Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rff8911d0c37b82ff0c5ef3029f84089b177c16b1 -r933a18d740285e70be9d00696ed0f5a5381bc8e4
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision ff8911d0c37b82ff0c5ef3029f84089b177c16b1)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 933a18d740285e70be9d00696ed0f5a5381bc8e4)
@@ -8,7 +8,7 @@
 * @file DialOutFlow.c
 *
 * @author (last) Sean Nash
-* @date (last) 08-Sep-2020
+* @date (last) 13-Oct-2020
 *
 * @author (original) Sean
 * @date (original) 24-Jan-2020
@@ -39,7 +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.
@@ -65,13 +66,14 @@
 #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.
@@ -82,12 +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
@@ -152,12 +155,12 @@
 
 static U16 dopLastMotorHallSensorCounts[ DOP_SPEED_CALC_BUFFER__LEN ];                      ///< last hall sensor count for the blood pump motor
 static U32 dopMotorSpeedCalcIdx = 0;                                                        ///< index into 1 second buffer of motor speed hall sensor counts
-static MOTOR_DIR_T dopMotorDirectionFromHallSensors = MOTOR_DIR_FORWARD;                    ///< pump direction according to hall sensor count
 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.
@@ -187,9 +190,8 @@
 /*********************************************************************//**
  * @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 )
@@ -222,9 +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
@@ -295,9 +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
@@ -312,9 +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 )
@@ -332,9 +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 )
@@ -357,9 +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 )
@@ -378,11 +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
@@ -406,9 +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 )
@@ -442,9 +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 )
@@ -477,9 +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 )
@@ -510,17 +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;
@@ -554,17 +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;
@@ -596,9 +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 )
@@ -637,9 +640,8 @@
  * @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
  *************************************************************************/
@@ -652,9 +654,8 @@
  * @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 )
@@ -668,9 +669,8 @@
 /*********************************************************************//**
  * @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 )
@@ -682,9 +682,8 @@
  * @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
  *************************************************************************/
@@ -712,9 +711,8 @@
  * @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 )
@@ -742,9 +740,8 @@
  * 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 )
@@ -755,20 +752,18 @@
         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 );
+                       ( 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;
         }
@@ -785,9 +780,8 @@
  * 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 )
@@ -811,26 +805,48 @@
  * @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;
+    }
 }
 
 /*********************************************************************//**
@@ -841,9 +857,8 @@
  * 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 )
@@ -923,9 +938,8 @@
  * @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 )
@@ -981,9 +995,8 @@
  * @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 )
@@ -1001,9 +1014,8 @@
 /*********************************************************************//**
  * @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
  *************************************************************************/
@@ -1033,9 +1045,8 @@
 /*********************************************************************//**
  * @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 )
@@ -1053,9 +1064,8 @@
 /*********************************************************************//**
  * @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 )
@@ -1074,9 +1084,8 @@
  * @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 )
@@ -1095,9 +1104,8 @@
  * @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 )
@@ -1116,9 +1124,8 @@
  * @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 )
@@ -1137,9 +1144,8 @@
  * @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 )
@@ -1164,9 +1170,8 @@
  * @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
  *************************************************************************/
@@ -1190,9 +1195,8 @@
  * @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 )
@@ -1213,9 +1217,8 @@
  * @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
@@ -1249,9 +1252,8 @@
  * @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
  *************************************************************************/
@@ -1273,9 +1275,8 @@
  * @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 )
@@ -1296,9 +1297,8 @@
  * @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
  *************************************************************************/
@@ -1320,9 +1320,8 @@
  * @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 )
@@ -1343,9 +1342,8 @@
  * @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
  *************************************************************************/
@@ -1367,9 +1365,8 @@
  * @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 )
@@ -1390,9 +1387,8 @@
  * @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
  *************************************************************************/
@@ -1414,9 +1410,8 @@
  * @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 )
@@ -1437,9 +1432,8 @@
  * @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
  *************************************************************************/
@@ -1461,9 +1455,8 @@
  * @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 )
@@ -1484,9 +1477,8 @@
  * @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
  *************************************************************************/
@@ -1508,9 +1500,8 @@
  * @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 )
@@ -1531,9 +1522,8 @@
  * @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
@@ -1559,9 +1549,8 @@
  * @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
  *************************************************************************/