Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r4d0c621f5994e1de8bf7d3337678f7835292ce73 -r2a21531735f76b804b255a7b4a4ad9d0d642c5be
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 4d0c621f5994e1de8bf7d3337678f7835292ce73)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 2a21531735f76b804b255a7b4a4ad9d0d642c5be)
@@ -8,7 +8,7 @@
 * @file    SyringePump.c
 *
 * @author  (last)      Sean Nash
-* @date    (last)      16-Aug-2023
+* @date    (last)      24-Aug-2023
 *
 * @author  (original)  Sean Nash
 * @date    (original)  04-Mar-2021
@@ -69,7 +69,7 @@
 #define SYRINGE_PUMP_RATE_ALARM_PERSISTENCE           3000                                  ///< Alarm persistence period (in ms) for syringe pump speed check alarms.
 #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_MAX_CNT                5                                     ///< 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_PRIMING_TIMEOUT_MS               ( 5 * MS_PER_SECOND )                 ///< Timeout for syringe pump prime operation.
 
@@ -156,6 +156,8 @@
 
 /// Interval (ms/task time) at which the syringe pump speed is calculated (every 40 ms).
 #define SYRINGE_PUMP_SPEED_CALC_INTERVAL              ( 40 / TASK_PRIORITY_INTERVAL )
+/// Interval (ms/task time) at which the syringe pump position is checked when pump off state (every 50 ms).
+#define SYRINGE_PUMP_STOP_POSITION_CHECK_INTERVAL     ( 50 / TASK_PRIORITY_INTERVAL )
 /// Number of syringe pump encoder positions kept in buffer to hold last 1 second of position data.
 #define SYRINGE_PUMP_SPEED_CALC_BUFFER_LEN            ( MS_PER_SECOND / SYRINGE_PUMP_SPEED_CALC_INTERVAL / TASK_PRIORITY_INTERVAL )
 
@@ -217,9 +219,11 @@
 static S32 syringePumpVolumeStartPosition;                                      ///< Start position for the current volume calculation.
 static S32 syringePumpHomePositionOffset;                                       ///< FPGA reported position when at home postion.
 static S32 syringePumpLastPosition;                                             ///< Position previously recorded.
+static S32 syringePumpStopLastPosition;                                         ///< Syringe pump stop position previously recorded.
 static S32 syringePumpLastPositions[ SYRINGE_PUMP_SPEED_CALC_BUFFER_LEN ];      ///< Last encoder positions for the syringe pump.
 static U32 syringePumpMotorSpeedCalcIdx;                                        ///< Index into 1 second buffer of syringe pump encoder positions.
 static U32 syringePumpSpeedCalcTimerCounter;                                    ///< Used to calculate measured rate from change in position over time.
+static U32 syringePumpStopPositionTimerCounter;                                 ///< Used to check change in encoder position when pump stopped.
 static MOTOR_DIR_T syringePumpControllerMeasuredDirection;                      ///< Measured direction of syringe pump per controller.
 static MOTOR_DIR_T syringePumpEncoderMeasuredDirection;                         ///< Measured direction of syringe pump per encoder position relative to previous.
 static F32 syringePumpVolumeRequired;                                           ///< Volume required for complete therapy (in mL).
@@ -310,12 +314,14 @@
     syringePumpVolumeStartPosition = 0;
     syringePumpHomePositionOffset = 0;
     syringePumpLastPosition = 0;
+    syringePumpStopLastPosition = 0;
     syringePumpVolumeRequired = 0.0;
     syringePumpControllerMeasuredDirection = MOTOR_DIR_FORWARD;
     syringePumpEncoderMeasuredDirection = MOTOR_DIR_FORWARD;
     syringePumpDataPublicationTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT;
     syringePumpSpeedCalcTimerCounter = 0;
     syringePumpRampTimerCtr = 0;
+    syringePumpStopPositionTimerCounter = 0;
     syringePumpSafetyVolumeDelivered = 0.0;
     syringePumpStateStartTime = getMSTimerCount();
 
@@ -1296,25 +1302,33 @@
  * of the syringe pump control state machine.
  * @details Inputs: syringePumpRetractRequested, syringePumpSeekRequested,
  * syringePumpPrimeRequested, syringePumpBolusRequested, syringePumpContinuousRequested,
- * syringePumpDACVrefSetRequested
+ * syringePumpDACVrefSetRequested,syringePumpStopPositionTimerCounter,syringePumpStopLastPosition
  * @details Outputs: Pump speed and direction set if pump command initiated
  * @return next state
  *************************************************************************/
 static SYRINGE_PUMP_STATE_T handleSyringePumpOffState( void )
 {
     SYRINGE_PUMP_STATE_T result = SYRINGE_PUMP_OFF_STATE;
 
-    // Check position is not changing while stopped
-    if ( ( syringePumpLastPosition != getSyringePumpPosition() ) && ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_SYRINGE_PUMP_OFF_ERROR ) ) )
+    // Check the encoder position every 50ms interval after pump off state transition.
+    if ( ++syringePumpStopPositionTimerCounter >= SYRINGE_PUMP_STOP_POSITION_CHECK_INTERVAL )
     {
-#ifndef _RELEASE_
-        if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
-#endif
+        // Check position is not changing while stopped
+        if ( ( syringePumpStopLastPosition != getSyringePumpPosition() ) && ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_SYRINGE_PUMP_OFF_ERROR ) ) )
         {
-            activateAlarmNoData( ALARM_ID_HD_SYRINGE_PUMP_NOT_STOPPED_ERROR );
-            activateSafetyShutdown();
+    #ifndef _RELEASE_
+            if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
+    #endif
+            {
+                activateAlarmNoData( ALARM_ID_HD_SYRINGE_PUMP_NOT_STOPPED_ERROR );
+                activateSafetyShutdown();
+            }
         }
+        // last pump stop position value
+        syringePumpStopLastPosition = getSyringePumpPosition();
+        syringePumpStopPositionTimerCounter = 0;
     }
+
     // Reset persistence for direction alarms while pump is off
     isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, FALSE );
     isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, FALSE );
@@ -1609,7 +1623,7 @@
     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  )
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_PRIME_TIMEOUT, (F32)SYRINGE_PUMP_PRIMING_TIMEOUT_MS, 0.0F  )
     }
 
     // Check for stall