Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r2eacb97f43f15f317779635681ed81051828af4f -r2593d24ad372b16af13b5e7022a86498a4010ada
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 2eacb97f43f15f317779635681ed81051828af4f)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 2593d24ad372b16af13b5e7022a86498a4010ada)
@@ -275,58 +275,64 @@
 
     // Direction change while pump is running is not allowed
     if ( ( FALSE == isBloodPumpOn ) || ( 0 == flowRate ) || ( dir == bloodPumpDirectionSet ) )
-    {
+    {
+        U32 dirFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
+
+        // Don't interrupt pump control unless rate or mode is changing
+        if ( ( dirFlowRate != targetBloodFlowRate ) || ( mode != bloodPumpControlMode ) )
+        {
 #ifndef NO_PUMP_FLOW_LIMITS
-        // Verify flow rate
-        if ( flowRate <= MAX_SET_BLOOD_FLOW_RATE )
+            // Verify flow rate
+            if ( flowRate <= MAX_SET_BLOOD_FLOW_RATE )
 #endif
-        {
-            resetBloodPumpRPMMovingAverage();
-            targetBloodFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
-            bloodPumpDirection = dir;
-            bloodPumpControlMode = mode;
-            // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
-            bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
-
-            switch ( bloodPumpState )
             {
-                case BLOOD_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
-                    if ( bloodPumpPWMDutyCyclePct < bloodPumpPWMDutyCyclePctSet )
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    break;
+                resetBloodPumpRPMMovingAverage();
+                targetBloodFlowRate = dirFlowRate;
+                bloodPumpDirection = dir;
+                bloodPumpControlMode = mode;
+                // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
+                bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
 
-                case BLOOD_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
-                    if ( bloodPumpPWMDutyCyclePct > bloodPumpPWMDutyCyclePctSet )
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
+                switch ( bloodPumpState )
+                {
+                    case BLOOD_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
+                        if ( bloodPumpPWMDutyCyclePct < bloodPumpPWMDutyCyclePctSet )
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        break;
 
-                case BLOOD_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
-                    if ( bloodPumpPWMDutyCyclePctSet > bloodPumpPWMDutyCyclePct )
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    else
-                    {
-                        bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
+                    case BLOOD_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
+                        if ( bloodPumpPWMDutyCyclePct > bloodPumpPWMDutyCyclePctSet )
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
 
-                default:
-                    // Ok - not all states need to be handled here
-                    break;
+                    case BLOOD_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
+                        if ( bloodPumpPWMDutyCyclePctSet > bloodPumpPWMDutyCyclePct )
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        else
+                        {
+                            bloodPumpState = BLOOD_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
+
+                    default:
+                        // Ok - not all states need to be handled here
+                        break;
+                }
+                result = TRUE;
             }
-            result = TRUE;
-        }
 #ifndef NO_PUMP_FLOW_LIMITS
-        else  // Requested flow rate too high
-        {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate )
-        }
-#endif
+            else  // Requested flow rate too high
+            {
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate )
+            }
+#endif
+        }
     }
 
