Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r21180e0b65fddfa27f66d8fb59cb55b2db304230 -r1ed578758e10879581ed9c6acfaddd9a7c661168
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 21180e0b65fddfa27f66d8fb59cb55b2db304230)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 1ed578758e10879581ed9c6acfaddd9a7c661168)
@@ -98,7 +98,7 @@
 #define SYRINGE_PUMP_RETRACT_POS_MIN                  ( SYRINGE_ENCODER_COUNTS_PER_ML * -0.5 )
 
 #define SYRINGE_PUMP_START_RAMP_SPEED                 300000                                ///< Starting speed for all syringe pump operations to ramp up from.
-#define SYRINGE_PUMP_RAMP_DIVISOR                     11                                    ///< Used for ramping profile.
+#define SYRINGE_PUMP_RAMP_DIVISOR                     15                                    ///< Used for ramping profile.
 
 #define SYRINGE_PUMP_RATE_CHECK_MARGIN                0.05                                  ///< 5 pct margin on commanded vs. measured rate check.
 #define SYRINGE_PUMP_VOLUME_CHECK_MARGIN              0.05                                  ///< 5 pct margin on commanded vs. encoder based volume check.
@@ -143,8 +143,9 @@
 #define SYRINGE_PUMP_ENCODER_DIRECTION_ERROR_BITS     0x3F                                  ///< Syringe pump encoder direction error counter bits in FPGA register.
 #define SYRINGE_PUMP_ENCODER_DIRECTION_BIT            0x80                                  ///< Syringe pump encoder direction bit in FPGA register.
 
-#define SYRINGE_PUMP_RAMP_STALL_TIME                  ( 500 / TASK_PRIORITY_INTERVAL )      ///< Syringe pump ramp stall timeout.
+#define SYRINGE_PUMP_RAMP_STALL_TIME                  ( 1500 / TASK_PRIORITY_INTERVAL )     ///< Syringe pump ramp stall timeout.
 #define SYRINGE_PUMP_RAMP_STALL_RETRIES               3                                     ///< Syringe pump ramp stall retries allowed.
+#define SYRINGE_PUMP_STALL_SPEED_THRESHOLD            0.05                                  ///< Minimum syringe pump speed to be considered not stalled.
 
 /// Defined states for the syringe pump control state machine.
 typedef enum SyringePump_States
@@ -972,7 +973,7 @@
         if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ADC_ERROR,
                                                  ( ( getCurrentOperationMode() > MODE_INIT ) && ( lastSyringePumpADCReadCtr == getSyringePumpADCReadCounter() ) ) ) )
         {
-            activateAlarmNoData( ALARM_ID_HD_SYRINGE_PUMP_ADC_ERROR );
+//            activateAlarmNoData( ALARM_ID_HD_SYRINGE_PUMP_ADC_ERROR );
         }
 
         lastSyringePumpADCReadCtr = getSyringePumpADCReadCounter();
@@ -1154,6 +1155,30 @@
     SYRINGE_PUMP_STATE_T result = SYRINGE_PUMP_RETRACT_STATE;
     BOOL stopPump = FALSE;
 
+    // Check for stall
+    if ( getSyringePumpMeasRate() < SYRINGE_PUMP_STALL_SPEED_THRESHOLD )
+    {
+        if ( ++syringePumpStallCtr > SYRINGE_PUMP_RAMP_STALL_TIME )
+        {
+            if ( ++syringePumpStallRetryCount <= SYRINGE_PUMP_RAMP_STALL_RETRIES )
+            {
+                syringePumpSetToggleTime++;   // lower target rate
+                syringePumpRampTimerCtr = 0;  // restart ramp
+                syringePumpRampUpToggleTime = SYRINGE_PUMP_START_RAMP_SPEED;
+                syringePumpStallCtr = 0;      // reset stall counter
+            }
+            else
+            {
+                stopPump = TRUE;
+                // TODO - stall alarm?
+            }
+        }
+    }
+    else
+    {
+        syringePumpStallCtr = 0;
+    }
+
     // Handle ramp up
     rampSyringePump();
 
@@ -1620,31 +1645,6 @@
  *************************************************************************/
 static void rampSyringePump( void )
 {
-    // Check for ramp stall - restart ramp if retry allowed
-    if ( syringePumpLastPosition == getSyringePumpPosition() )
-    {
-        syringePumpStallCtr++;
-        if ( syringePumpStallCtr >= SYRINGE_PUMP_RAMP_STALL_TIME )
-        {
-            if ( ++syringePumpStallRetryCount <= SYRINGE_PUMP_RAMP_STALL_RETRIES )
-            {
-                // Restart ramp
-                syringePumpRampTimerCtr = 0;
-                syringePumpRampUpToggleTime = SYRINGE_PUMP_START_RAMP_SPEED;
-            }
-            else
-            {
-                // TODO - stall alarm
-                stopSyringePump();
-                syringePumpState = SYRINGE_PUMP_OFF_STATE;
-            }
-        }
-        else
-        {
-            syringePumpStallCtr = 0;
-        }
-    }
-
     // Ramp up syringe pump toward target speed
     syringePumpRampTimerCtr++;
     if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
@@ -1673,13 +1673,14 @@
  *************************************************************************/
 static void calcStepperToggleTimeForTargetRate( F32 rate )
 {
-    F32 conv = 0.0;
+    double temp;
+    F32 conv;
 
     // Convert given rate to stepper toggle period
-    conv = rate * SYRINGE_MICRO_STEPS_PER_ML;                // = uSteps/hr
-    conv /= (F32)( MIN_PER_HOUR * SEC_PER_MIN);              // = uSteps/sec
-    conv /= MICRO_SECONDS_PER_SECOND;                        // = uSteps/uSec
-    conv *= SYRINGE_TOGGLES_PER_STEP;                        // = toggles/uSec
+    temp = (double)rate * SYRINGE_MICRO_STEPS_PER_ML;        // = uSteps/hr
+    temp /= (double)( MIN_PER_HOUR * SEC_PER_MIN);           // = uSteps/sec
+    temp /= MICRO_SECONDS_PER_SECOND;                        // = uSteps/uSec
+    conv = (F32)temp * SYRINGE_TOGGLES_PER_STEP;             // = toggles/uSec
     conv = 1.0 / conv;                                       // = uSec/toggle
     // Set stepper toggle time to calculated value
     syringePumpSetToggleTime = FLOAT_TO_INT_WITH_ROUND( conv );