Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -rcda8fe9d5b19e8a8bc20c8d4aeb0bb286e555b6f -r893bdb4ea1636ae343babcd830d6ddf7c71535d0
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision cda8fe9d5b19e8a8bc20c8d4aeb0bb286e555b6f)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 893bdb4ea1636ae343babcd830d6ddf7c71535d0)
@@ -79,8 +79,7 @@
 #define SYRINGE_PUMP_PRIME_VOLUME_ML                  0.353                                 ///< Target syringe prime volume (in mL).
 
 #define SYRINGE_PUMP_START_RAMP_SPEED                 300000                                ///< Starting speed for all syringe pump operations to ramp up from.
-#define SYRINGE_PUMP_RAMP_NUMERATOR                   15                                    ///< Numerator of ramp period reduction fraction.
-#define SYRINGE_PUMP_RAMP_DENOMINATOR                 16                                    ///< Denominator of ramp period reduction fraction.
+#define SYRINGE_PUMP_RAMP_DIVISOR                     5                                     ///< Used for ramping profile.
 
 // Bit definitions for syringe pump control register
 #define SYRINGE_PUMP_CONTROL_SLEEP_OFF                0x40                                  ///< Syringe pump control register bit for sleep mode (active low).
@@ -146,6 +145,7 @@
 static SYRINGE_PUMP_STATE_T syringePumpState;                                   ///< Current state of syringe pump control state machine.
 static U32 syringePumpDataPublicationTimerCounter;                              ///< Used to schedule syringe pump data publication to CAN bus.
 static U32 syringePumpSpeedCalcTimerCounter;                                    ///< Used to calculate measured rate from change in position over time.
+static U32 syringePumpRampTimerCtr;                                             ///< Used to track ramp up time.
 
 /// Interval (in ms) at which to publish syringe pump data to CAN bus.
 static OVERRIDE_U32_T syringePumpDataPublishInterval = { SYRINGE_PUMP_DATA_PUB_INTERVAL, SYRINGE_PUMP_DATA_PUB_INTERVAL, 0, 0 };
@@ -178,9 +178,6 @@
 
 static SYRINGE_PUMP_SELF_TEST_STATE_T syringePumpSelfTestState;                 ///< Current syringe pump self-test state.
 static U32 syringePumpSelfTestTimerCount;                                       ///< Timer counter for syringe pump self-test.
-
-// TODO - test code
-static U32 xTimerCtr;
 
 // ********** private function prototypes **********
 
@@ -200,6 +197,7 @@
 static SYRINGE_PUMP_STATE_T handleSyringePumpBolusState( void );
 static SYRINGE_PUMP_STATE_T handleSyringePumpContinuousState( void );
 static SYRINGE_PUMP_STATE_T handleSyringePumpCalibrateForceSensorState( void );
+static void rampSyringePump( void );
 static void calcStepperToggleTimeForTargetRate( F32 rate );
 static void calcMeasRate( void );
 static void calcSafetyVolumeDelivered( void );
@@ -233,6 +231,7 @@
     syringePumpDataPublicationTimerCounter = 0;
     syringePumpSelfTestTimerCount = 0;
     syringePumpSpeedCalcTimerCounter = 0;
+    syringePumpRampTimerCtr = 0;
 
     lastSyringePumpADCReadCtr = 0;
 
@@ -769,8 +768,8 @@
         setFPGASyringePumpStepToggleTime( syringePumpRampUpToggleTime );
     }
 
-    // TODO - test code
-    xTimerCtr = 0;
+    // Reset ramp up timer
+    syringePumpRampTimerCtr = 1;
 
     return result;
 }
@@ -788,26 +787,9 @@
     SYRINGE_PUMP_STATE_T result = SYRINGE_PUMP_RETRACT_STATE;
 
     // Handle ramp up
-    xTimerCtr++;
-    if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
-    {
-        //syringePumpRampUpToggleTime *= SYRINGE_PUMP_RAMP_NUMERATOR;
-        //syringePumpRampUpToggleTime /= SYRINGE_PUMP_RAMP_DENOMINATOR;
-        syringePumpRampUpToggleTime = (F32)SYRINGE_PUMP_START_RAMP_SPEED / (F32)(xTimerCtr * xTimerCtr * xTimerCtr / 3);
-        if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
-        {
-            setFPGASyringePumpStepToggleTime( syringePumpRampUpToggleTime );
-        }
-        else
-        {
-            setFPGASyringePumpStepToggleTime( syringePumpSetToggleTime );
-        }
-    }
-//    else
-//    {
-//        setFPGASyringePumpStepToggleTime( syringePumpSetToggleTime );
-//    }
+    rampSyringePump();
 