     return result;
Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -rc7890e8beda1708d2dea0762dcc40ca5a12222e3 -r2593d24ad372b16af13b5e7022a86498a4010ada
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision c7890e8beda1708d2dea0762dcc40ca5a12222e3)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 2593d24ad372b16af13b5e7022a86498a4010ada)
@@ -262,54 +262,60 @@
     // Direction change while pump is running is not allowed
     if ( ( FALSE == isDialInPumpOn ) || ( 0 == flowRate ) || ( dir == dialInPumpDirectionSet ) )
     {
+        U32 dirFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
+
+        // Don't interrupt pump control unless rate or mode is changing
+        if ( ( dirFlowRate != targetDialInFlowRate ) || ( mode != dialInPumpControlMode ) )
+        {
 #ifndef NO_PUMP_FLOW_LIMITS
-        // Verify flow rate
-        if ( flowRate <= MAX_DIAL_IN_FLOW_RATE )
+            // Verify flow rate
+            if ( flowRate <= MAX_DIAL_IN_FLOW_RATE )
 #endif
-        {
-            resetDialInFlowMovingAverage();
-            targetDialInFlowRate = ( dir == MOTOR_DIR_FORWARD ? (S32)flowRate : (S32)flowRate * -1 );
-            dialInPumpDirection = dir;
-            dialInPumpControlMode = mode;
-            // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
-            dialInPumpPWMDutyCyclePct = DIP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
-
-            switch ( dialInPumpState )
             {
-                case DIAL_IN_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
-                    if ( dialInPumpPWMDutyCyclePct < dialInPumpPWMDutyCyclePctSet )
-                    {
-                        dialInPumpState = DIAL_IN_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    break;
-                case DIAL_IN_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
-                    if ( dialInPumpPWMDutyCyclePct > dialInPumpPWMDutyCyclePctSet )
-                    {
-                        dialInPumpState = DIAL_IN_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
-                case DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
-                    if ( dialInPumpPWMDutyCyclePctSet > dialInPumpPWMDutyCyclePct )
-                    {
-                        dialInPumpState = DIAL_IN_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    else
-                    {
-                        dialInPumpState = DIAL_IN_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
-                default:
-                    // Ok - not all states need to be handled here
-                    break;
+                resetDialInFlowMovingAverage();
+                targetDialInFlowRate = dirFlowRate;
+                dialInPumpDirection = dir;
+                dialInPumpControlMode = mode;
+                // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
+                dialInPumpPWMDutyCyclePct = DIP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
+
+                switch ( dialInPumpState )
+                {
+                    case DIAL_IN_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
+                        if ( dialInPumpPWMDutyCyclePct < dialInPumpPWMDutyCyclePctSet )
+                        {
+                            dialInPumpState = DIAL_IN_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        break;
+                    case DIAL_IN_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
+                        if ( dialInPumpPWMDutyCyclePct > dialInPumpPWMDutyCyclePctSet )
+                        {
+                            dialInPumpState = DIAL_IN_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
+                    case DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
+                        if ( dialInPumpPWMDutyCyclePctSet > dialInPumpPWMDutyCyclePct )
+                        {
+                            dialInPumpState = DIAL_IN_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        else
+                        {
+                            dialInPumpState = DIAL_IN_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
+                    default:
+                        // Ok - not all states need to be handled here
+                        break;
+                }
+                result = TRUE;
             }
-            result = TRUE;
-        }
 #ifndef NO_PUMP_FLOW_LIMITS
-        else  // Requested flow rate too high
-        {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_SET_TOO_HIGH, flowRate )
-        }
-#endif
+            else  // Requested flow rate too high
+            {
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_IN_FLOW_SET_TOO_HIGH, flowRate )
+            }
+#endif
+        }
     }
 
