Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -rfa0ab419491364c1d2a28caf216e20175181372d -r21180e0b65fddfa27f66d8fb59cb55b2db304230
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision fa0ab419491364c1d2a28caf216e20175181372d)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 21180e0b65fddfa27f66d8fb59cb55b2db304230)
@@ -98,7 +98,7 @@
 #define SYRINGE_PUMP_RETRACT_POS_MIN                  ( SYRINGE_ENCODER_COUNTS_PER_ML * -0.5 )
 
 #define SYRINGE_PUMP_START_RAMP_SPEED                 300000                                ///< Starting speed for all syringe pump operations to ramp up from.
-#define SYRINGE_PUMP_RAMP_DIVISOR                     5                                     ///< Used for ramping profile.
+#define SYRINGE_PUMP_RAMP_DIVISOR                     11                                    ///< Used for ramping profile.
 
 #define SYRINGE_PUMP_RATE_CHECK_MARGIN                0.05                                  ///< 5 pct margin on commanded vs. measured rate check.
 #define SYRINGE_PUMP_VOLUME_CHECK_MARGIN              0.05                                  ///< 5 pct margin on commanded vs. encoder based volume check.
@@ -143,6 +143,9 @@
 #define SYRINGE_PUMP_ENCODER_DIRECTION_ERROR_BITS     0x3F                                  ///< Syringe pump encoder direction error counter bits in FPGA register.
 #define SYRINGE_PUMP_ENCODER_DIRECTION_BIT            0x80                                  ///< Syringe pump encoder direction bit in FPGA register.
 
+#define SYRINGE_PUMP_RAMP_STALL_TIME                  ( 500 / TASK_PRIORITY_INTERVAL )      ///< Syringe pump ramp stall timeout.
+#define SYRINGE_PUMP_RAMP_STALL_RETRIES               3                                     ///< Syringe pump ramp stall retries allowed.
+
 /// Defined states for the syringe pump control state machine.
 typedef enum SyringePump_States
 {
@@ -206,6 +209,9 @@
 
 static U08  lastSyringePumpADCReadCtr;                                          ///< Remember last ADC read counter to check new reads are fresh.
 
+static U32  syringePumpStallCtr;                                                ///< Counts time when position is not changing during ramp.
+static U32  syringePumpStallRetryCount;                                         ///< Counts pump ramp up stall retries.
+
 // ********** private function prototypes **********
 
 static void resetSyringePumpRequestFlags( void );
@@ -273,6 +279,9 @@
 
     lastSyringePumpADCReadCtr = 0;
 
+    syringePumpStallCtr = 0;
+    syringePumpStallRetryCount = 0;
+
     // Initialize persistent alarms
     initPersistentAlarm( ALARM_ID_HD_SYRINGE_PUMP_ADC_ERROR, 0, SYRINGE_PUMP_ADC_READ_PERSISTENCE );
     initPersistentAlarm( ALARM_ID_HD_SYRINGE_PUMP_ENCODER_DIRECTION_ERROR, 0, SYRINGE_PUMP_DIR_ALARM_PERSISTENCE );
@@ -491,6 +500,10 @@
     {
         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();
     }
 
     return syringePumpPrimeRequested;
@@ -518,6 +531,10 @@
         {
             syringePumpSetRate = tgtRate;
             syringePumpBolusRequested = TRUE;
+            // Reset volume and start pos before starting bolus operation
+            syringePumpVolumeDelivered.data = 0.0;
+            syringePumpSafetyVolumeDelivered = 0.0;
+            syringePumpVolumeStartPosition = getSyringePumpPosition();
         }
     }
     else
@@ -727,10 +744,10 @@
 
 /*********************************************************************//**
  * @brief
- * The getSyringePumpForceV function gets the current syringe pump force.
- * @details Inputs: syringePumpMeasForce
+ * The getSyringePumpStatus function gets the current syringe pump status.
+ * @details Inputs: syringePumpStatus
  * @details Outputs: none
- * @return the current syringe pump force (in V).
+ * @return the current syringe pump status.
  *************************************************************************/
 static U08 getSyringePumpStatus()
 {
@@ -746,10 +763,11 @@
 
 /*********************************************************************//**
  * @brief
- * The getSyringePumpForceV function gets the current syringe pump force.
- * @details Inputs: syringePumpMeasForce
+ * The getSyringePumpEncoderStatus function gets the current syringe pump
+ * encoder status.
+ * @details Inputs: syringePumpEncoderStatus
  * @details Outputs: none
- * @return the current syringe pump force (in V).
+ * @return the current syringe pump encoder status.
  *************************************************************************/
 static U08 getSyringePumpEncoderStatus()
 {
@@ -765,10 +783,11 @@
 
 /*********************************************************************//**
  * @brief
- * The getSyringePumpForceV function gets the current syringe pump force.
- * @details Inputs: syringePumpMeasForce
+ * The getSyringePumpADCReadCounter function gets the current syringe pump
+ * ADC read counter.
+ * @details Inputs: syringePumpADCReadCtr
  * @details Outputs: none
- * @return the current syringe pump force (in V).
+ * @return the current syringe pump ADC read counter.
  *************************************************************************/
 static U08 getSyringePumpADCReadCounter()
 {
@@ -1601,11 +1620,37 @@
  *************************************************************************/
 static void rampSyringePump( void )
 {
+    // Check for ramp stall - restart ramp if retry allowed
+    if ( syringePumpLastPosition == getSyringePumpPosition() )
+    {
+        syringePumpStallCtr++;
+        if ( syringePumpStallCtr >= SYRINGE_PUMP_RAMP_STALL_TIME )
+        {
+            if ( ++syringePumpStallRetryCount <= SYRINGE_PUMP_RAMP_STALL_RETRIES )
+            {
+                // Restart ramp
+                syringePumpRampTimerCtr = 0;
+                syringePumpRampUpToggleTime = SYRINGE_PUMP_START_RAMP_SPEED;
+            }
+            else
+            {
+                // TODO - stall alarm
+                stopSyringePump();
+                syringePumpState = SYRINGE_PUMP_OFF_STATE;
+            }
+        }
+        else
+        {
+            syringePumpStallCtr = 0;
+        }
+    }
+
+    // Ramp up syringe pump toward target speed
     syringePumpRampTimerCtr++;
     if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
     {
         syringePumpRampUpToggleTime = (U32)((F32)SYRINGE_PUMP_START_RAMP_SPEED /
-                                            (F32)( syringePumpRampTimerCtr * syringePumpRampTimerCtr * syringePumpRampTimerCtr / SYRINGE_PUMP_RAMP_DIVISOR ));
+                                            (F32)( ( syringePumpRampTimerCtr * syringePumpRampTimerCtr * syringePumpRampTimerCtr ) / SYRINGE_PUMP_RAMP_DIVISOR ) );
         if ( syringePumpRampUpToggleTime > syringePumpSetToggleTime )
         {
             setFPGASyringePumpStepToggleTime( syringePumpRampUpToggleTime );
@@ -1640,6 +1685,9 @@
     syringePumpSetToggleTime = FLOAT_TO_INT_WITH_ROUND( conv );
     // Set stepper ramp toggle time to initial ramp up speed initially
     syringePumpRampUpToggleTime = SYRINGE_PUMP_START_RAMP_SPEED;
+    // Reset ramp stall timer and retry counters
+    syringePumpStallCtr = 0;
+    syringePumpStallRetryCount = 0;
 }
 
 /*********************************************************************//**