Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r29b65975bb4d6a5720ef39119a9af49fafc902fa -r59a959e90acca96b44158dcd65706e83069dc859
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 29b65975bb4d6a5720ef39119a9af49fafc902fa)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 59a959e90acca96b44158dcd65706e83069dc859)
@@ -109,7 +109,7 @@
 /// Conversion macro from mL/min to estimated PWM duty cycle %.
 #define BP_PWM_FROM_ML_PER_MIN(rate)        ( (rate) * BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * BP_GEAR_RATIO * BP_MOTOR_RPM_TO_PWM_DC_FACTOR + BP_PWM_ZERO_OFFSET )
 /// Conversion from PWM duty cycle % to commanded pump motor speed.
-#define BP_PWM_TO_MOTOR_SPEED_RPM(pwm)      ( ((pwm) - BP_PWM_ZERO_OFFSET) * 4000.0F )
+#define BP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)  ( ( ((pwm) - BP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1 : -1 ) )
 /// Conversion macro from mL/min to estimated PWM duty cycle %.
 #define BP_ML_PER_MIN_FROM_PWM(pwm)         ( ( ( pwm - BP_PWM_ZERO_OFFSET ) / ( BP_ML_PER_MIN_TO_PUMP_RPM_FACTOR * BP_GEAR_RATIO * BP_MOTOR_RPM_TO_PWM_DC_FACTOR ) ) )
 
@@ -1142,8 +1142,8 @@
  *************************************************************************/
 static void checkBloodPumpSpeeds( void )
 {
-    F32 measMotorSpeed = fabs( getMeasuredBloodPumpSpeed() );
-    F32 measMCMotorSpeed = fabs( getMeasuredBloodPumpMCSpeed() );
+    F32 measMotorSpeed = getMeasuredBloodPumpSpeed();
+    F32 measMCMotorSpeed = getMeasuredBloodPumpMCSpeed();
 
     // Check for pump running while commanded off
     if ( ( TRUE == isPersistentAlarmTriggered( ALARM_ID_BLOOD_PUMP_OFF_CHECK,
@@ -1161,11 +1161,11 @@
     // Checks that only occur when pump is running (and beyond ramp).
     if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState )
     {
-        F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet );
+        F32 cmdMotorSpeed = BP_PWM_TO_MOTOR_SPEED_RPM( bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredBloodPumpRotorSpeed() );
-        F32 measMotorSpeedInRotorRPM = measMotorSpeed / BP_GEAR_RATIO;
+        F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / BP_GEAR_RATIO );
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
Index: firmware/App/Controllers/DialInFlow.c
===================================================================
diff -u -rac6fc5b74e15c8925e4579c847ddfca8e1e361ad -r59a959e90acca96b44158dcd65706e83069dc859
--- firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision ac6fc5b74e15c8925e4579c847ddfca8e1e361ad)
+++ firmware/App/Controllers/DialInFlow.c	(.../DialInFlow.c)	(revision 59a959e90acca96b44158dcd65706e83069dc859)
@@ -108,7 +108,7 @@
 #define DIP_PWM_ZERO_OFFSET                  0.1F            ///< 10% PWM duty cycle = zero speed.
 
 /// Conversion from PWM duty cycle % to commanded pump motor speed.  PWM range is 10% to 90%.  RPM range is 0 to 3200.  3200 / 0.8 = 4000.
-#define DIP_PWM_TO_MOTOR_SPEED_RPM(pwm)      ( ((pwm) - DIP_PWM_ZERO_OFFSET) * 4000.0F )
+#define DIP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)  ( ( ((pwm) - DIP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1 : -1 ) )
 /// Conversion from pump motor speed to PWM duty cycle.
 #define DIP_MOTOR_SPEED_RPM_TO_PWM(rpm)      ( ( rpm / 4000.0F ) + 0.1 )
 // Macro converts PWM to estimate flow rate needed to achieve it.  TODO - this macro does not reverse the function that estimates PWM from target flow rate - and it should
@@ -1255,7 +1255,7 @@
 static void checkDialInPumpSpeeds( void )
 {
     F32 measMotorSpeed = getMeasuredDialInPumpSpeed();
-    F32 measMCMotorSpeed = fabs( getMeasuredDialInPumpMCSpeed() );
+    F32 measMCMotorSpeed = getMeasuredDialInPumpMCSpeed();
 
