Index: leahi_dialin/common/msg_ids.py
===================================================================
diff -u -re5c5e1a8c10903e8caa793694b8f309125b2f6d8 -r1205ec50906c08cfbe681192d181c6f61c239f2c
--- leahi_dialin/common/msg_ids.py	(.../msg_ids.py)	(revision e5c5e1a8c10903e8caa793694b8f309125b2f6d8)
+++ leahi_dialin/common/msg_ids.py	(.../msg_ids.py)	(revision 1205ec50906c08cfbe681192d181c6f61c239f2c)
@@ -157,6 +157,7 @@
     MSG_ID_TD_EJECTOR_COMMAND = 0x8033
     MSG_ID_TD_EJECTOR_PUBLISH_INTERVAL_OVERRIDE_REQUEST = 0x8034
     MSG_ID_TD_SET_AIR_TRAP_CONTROL = 0x8035
+    MSG_ID_TD_HOME_BLOOD_PUMP_REQUEST = 0x8036
 
     MSG_ID_DD_TESTER_LOGIN_REQUEST = 0xA000
     MSG_ID_DD_SOFTWARE_RESET_REQUEST = 0xA001
Index: leahi_dialin/td/modules/blood_flow.py
===================================================================
diff -u -rf4759a283992acdf2e66198ce4ab0747a5aa34a1 -r1205ec50906c08cfbe681192d181c6f61c239f2c
--- leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision f4759a283992acdf2e66198ce4ab0747a5aa34a1)
+++ leahi_dialin/td/modules/blood_flow.py	(.../blood_flow.py)	(revision 1205ec50906c08cfbe681192d181c6f61c239f2c)
@@ -357,3 +357,28 @@
         else:
             self.logger.debug("Timeout!!!!")
             return False
+
+    def cmd_home_blood_pump(self) -> int:
+        """
+        Constructs and sends home blood pump command.
+        Constraints:
+            Must be logged into TD.
+
+        @return: 1 if successful, zero otherwise
+        """
+
+        message = DenaliMessage.build_message(channel_id=DenaliChannels.dialin_to_td_ch_id,
+                                              message_id=MsgIds.MSG_ID_TD_BLOOD_PUMP_ROTOR_COUNT_OVERRIDE_REQUEST.value)
+
+        self.logger.debug("homing blood pump")
+
+        # Send message
+        received_message = self.can_interface.send(message)
+
+        # If there is content...
+        if received_message is not None:
+            # response payload is OK or not OK
+            return True
+        else:
+            self.logger.debug("Timeout!!!!")
+            return False