Index: firmware/App/Controllers/SyringePump.c
===================================================================
diff -u -rfbb180e9b4830dd5f890f4f33f022ce375ff4012 -r74be223d47ea7bb0ac7d814e74d3627d830a5fac
--- firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision fbb180e9b4830dd5f890f4f33f022ce375ff4012)
+++ firmware/App/Controllers/SyringePump.c	(.../SyringePump.c)	(revision 74be223d47ea7bb0ac7d814e74d3627d830a5fac)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2021 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
-* @file SyringePump.c
+* @file    SyringePump.c
 *
-* @author (last) Sean Nash
-* @date (last) 02-Mar-2021
+* @author  (last)      Sean Nash
+* @date    (last)      13-Aug-2021
 *
-* @author (original) Sean Nash
-* @date (original) 02-Mar-2021
+* @author  (original)  Sean Nash
+* @date    (original)  04-Mar-2021
 *
 ***************************************************************************/
 #include <math.h>
@@ -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.
@@ -224,7 +226,6 @@
 
 static void resetSyringePumpRequestFlags( void );
 static void execSyringePumpMonitor( void );
-static U32 getPublishSyringePumpDataInterval( void );
 static S32 getSyringePumpPosition( void );
 static F32 getSyringePumpMeasRate( void );
 static F32 getSyringePumpSyringeDetectorV( void );
@@ -276,8 +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;
@@ -625,26 +628,6 @@
 
 /*********************************************************************//**
  * @brief
- * The getPublishSyringePumpDataInterval function gets the syringe pump data
- * publication interval.
- * @details Inputs: syringePumpDataPublishInterval
- * @details Outputs: none
- * @return the current syringe pump data publication interval (in task intervals).
- *************************************************************************/
-static U32 getPublishSyringePumpDataInterval( void )
-{
-    U32 result = syringePumpDataPublishInterval.data;
-
-    if ( OVERRIDE_KEY == syringePumpDataPublishInterval.override )
-    {
-        result = syringePumpDataPublishInterval.ovData;
-    }
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
  * The getSyringePumpVolumeDelivered function gets the current syringe pump
  * volume delivered.
  * @details Inputs: syringePumpVolumeDelivered
@@ -986,10 +969,12 @@
     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
     {
@@ -1640,13 +1625,13 @@
 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 ) ) ) )
     {
@@ -1837,7 +1822,7 @@
 static void publishSyringePumpData( void )
 {
     // Publish syringe pump data on interval
-    if ( ++syringePumpDataPublicationTimerCounter >= getPublishSyringePumpDataInterval() )
+    if ( ++syringePumpDataPublicationTimerCounter >= getU32OverrideValue( &syringePumpDataPublishInterval ) )
     {
         SYRINGE_PUMP_DATA_PAYLOAD_T data;
 
@@ -1856,8 +1841,8 @@
                                  ( (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;
     }
 }