     // Check for pump running while commanded off
     if ( 0 == targetDialInFlowRate )
@@ -1286,12 +1286,13 @@
     // Checks that only occur when pump is running (and beyond ramp).
     if ( DIAL_IN_PUMP_CONTROL_TO_TARGET_STATE == dialInPumpState )
     {
-        F32 cmdMotorSpeed = DIP_PWM_TO_MOTOR_SPEED_RPM( dialInPumpPWMDutyCyclePctSet );
+        F32 cmdMotorSpeed = DIP_PWM_TO_MOTOR_SPEED_RPM( dialInPumpPWMDutyCyclePctSet, dialInPumpDirectionSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredDialInPumpRotorSpeed() );
-        F32 measMotorSpeedInRotorRPM = measMotorSpeed / DIP_GEAR_RATIO;
-        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / DIP_GEAR_RATIO );
+        F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
+        F32 measMotorSpeedDeltaPct = fabs( deltaRotorSpeed / measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target
         if ( ( deltaMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM ) || ( deltaMCMotorSpeed > DIP_MAX_MOTOR_SPEED_ERROR_RPM ) )
Index: firmware/App/Controllers/DialOutFlow.c
===================================================================
diff -u -rac6fc5b74e15c8925e4579c847ddfca8e1e361ad -r59a959e90acca96b44158dcd65706e83069dc859
--- firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision ac6fc5b74e15c8925e4579c847ddfca8e1e361ad)
+++ firmware/App/Controllers/DialOutFlow.c	(.../DialOutFlow.c)	(revision 59a959e90acca96b44158dcd65706e83069dc859)
@@ -105,7 +105,7 @@
 /// Macro converts a flow rate to an estimated PWM duty cycle %.
 #define DOP_PWM_FROM_ML_PER_MIN(rate)           ( ( ( rate ) * 0.0009F ) + 0.0972F + DOP_PWM_ZERO_OFFSET )
 /// Conversion from PWM duty cycle % to commanded pump motor speed.
-#define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm)         ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * 4000.0F )
+#define DOP_PWM_TO_MOTOR_SPEED_RPM(pwm,dir)     ( ( ( ( pwm ) - DOP_PWM_ZERO_OFFSET) * 4000.0F ) * ( dir == MOTOR_DIR_FORWARD ? 1 : -1 ) )
 /// Macro converts a PWM to an estimated flow rate.
 #define DOP_ML_PER_MIN_FROM_PWM(pwm)            ( ( ( pwm - DOP_PWM_ZERO_OFFSET ) - 0.0972F ) / 0.0009F  )
 
@@ -1016,7 +1016,7 @@
 static void checkDialOutPumpSpeeds( void )
 {
     F32 measMotorSpeed = getMeasuredDialOutPumpSpeed();
-    F32 measMCMotorSpeed = fabs( getMeasuredDialOutPumpMCSpeed() );
+    F32 measMCMotorSpeed = getMeasuredDialOutPumpMCSpeed();
 
     // Check for pump running while commanded off
     if ( dialOutPumpPWMDutyCyclePctSet <= DOP_PWM_ZERO_OFFSET )
@@ -1046,11 +1046,11 @@
 
     if ( DIAL_OUT_PUMP_CONTROL_TO_TARGET_STATE == dialOutPumpState )
     {
-        F32 cmdMotorSpeed = DOP_PWM_TO_MOTOR_SPEED_RPM( dialOutPumpPWMDutyCyclePctSet );
+        F32 cmdMotorSpeed = DOP_PWM_TO_MOTOR_SPEED_RPM( dialOutPumpPWMDutyCyclePctSet, dialOutPumpDirectionSet );
         F32 deltaMotorSpeed = fabs( measMotorSpeed - cmdMotorSpeed );
         F32 deltaMCMotorSpeed = fabs( measMCMotorSpeed - cmdMotorSpeed );
         F32 measRotorSpeed = fabs( getMeasuredDialOutPumpRotorSpeed() );
-        F32 measMotorSpeedInRotorRPM = measMotorSpeed / DOP_GEAR_RATIO;
+        F32 measMotorSpeedInRotorRPM = fabs( measMotorSpeed / DOP_GEAR_RATIO );
         F32 deltaRotorSpeed = fabs( measRotorSpeed - measMotorSpeedInRotorRPM );
 
         // Check measured motor speed vs. commanded motor speed while controlling to target