     return result;
Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -r3d8d8451d10aaf2ea9fc9d83857699ef1ae1a0be -r2593d24ad372b16af13b5e7022a86498a4010ada
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 3d8d8451d10aaf2ea9fc9d83857699ef1ae1a0be)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 2593d24ad372b16af13b5e7022a86498a4010ada)
@@ -255,58 +255,62 @@
     // Direction change while pump is running is not allowed
     if ( ( FALSE == isDialOutPumpOn ) || ( 0 == flowRate ) || ( dir == dialOutPumpDirectionSet ) )
     {
+        F32 pwmDC = DOP_PWM_FROM_ML_PER_MIN( (F32)flowRate );
+
+        // Don't interrupt pump control unless rate or mode is changing
+        if ( ( fabs( pwmDC - dialOutPumpPWMDutyCyclePct ) > NEARLY_ZERO ) || ( mode != dialOutPumpControlMode ) )
+        {
 #ifndef NO_PUMP_FLOW_LIMITS
-        // Verify flow rate
-        if ( flowRate <= MAX_DIAL_OUT_FLOW_RATE )
+            // Verify flow rate
+            if ( flowRate <= MAX_DIAL_OUT_FLOW_RATE )
 #endif
-        {
-            F32 adjFlow = (F32)flowRate;
-
-            resetDialOutFlowMovingAverage();
-            dopControlSignal = FALSE;
-            lastGivenRate = flowRate;
-            dialOutPumpDirection = dir;
-            dialOutPumpControlMode = mode;
-            // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
-            dialOutPumpPWMDutyCyclePct = DOP_PWM_FROM_ML_PER_MIN(adjFlow);
-            dialOutPumpPWMDutyCyclePct = MIN( dialOutPumpPWMDutyCyclePct, MAX_DIAL_OUT_PUMP_PWM_DUTY_CYCLE );
-
-            switch ( dialOutPumpState )
             {
-                case DIAL_OUT_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
-                    if ( dialOutPumpPWMDutyCyclePct < dialOutPumpPWMDutyCyclePctSet )
-                    {
-                        dialOutPumpState = DIAL_OUT_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    break;
-                case DIAL_OUT_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
-                    if ( dialOutPumpPWMDutyCyclePct > dialOutPumpPWMDutyCyclePctSet )
-                    {
-                        dialOutPumpState = DIAL_OUT_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
-                case DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
-                    if ( dialOutPumpPWMDutyCyclePctSet > dialOutPumpPWMDutyCyclePct )
-                    {
-                        dialOutPumpState = DIAL_OUT_PUMP_RAMPING_DOWN_STATE;
-                    }
-                    else
-                    {
-                        dialOutPumpState = DIAL_OUT_PUMP_RAMPING_UP_STATE;
-                    }
-                    break;
-                default:
-                    // Ok - not all states need to be handled here
-                    break;
+                resetDialOutFlowMovingAverage();
+                dopControlSignal = FALSE;
+                lastGivenRate = flowRate;
+                dialOutPumpDirection = dir;
+                dialOutPumpControlMode = mode;
+                // Set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we will control to flow when ramp completed
+                dialOutPumpPWMDutyCyclePct = pwmDC;
+                dialOutPumpPWMDutyCyclePct = MIN( dialOutPumpPWMDutyCyclePct, MAX_DIAL_OUT_PUMP_PWM_DUTY_CYCLE );
+
+                switch ( dialOutPumpState )
+                {
+                    case DIAL_OUT_PUMP_RAMPING_UP_STATE:  // See if we need to reverse direction of ramp
+                        if ( dialOutPumpPWMDutyCyclePct < dialOutPumpPWMDutyCyclePctSet )
+                        {
+                            dialOutPumpState = DIAL_OUT_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        break;
+                    case DIAL_OUT_PUMP_RAMPING_DOWN_STATE:  // See if we need to reverse direction of ramp
+                        if ( dialOutPumpPWMDutyCyclePct > dialOutPumpPWMDutyCyclePctSet )
+                        {
+                            dialOutPumpState = DIAL_OUT_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
+                    case DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE:  // Start ramp to new target in appropriate direction
+                        if ( dialOutPumpPWMDutyCyclePctSet > dialOutPumpPWMDutyCyclePct )
+                        {
+                            dialOutPumpState = DIAL_OUT_PUMP_RAMPING_DOWN_STATE;
+                        }
+                        else
+                        {
+                            dialOutPumpState = DIAL_OUT_PUMP_RAMPING_UP_STATE;
+                        }
+                        break;
+                    default:
+                        // Ok - not all states need to be handled here
+                        break;
+                }
+                result = TRUE;
             }
-            result = TRUE;
-        }
 #ifndef NO_PUMP_FLOW_LIMITS
-        else  // Requested flow rate too high
-        {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_SET_TOO_HIGH, flowRate )
-        }
+            else  // Requested flow rate too high
+            {
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_DIAL_OUT_FLOW_SET_TOO_HIGH, flowRate )
+            }
 #endif
+        }
     }
 
     return result;