Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -rccfd15568f1e3d304320c2babb2fd4bcf0413304 -r8bd1ae47aa13a843aa8abd6321ddc050deacb4a6
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision ccfd15568f1e3d304320c2babb2fd4bcf0413304)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 8bd1ae47aa13a843aa8abd6321ddc050deacb4a6)
@@ -196,8 +196,10 @@
 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.
+#ifndef DISABLE_SYRINGE_PUMP_ALARMS
 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.
+#endif
 
 static BOOL syringePumpRetractRequested;                                        ///< Flag indicates a retract operation is requested.
 static BOOL syringePumpSeekRequested;                                           ///< Flag indicates a plunger seek operation is requested.
@@ -275,8 +277,10 @@
     syringePumpVolumeStartPosition = 0;
     syringePumpHomePositionOffset = 0;
     syringePumpLastPosition = 0;
+#ifndef DISABLE_SYRINGE_PUMP_ALARMS
     syringePumpControllerMeasuredDirection = MOTOR_DIR_FORWARD;
     syringePumpEncoderMeasuredDirection = MOTOR_DIR_FORWARD;
+#endif
 
     syringePumpDataPublicationTimerCounter = 0;
     syringePumpSpeedCalcTimerCounter = 0;
@@ -519,17 +523,29 @@
     {
         syringePumpSetRate = SYRINGE_PUMP_PRIME_RATE;
         syringePumpPrimeRequested = TRUE;
-        // Reset volume and start pos before starting prime operation
-        syringePumpVolumeDelivered.data = 0.0;
-        syringePumpSafetyVolumeDelivered = 0.0;
-        syringePumpVolumeStartPosition = getSyringePumpPosition();
+        resetHeparinVolumeDelivered();
     }
 
     return syringePumpPrimeRequested;
 }
 
 /*********************************************************************//**
  * @brief
+ * The resetHeparinVolumeDelivered function resets the Heparin volume delivered.
+ * @details Inputs: none
+ * @details Outputs: syringePumpVolumeDelivered, syringePumpSafetyVolumeDelivered,
+ * syringePumpVolumeStartPosition
+ * @return none
+ *************************************************************************/
+void resetHeparinVolumeDelivered( void )
+{
+    syringePumpVolumeDelivered.data = 0.0;
+    syringePumpSafetyVolumeDelivered = 0.0;
+    syringePumpVolumeStartPosition = getSyringePumpPosition();
+}
+
+/*********************************************************************//**
+ * @brief
  * The startHeparinBolus function requests Heparin bolus delivery.
  * @details Inputs: syringePumpState
  * @details Outputs: syringePumpSetRate, syringePumpBolusRequested
@@ -550,10 +566,6 @@
         {
             syringePumpSetRate = tgtRate;
             syringePumpBolusRequested = TRUE;
-            // Reset volume and start pos before starting bolus operation
-            syringePumpVolumeDelivered.data = 0.0;
-            syringePumpSafetyVolumeDelivered = 0.0;
-            syringePumpVolumeStartPosition = getSyringePumpPosition();
         }
     }
     else
@@ -930,6 +942,7 @@
 static void execSyringePumpMonitor( void )
 {
     F32 forceSensorBeforCal = 0.0;
+    BOOL prevSyringeDetected = isSyringeDetected();
 
     // Check if a new calibration is available
     if ( TRUE == isNewCalibrationRecordAvailable() )
@@ -949,6 +962,11 @@
     // Get latest ADC data and convert to V
     syringePumpMeasHome.data = ( (F32)getFPGASyringePumpADCChannel2() * SYRINGE_PUMP_ADC_REF_V ) / SYRINGE_PUMP_ADC_FULL_SCALE_BITS;
     syringePumpMeasSyringeDetectionSwitch.data = ( (F32)getFPGASyringePumpADCChannel1() * SYRINGE_PUMP_ADC_REF_V ) / SYRINGE_PUMP_ADC_FULL_SCALE_BITS;
+    // On transition from not detected to detected - clear syringe removed alarm condition
+    if ( ( prevSyringeDetected != TRUE ) && ( TRUE == isSyringeDetected() ) )
+    {
+        clearAlarmCondition( ALARM_ID_HD_SYRINGE_PUMP_SYRINGE_REMOVED );
+    }
 
