vs. measured motor speed while controlling to target
         if ( deltaRotorSpeed > DOP_MAX_ROTOR_VS_MOTOR_DIFF_RPM )
         {
-            if ( ++errorDialOutRotorSpeedPersistTimerCtr >= DOP_ROTOR_SPEED_ERROR_PERSIST )
+            if ( ++errorDialOutRotorSpeedPersistTimerCtr >= ( getPumpRotorErrorPersistTime( measMotorSpeed, DOP_GEAR_RATIO ) / TASK_PRIORITY_INTERVAL )  )
             {
 #ifndef _RELEASE_
                 if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_SPEED_CHECKS ) != SW_CONFIG_ENABLE_VALUE )
@@ -1643,4 +1643,32 @@
     return result;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The testSetBloodPumpTargetDutyCycle function sets the duty cycle of the
+ * blood pump by calling setDialOutPumpTargetRate.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @param value duty cycle of the dialysate outlet pump (as a percentage).
+ * @return TRUE if reset successful, FALSE if not
+ *************************************************************************/
+BOOL testSetDialOutPumpTargetDutyCycle( F32 value )
+{
+    BOOL result = FALSE;
+    F32 targetPWM = DOP_ML_PER_MIN_FROM_PWM(value) ;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        // currently conversion can create negative values with values <= 10%.
+        if ( targetPWM < 0 )
+        {
+            targetPWM = 0;
+        }
+        setDialOutPumpTargetRate( (U32)targetPWM, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        result = TRUE;
+    }
+
+    return result;
+}
+
 /**@}*/