Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -rcbaa57803fa8359407a799fca0cde6ae2c486bd7 -ra67030b162e759b0c9e350344112bbf26af794be
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision cbaa57803fa8359407a799fca0cde6ae2c486bd7)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision a67030b162e759b0c9e350344112bbf26af794be)
@@ -8,7 +8,7 @@
 * @file    SyringePump.c
 *
 * @author  (last)      Dara Navaei
-* @date    (last)      13-Jul-2022
+* @date    (last)      15-Jul-2022
 *
 * @author  (original)  Sean Nash
 * @date    (original)  04-Mar-2021
@@ -88,6 +88,7 @@
 #define TEN_PCT_OVER_ALLOWANCE                        1.1F                                  ///< Allow 10 percent over target before alarming on over travel.
 #define FIVE_PCT_OVER_ALLOWANCE                       1.05F                                 ///< Allow 5 percent over target before alarming on over travel.
 #define SYRINGE_PUMP_DAC_VOLTAGE_MAX_ERROR            0.05F                                 ///< Force sensor POST check for DAC voltage - max delta.
+#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 )
@@ -277,9 +278,7 @@
 
     syringePumpState = SYRINGE_PUMP_INIT_STATE;
     heparinDeliveryState = HEPARIN_STATE_OFF;
-
     requireSyringeDetection = FALSE;
-
     syringePumpSetRate = 0.0;
     syringePumpSetToggleTime = 0;
     syringePumpSafetyVolumeDelivered = 0.0;
@@ -490,24 +489,12 @@
  *************************************************************************/
 BOOL retractSyringePump( void )
 {
-#ifndef _RELEASE_
-    if ( getSoftwareConfigStatus( SW_CONFIG_ENABLE_SYRINGE_PUMP_CMDS ) == SW_CONFIG_ENABLE_VALUE )
+    if ( SYRINGE_PUMP_OFF_STATE == syringePumpState )
     {
-        heparinDeliveryState = HEPARIN_STATE_STOPPED;
+        heparinDeliveryState        = HEPARIN_STATE_STOPPED;
+        syringePumpSetRate          = SYRINGE_PUMP_RETRACT_RATE;
+        syringePumpRetractRequested = TRUE;
     }
-#endif
-    if ( MODE_SERV == getCurrentOperationMode() )       // Allow syringe pump operations in Service Mode.
-    {
-        heparinDeliveryState = HEPARIN_STATE_STOPPED;
-    }
-    if ( ( SYRINGE_PUMP_OFF_STATE == syringePumpState ) && ( heparinDeliveryState != HEPARIN_STATE_OFF ) )
-    {
-        {
-            heparinDeliveryState        = HEPARIN_STATE_STOPPED;
-            syringePumpSetRate          = SYRINGE_PUMP_RETRACT_RATE;
-            syringePumpRetractRequested = TRUE;
-        }
-    }
 
     return syringePumpRetractRequested;
 }
@@ -660,8 +647,8 @@
     F32 vRef = forceSensorCalRecord.hdHeparinForceSensorDACVoltage;
 
     if ( ( vRef >= 0.0 ) && ( vRef <= SYRINGE_PUMP_ADC_REF_V ) )
-    {
-        if ( SYRINGE_PUMP_OFF_STATE == syringePumpState )
+    {   // Cannot set DAC value if pump is busy or calibration values have not been provided yet
+        if ( ( SYRINGE_PUMP_OFF_STATE == syringePumpState ) && ( forceSensorCalRecord.calibrationTime != 0 ) )
         {
             syringePumpDACVref = vRef;
             syringePumpDACVrefSetRequested = TRUE;
@@ -691,6 +678,28 @@
 