     forceSensorBeforCal = ( (F32)getFPGASyringePumpADCChannel0() * SYRINGE_PUMP_ADC_REF_V ) / SYRINGE_PUMP_ADC_FULL_SCALE_BITS;
     syringePumpMeasForce.data = pow(forceSensorBeforCal, 4) * forceSensorCalRecord.hdHeparinForceSensor.fourthOrderCoeff +
@@ -965,10 +983,12 @@
     calcSafetyVolumeDelivered();
     // Calculate measured rate (mL/hr)
     calcMeasRate();
+#ifndef DISABLE_SYRINGE_PUMP_ALARMS
     // Get measured direction
     syringePumpControllerMeasuredDirection = ( ( getSyringePumpEncoderStatus() & SYRINGE_PUMP_ENCODER_DIRECTION_BIT ) != 0 ? MOTOR_DIR_REVERSE : MOTOR_DIR_FORWARD );
     // Calculate direction from encoder position relative to last
     syringePumpEncoderMeasuredDirection = ( getSyringePumpPosition() - syringePumpLastPosition >= 0 ? MOTOR_DIR_FORWARD : MOTOR_DIR_REVERSE );
+#endif
 
     // Check if syringe pump is on while BP is off
     {
@@ -1091,8 +1111,8 @@
  * @brief
  * The handleSyringePumpInitState function handles the initialize state
  * of the syringe pump control state machine.
- * @details Inputs: TBD
- * @details Outputs: TBD
+ * @details Inputs: none
+ * @details Outputs: pump speed set to zero, ADC enabled, direction set to reverse
  * @return next state
  *************************************************************************/
 static SYRINGE_PUMP_STATE_T handleSyringePumpInitState( void )
@@ -1113,8 +1133,10 @@
  * @brief
  * The handleSyringePumpOffState function handles the off state
  * of the syringe pump control state machine.
- * @details Inputs: TBD
- * @details Outputs: TBD
+ * @details Inputs: syringePumpRetractRequested, syringePumpSeekRequested,
+ * syringePumpPrimeRequested, syringePumpBolusRequested, syringePumpContinuousRequested,
+ * syringePumpDACVrefSetRequested
+ * @details Outputs: Pump speed and direction set if pump command initiated
  * @return next state
  *************************************************************************/
 static SYRINGE_PUMP_STATE_T handleSyringePumpOffState( void )
@@ -1306,6 +1328,7 @@
     if ( TRUE == stopPump )
     {
         stopSyringePump();
+        retractSyringePump();
         result = SYRINGE_PUMP_OFF_STATE;
     }
 
@@ -1619,13 +1642,13 @@
 static BOOL checkMeasRate( BOOL stopPump, F32 pctMargin )
 {
     BOOL result = stopPump;
+#ifndef DISABLE_SYRINGE_PUMP_ALARMS
     F32  rate = getSyringePumpMeasRate();
     F32  max = MAX( rate, syringePumpSetRate );
     F32  min = MIN( rate, syringePumpSetRate );
-    F32  delta = max - min;
     F32  error = ( max > 0.0 ? ( 1.0 - fabs( min / max ) ) : 0.0 );
+    F32  delta = max - min;
 
-#ifndef DISABLE_SYRINGE_PUMP_ALARMS
     // Alarm on rate if off by more than 5% or 0.1 mL/hr, whichever is greater
     if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_SYRINGE_PUMP_SPEED_ERROR, ( ( error > pctMargin ) && ( delta > SYRINGE_PUMP_MAX_RATE_ERROR_ML_HR ) ) ) )
     {
@@ -1835,8 +1858,8 @@
                                  ( (U32)getSyringePumpADCandDACStatus() << SHIFT_8_BITS_FOR_BYTE_SHIFT ) |
                                  ( (U32)getSyringePumpADCReadCounter() );
 
-        broadcastSyringePumpData( data );
-        broadcastHeparinData( data.syringePumpVolumeDelivered );
+        broadcastData( MSG_ID_HD_SYRINGE_PUMP_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&data, sizeof( SYRINGE_PUMP_DATA_PAYLOAD_T ) );
+        broadcastData( MSG_ID_HD_HEPARIN_DATA_BROADCAST, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&data.syringePumpVolumeDelivered, sizeof( F32 ) );
         syringePumpDataPublicationTimerCounter = 0;
     }
 }
@@ -1936,7 +1959,7 @@
  * The testSyringePumpOperationRequest function requests a given syringe pump
  * operation.
  * @details Inputs: none
- * @details Outputs: TBD
+ * @details Outputs: pump operation request is handled
  * @param opParams record containing the requested operation and its parameters
  * @return TRUE if override successful, FALSE if not
  *************************************************************************/