+    // Stop retract when home position is detected
     if ( TRUE == isSyringePumpHome() )
     {
         stopSyringePump();
@@ -817,6 +799,7 @@
         syringePumpHasBeenHomed = TRUE;
         result = SYRINGE_PUMP_OFF_STATE;
     }
+    // Stop retract if syringe is detected (should not have a syringe loaded during retract)
     else if ( TRUE == isSyringeDetected() )
     {
         stopSyringePump();
@@ -841,20 +824,10 @@
     BOOL stopPump = FALSE;
 
     // Handle ramp up
-    xTimerCtr++;
-    if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
-    {
-        syringePumpRampUpToggleTime *= SYRINGE_PUMP_RAMP_NUMERATOR;
-        syringePumpRampUpToggleTime /= SYRINGE_PUMP_RAMP_DENOMINATOR;
-        setFPGASyringePumpStepToggleTime( syringePumpRampUpToggleTime );
-    }
-    else
-    {
-        setFPGASyringePumpStepToggleTime( syringePumpSetToggleTime );
-    }
+    rampSyringePump();
 
     // Is plunger contact detected?
-    if ( ( xTimerCtr > 500 ) ) //|| ( getSyringePumpForceV() >= SYRINGE_FORCE_PLUNGER_THRESHOLD_V ) )
+    if ( ( syringePumpRampTimerCtr > 500 ) ) //|| ( getSyringePumpForceV() >= SYRINGE_FORCE_PLUNGER_THRESHOLD_V ) )
     {
         stopPump = TRUE;
         syringePumpVolumeDelivered.data = 0.0;
@@ -891,17 +864,7 @@
     BOOL stopPump = FALSE;
 
     // Handle ramp up
-    xTimerCtr++;
-    if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
-    {
-        syringePumpRampUpToggleTime *= SYRINGE_PUMP_RAMP_NUMERATOR;
-        syringePumpRampUpToggleTime /= SYRINGE_PUMP_RAMP_DENOMINATOR;
-        setFPGASyringePumpStepToggleTime( syringePumpRampUpToggleTime );
-    }
-    else
-    {
-        setFPGASyringePumpStepToggleTime( syringePumpSetToggleTime );
-    }
+    rampSyringePump();
 
     // Has prime volume been delivered?
     if ( getSyringePumpVolumeDelivered() >= SYRINGE_PUMP_PRIME_VOLUME_ML )
@@ -939,6 +902,9 @@
     SYRINGE_PUMP_STATE_T result = SYRINGE_PUMP_HEP_BOLUS_STATE;
     BOOL stopPump = FALSE;
 
+    // Handle ramp up
+    rampSyringePump();
+
     // Is bolus completed?
     if ( getSyringePumpVolumeDelivered() >= 2.0 )  // TODO - get bolus volume from treatment params
     {
@@ -978,6 +944,9 @@
     SYRINGE_PUMP_STATE_T result = SYRINGE_PUMP_HEP_CONTINUOUS_STATE;
     BOOL stopPump = FALSE;
 
+    // Handle ramp up
+    rampSyringePump();
+
     // Has syringe been removed?
     stopPump = checkSyringeRemoved( stopPump );
 
@@ -1131,6 +1100,31 @@
 
     return result;
 }
+
+/*********************************************************************//**
+ * @brief
+ * The rampSyringePump function handles the ramp-up for the syringe pump.
+ * @details Inputs: syringePumpRampTimerCtr, syringePumpSetToggleTime
+ * @details Outputs: syringePumpRampUpToggleTime
+ * @return none
+ *************************************************************************/
+static void rampSyringePump( void )
+{
+    syringePumpRampTimerCtr++;
+    if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
+    {
+        syringePumpRampUpToggleTime = (U32)((F32)SYRINGE_PUMP_START_RAMP_SPEED /
+                                            (F32)( syringePumpRampTimerCtr * syringePumpRampTimerCtr * syringePumpRampTimerCtr / SYRINGE_PUMP_RAMP_DIVISOR ));
+        if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
+        {
+            setFPGASyringePumpStepToggleTime( syringePumpRampUpToggleTime );
+        }
+        else
+        {
+            setFPGASyringePumpStepToggleTime( syringePumpSetToggleTime );
+        }
+    }
+}
 
 /*********************************************************************//**
  * @brief