Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -r4ddf1777acc4298a9ed034e56b66916256d22c18 -r1d4d52365189e2cc83b97d28761bc2d4f0128859
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 4ddf1777acc4298a9ed034e56b66916256d22c18)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 1d4d52365189e2cc83b97d28761bc2d4f0128859)
@@ -7,8 +7,8 @@
 *
 * @file    SyringePump.c
 *
-* @author  (last)      Michael Garthwaite
-* @date    (last)      09-Feb-2023
+* @author  (last)      Sean Nash
+* @date    (last)      07-Mar-2023
 *
 * @author  (original)  Sean Nash
 * @date    (original)  04-Mar-2021
@@ -92,8 +92,8 @@
 #define MIN_SYRINGE_PUMP_RATE_FOR_DIR_ALARM           0.5F                                  ///< Minimum measured rate (in mL/hr) required before enforcing direction alarm.
 
 /// Expected position of empty in relation to home position.
-#define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 10.84F )
-/// Margin of error for empty position determination.
+#define SYRINGE_PUMP_EMPTY_POS                        ( SYRINGE_ENCODER_COUNTS_PER_ML * 11.0F )
+/// Over-travel (past empty) allowance for alarm.
 #define SYRINGE_PUMP_EMPTY_POS_MARGIN                 ( SYRINGE_ENCODER_COUNTS_PER_ML * 0.5F )
 /// Minimum retract position.
 #define SYRINGE_PUMP_RETRACT_POS_MIN                  ( SYRINGE_ENCODER_COUNTS_PER_ML * -0.5F )
@@ -1410,6 +1410,7 @@
         syringePumpPlungerFound = FALSE;
         syringeVolumeAdequate = FALSE;
         syringePumpPrimeCompleted = FALSE;
+        syringePumpPreLoadCompleted = FALSE;
         syringePumpVolumeRequired = 0.0F;
         // Clear insufficient volume alarm condition in case we're retracting to allow user to resolve alarm
         clearAlarmCondition( ALARM_ID_HD_SYRINGE_PUMP_NOT_ENOUGH_HEPARIN_ALARM );
@@ -1421,8 +1422,10 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_OVER_TRAVEL_ERROR, (U32)getSyringePumpPosition(), (U32)SYRINGE_PUMP_RETRACT_STATE );
     }
 
+    // Check for stall
     stopPump = checkForStall( stopPump );
 
+    // Check direction
     stopPump = checkDirection( stopPump, MOTOR_DIR_REVERSE );
 
     // If anything found that would require stopping the pump, stop pump and go to off state
@@ -1460,17 +1463,8 @@
     syringePumpVolumeRequired = txVolumeReq;
     txVolumeReq = txVolumeReq + SYRINGE_PUMP_PRELOAD_MARGIN_VOLUME_ML;
 
-    // Is syringe loaded?
-    if ( TRUE == isSyringeDetected() )
-    {
-        activateAlarmNoData( ALARM_ID_HD_SYRINGE_DETECTED );
-        stopPump = TRUE;
-    }
-    else
-    {
-        // Handle ramp up
-        rampSyringePump();
-    }
+    // Handle ramp up
+    rampSyringePump();
 
     // Is plunger Heparin volume position detected? or volume requiring full syringe.
     if ( ( syringeVol <= txVolumeReq ) || ( SYRINGE_PUMP_PRELOAD_MAX_VOLUME_ML < txVolumeReq ) )
@@ -1482,6 +1476,9 @@
         syringePumpPreLoadCompleted = TRUE;
     }
 
+    // Check for stall
+    stopPump = checkForStall( stopPump );
+
     // Check max position > empty + 0.5 mL
     stopPump = checkMaxTravel( stopPump, SYRINGE_PUMP_EMPTY_POS + SYRINGE_PUMP_EMPTY_POS_MARGIN );
 
@@ -1547,6 +1544,9 @@
         }
     }
 
+    // Check for stall
+    stopPump = checkForStall( stopPump );
+
     // Has syringe been removed?
     stopPump = checkSyringeRemoved( stopPump );
 
@@ -1815,7 +1815,7 @@
     S32  pos = getSyringePumpPosition();
 
     // If near empty position, assume syringe is empty
-    if ( fabs( pos - SYRINGE_PUMP_EMPTY_POS ) < SYRINGE_PUMP_EMPTY_POS_MARGIN )
+    if ( pos >= SYRINGE_PUMP_EMPTY_POS )
     {
         heparinDeliveryState = HEPARIN_STATE_EMPTY;
         SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_SYRINGE_EMPTY, (F32)pos, force )
@@ -1888,20 +1888,11 @@
     BOOL result = stopPump;
     S32 pos = getSyringePumpPosition();
 
-    if ( pos > ( SYRINGE_PUMP_EMPTY_POS - SYRINGE_PUMP_EMPTY_POS_MARGIN ) )
+    if ( pos >= maxPos )
     {
         result = TRUE;
-        heparinDeliveryState = HEPARIN_STATE_EMPTY;
-        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_SYRINGE_EMPTY, (F32)pos, getSyringePumpForceV() )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_OVER_TRAVEL_ERROR, (U32)pos, (U32)syringePumpState );
     }
-    else if ( pos > maxPos )
-    {
-        result = TRUE;
-        if ( syringePumpState != SYRINGE_PUMP_PRIME_STATE )
-        {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_OVER_TRAVEL_ERROR, (U32)pos, (U32)syringePumpState );
-        }
-    }
 
     return result;
 }