 /*********************************************************************//**
  * @brief
+ * The syringePumpVerifyForceSensorDACCalibration function verifies that the
+ * syringe pump force sensor DAC has been calibrated and is reporting no force
+ * as would be expected when fully retracted (caller should not call this function
+ * until the syringe pump is homed first).
+ * @details Inputs: none
+ * @details Outputs:
+ * @return none
+ *************************************************************************/
+void syringePumpVerifyForceSensorDACCalibration( void )
+{
+    F32 DACDeltaV = fabs( forceSensorCalRecord.hdHeparinForceSensorDACVoltage - getSyringePumpForceV() );
+
+    if ( DACDeltaV > SYRINGE_PUMP_DAC_VOLTAGE_MAX_ERROR )
+    {
+        SET_ALARM_WITH_1_F32_DATA( ALARM_ID_HD_SYRINGE_PUMP_SELF_TEST_FAILURE, DACDeltaV )
+        // In case DAC not set yet, try to set DAC
+        setSyringePumpDACVref();
+    }
+}
+
+/*********************************************************************//**
+ * @brief
  * The getSyringePumpVolumeDelivered function gets the current syringe pump
  * volume delivered.
  * @details Inputs: syringePumpVolumeDelivered
@@ -1153,29 +1162,29 @@
  * The execSyringePumpSelfTest function executes the state machine for the
  * syringe pump self-test.
  * @details Inputs: none
- * @details Outputs: none
- * @return the current state of the BloodFlow self-test.
+ * @details Outputs: forceSensorCalRecord
+ * @return TRUE if the self test passed otherwise, FALSE
  *************************************************************************/
 SELF_TEST_STATUS_T execSyringePumpSelfTest( void )
 {
-    SELF_TEST_STATUS_T result = SELF_TEST_STATUS_IN_PROGRESS;
-    F32 DACDeltaV;
+    SELF_TEST_STATUS_T result = SELF_TEST_STATUS_PASSED;
     // Read/check force sensor calibration
     BOOL calStatus = getNVRecord2Driver( GET_CAL_HEPARIN_FORCE_SENSOR, (U08*)&forceSensorCalRecord, sizeof( HD_HEPARIN_FORCE_SENSOR_CAL_RECORD_T ),
                                          0, ALARM_ID_HD_HEPARIN_FORCE_SENSOR_INVALID_CAL_RECORD );
 
-    // Verify calibration
-    DACDeltaV = fabs( forceSensorCalRecord.hdHeparinForceSensorDACVoltage - getSyringePumpForceV() );
-
-    if ( ( TRUE == calStatus ) && ( DACDeltaV > SYRINGE_PUMP_DAC_VOLTAGE_MAX_ERROR ) )
+#ifndef _RELEASE_
+    if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
+#endif
     {
-        result = SELF_TEST_STATUS_PASSED;
+        if ( TRUE == calStatus )
+        {
+            result = SELF_TEST_STATUS_PASSED;
+        }
+        else
+        {
+            result = SELF_TEST_STATUS_FAILED;
+        }
     }
-    else
-    {
-        result = SELF_TEST_STATUS_FAILED;
-        activateAlarmNoData( ALARM_ID_HD_SYRINGE_PUMP_SELF_TEST_FAILURE );
-    }
 
     return result;
 }
@@ -1612,15 +1621,24 @@
     if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_SYRINGE_PUMP_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
 #endif
     {
-        if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, ( syringePumpEncoderMeasuredDirection != expDir ) ) )
+        // Check direction if rate >= minimum for alarm
+        if ( getSyringePumpMeasRate() >= MIN_SYRINGE_PUMP_RATE_FOR_DIR_ALARM )
         {
-            result = TRUE;
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, (U32)syringePumpEncoderMeasuredDirection, (U32)syringePumpState );
+            if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, ( syringePumpEncoderMeasuredDirection != expDir ) ) )
+            {
+                result = TRUE;
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, (U32)syringePumpEncoderMeasuredDirection, (U32)syringePumpState );
+            }
+            if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, ( syringePumpControllerMeasuredDirection != expDir ) ) )
+            {
+                result = TRUE;
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, (U32)syringePumpControllerMeasuredDirection, (U32)syringePumpState );
+            }
         }
-        if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, ( syringePumpControllerMeasuredDirection != expDir ) ) )
+        else
         {
-            result = TRUE;
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, (U32)syringePumpControllerMeasuredDirection, (U32)syringePumpState );
+            isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, FALSE );
+            isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_CONTROLLER_DIRECTION_ERROR, FALSE );
         }
     }
 
@@ -1978,12 +1996,12 @@
     }
 }
 
-
-/*************************************************************************
- *                       TEST SUPPORT FUNCTIONS
- *************************************************************************/
 
+/*************************************************************************
+ *                       TEST SUPPORT FUNCTIONS
+ *************************************************************************/
 
+
 /*********************************************************************//**
  * @brief
  * The testSetSyringePumpDataPublishIntervalOverride function overrides the