Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r1354685cce00d343e29be2c098fd9fdb857374ae -r4d0c621f5994e1de8bf7d3337678f7835292ce73
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 1354685cce00d343e29be2c098fd9fdb857374ae)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 4d0c621f5994e1de8bf7d3337678f7835292ce73)
@@ -8,14 +8,15 @@
 * @file    SyringePump.c
 *
 * @author  (last)      Sean Nash
-* @date    (last)      03-Jun-2023
+* @date    (last)      16-Aug-2023
 *
 * @author  (original)  Sean Nash
 * @date    (original)  04-Mar-2021
 *
 ***************************************************************************/
-#include <math.h>
 
+#include <math.h>       // Used for fabs() functions
+
 #include "AlarmMgmt.h"
 #include "FPGA.h"
 #include "ModeTreatmentParams.h"
@@ -69,7 +70,8 @@
 #define SYRINGE_PUMP_DIR_ALARM_PERSISTENCE            3000                                  ///< Alarm persistence period (in ms) for syringe pump direction check alarms.
 #define SYRINGE_PUMP_OFF_ALARM_PERSISTENCE            1000                                  ///< Alarm persistence period (in ms) for syringe pump off check alarms.
 #define SYRINGE_PUMP_OFF_ERROR_MAX_CNT                10                                    ///< Maximum number of syringe pump not stopped errors within time window before alarm triggered. Do not exceed MAX_TIME_WINDOWED_COUNT.
-#define SYRINGE_PUMP_OFF_ERROR_TIME_WIN_MS            (1 * MS_PER_SECOND)                   ///< Time window for Syringe Pump not stopped error.
+#define SYRINGE_PUMP_OFF_ERROR_TIME_WIN_MS            ( 1 * MS_PER_SECOND )                 ///< Time window for Syringe Pump not stopped error.
+#define SYRINGE_PUMP_PRIMING_TIMEOUT_MS               ( 5 * MS_PER_SECOND )                 ///< Timeout for syringe pump prime operation.
 
 #define STEPS_TO_MICROSTEPS( s )                      ( (s) * 32.0F )                       ///< Macro conversion from steps to microsteps.
 #define MICROSTEPS_TO_STEPS( m )                      ( (m) / 32.0F )                       ///< Macro conversion from microsteps to steps.
@@ -235,6 +237,7 @@
 static BOOL syringeVolumeAdequate;                                              ///< Flag indicates whether Heparin volume is sufficient to complete treatment.
 static BOOL syringePumpPrimeCompleted;                                          ///< Flag indicates prime operation was completed.
 static BOOL syringePumpPreLoadCompleted;                                        ///< Flag indicates preload operation was completed.
+static U32  syringePumpStateStartTime;                                          ///< Time current syringe pump state started.
 
 static BOOL syringePumpDACVrefWriteInProgress;                                  ///< Flag indicates DAC Vref write is in progress.
 static F32  syringePumpDACVref;                                                 ///< DAC Vref setting for force sensor.
@@ -314,6 +317,7 @@
     syringePumpSpeedCalcTimerCounter = 0;
     syringePumpRampTimerCtr = 0;
     syringePumpSafetyVolumeDelivered = 0.0;
+    syringePumpStateStartTime = getMSTimerCount();
 
     syringePumpPositionKnown = FALSE;
     syringePumpPlungerFound = FALSE;
@@ -1362,6 +1366,7 @@
     // If we are starting an active pump state, set direction and calculate target toggle time to achieve desired rate
     if ( ( result != SYRINGE_PUMP_OFF_STATE ) && ( result != SYRINGE_PUMP_CONFIG_FORCE_SENSOR_STATE ) )
     {
+        syringePumpStateStartTime = getMSTimerCount();
         if ( SYRINGE_PUMP_RETRACT_STATE == result )
         {
             // Set fpga direction to reverse
@@ -1578,7 +1583,7 @@
  * @brief
  * The handleSyringePumpPrimeState function handles the prime state
  * of the syringe pump control state machine.
- * @details Inputs: syringePumpVolumeDelivered.data
+ * @details Inputs: syringePumpVolumeDelivered, syringePumpStateStartTime
  * @details Outputs: Syringe pump ramped up to prime rate, alarm conditions checked
  * @return next state
  *************************************************************************/
@@ -1600,6 +1605,13 @@
         syringePumpVolumeStartPosition = syringePumpPosition.data;
     }
 
+    // Check for timeout
+    if ( TRUE == didTimeout( syringePumpStateStartTime, SYRINGE_PUMP_PRIMING_TIMEOUT_MS ) )
+    {
+        stopPump = TRUE;
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_OCCLUSION, (F32)SYRINGE_PUMP_PRIMING_TIMEOUT_MS, 0.0F  )
+    }
+
     // Check for stall
     stopPump = checkForStall( stopPump );
 
@@ -1875,6 +1887,10 @@
             SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_OCCLUSION, forceAtEndOfSeek, currentForceV  )
             result = TRUE;
         }
+        else
+        {
+            clearAlarmCondition( ALARM_ID_HD_SYRINGE_PUMP_OCCLUSION );
+        }
     }
 
     // Check with persistence during continuous state