Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r051326e2671e8d5b3e99eaa109ea549e94a929f3 -r73c034866d138a0b07f27b76530676dd4fa45eeb
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 051326e2671e8d5b3e99eaa109ea549e94a929f3)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 73c034866d138a0b07f27b76530676dd4fa45eeb)
@@ -55,8 +55,8 @@
 
 #define BP_MAX_ROTOR_SPEED_RPM              100.0F                                  ///< Maximum rotor speed allowed for blood pump.
 
-#define BP_MAX_FLOW_RATE                   1320.0F                                  ///< Maximum measured BP flow rate allowed.
-#define BP_MIN_FLOW_RATE                  -1320.0F                                  ///< Minimum measured BP flow rate allowed.
+#define BP_MAX_FLOW_RATE                   1320.0F                                  ///< Maximum measured BP flow rate alarm threshold.
+#define BP_MIN_FLOW_RATE                  -1320.0F                                  ///< Minimum measured BP flow rate alarm threshold.
 #define BP_MAX_MOTOR_SPEED_WHILE_OFF_RPM    100.0F                                  ///< Maximum motor speed (RPM) while motor is commanded off.
 #define BP_MAX_ROTOR_VS_MOTOR_DIFF_RPM      5.0F                                    ///< Maximum difference in speed between motor and rotor (in rotor RPM).
 #define BP_MAX_MOTOR_SPEED_ERROR_RPM        300.0F                                  ///< Maximum difference in speed between measured and commanded RPM.
@@ -161,8 +161,8 @@
 /*********************************************************************//**
  * @brief
  * The initBloodFlow function initializes the BloodFlow unit.
- * @details Inputs: none
- * @details Outputs: Blood flow unit initialized
+ * @details \b Inputs: none
+ * @details \b Outputs: Blood flow unit initialized
  * @return none
  *************************************************************************/
 void initBloodFlow( void )
@@ -234,8 +234,9 @@
  * @brief
  * The setBloodPumpTargetFlowRate function sets a new target flow rate and
  * pump direction.
- * @details Inputs: isBloodPumpOn, bloodPumpDirectionSet
- * @details Outputs: targetBloodFlowRate, bloodPumpdirection, bloodPumpPWMDutyCyclePct
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if requested flow rate is too high.
+ * @details \b Inputs: isBloodPumpOn, bloodPumpDirectionSet
+ * @details \b Outputs: targetBloodFlowRate, bloodPumpdirection, bloodPumpPWMDutyCyclePct
  * @param flowRate new target blood flow rate
  * @param dir new blood flow direction
  * @param mode new control mode
@@ -305,8 +306,8 @@
  * @brief
  * The setBloodPumpTargetRPM function sets a new target pump speed and pump
  * direction.  Pump is set to open loop control.
- * @details Inputs: none
- * @details Outputs: none
+ * @details \b Inputs: none
+ * @details \b Outputs: none
  * @param rpm new target blood pump speed (in RPM)
  * @param dir new blood flow direction
  * @return TRUE if new flow rate & direction are set, FALSE if not
@@ -325,8 +326,8 @@
  * The calcBloodFlow function calculates an estimated blood flow rate from
  * blood pump speed, arterial pressure and tubing wear (measured from count
  * of rotor revolutions since cartridge install).
- * @details Inputs: bloodPumpRotorCounter, arterial pressure
- * @details Outputs: none
+ * @details \b Inputs: bloodPumpRotorCounter, arterial pressure
+ * @details \b Outputs: none
  * @return calculated blood flow rate (mL/min)
  *************************************************************************/
 static F32 calcBloodFlow( void )
@@ -346,8 +347,8 @@
 /*********************************************************************//**
  * @brief
  * The signalBloodPumpHardStop function stops the blood pump immediately.
- * @details Inputs: none
- * @details Outputs: Blood pump stopped, set point reset, state changed to off
+ * @details \b Inputs: none
+ * @details \b Outputs: Blood pump stopped, set point reset, state changed to off
  * @return none
  *************************************************************************/
 void signalBloodPumpHardStop( void )
@@ -365,8 +366,8 @@
  * The signalBloodPumpRotorHallSensor function handles the blood pump rotor
  * hall sensor detection.  Calculates rotor speed (in RPM).  Stops pump if
  * there is a pending request to home the pump.
- * @details Inputs: bpRotorRevStartTime, bpStopAtHomePosition
- * @details Outputs: bpRotorRevStartTime, bloodPumpRotorSpeedRPM, bloodPumpRotorCounter
+ * @details \b Inputs: bpRotorRevStartTime, bpStopAtHomePosition
+ * @details \b Outputs: bpRotorRevStartTime, bloodPumpRotorSpeedRPM, bloodPumpRotorCounter
  * @return none
  *************************************************************************/
 void signalBloodPumpRotorHallSensor( void )
@@ -403,8 +404,8 @@
 /*********************************************************************//**
  * @brief
  * The homeBloodPump function initiates a blood pump home operation.
- * @details Inputs: bloodPumpState
- * @details Outputs: bpStopAtHomePosition, bpHomeStartTime, blood pump started (slow)
+ * @details \b Inputs: bloodPumpState
+ * @details \b Outputs: bpStopAtHomePosition, bpHomeStartTime, blood pump started (slow)
  * @return none
  *************************************************************************/
 BOOL homeBloodPump( void )
@@ -425,8 +426,8 @@
  * @brief
  * The getBloodPumpRotorCount function returns the current count for the
  * blood pump rotor revolution counter.
- * @details Inputs: bloodPumpRotorCounter
- * @details Outputs: none
+ * @details \b Inputs: bloodPumpRotorCounter
+ * @details \b Outputs: none
  * @return bloodPumpRotorCounter
  *************************************************************************/
 static U32 getBloodPumpRotorCount( void )
@@ -445,8 +446,8 @@
  * @brief
  * The isBloodPumpRunning function returns whether the blood pump is currently
  * running or not.
- * @details Inputs: isBloodPumpOn
- * @details Outputs: none
+ * @details \b Inputs: isBloodPumpOn
+ * @details \b Outputs: none
  * @return isBloodPumpOn
  *************************************************************************/
 BOOL isBloodPumpRunning( void )
@@ -458,8 +459,8 @@
  * @brief
  * The isBloodPumpRampComplete function returns whether the blood pump has
  * completed its ramp up and entered control state (closed or open loop).
- * @details Inputs: bloodPumpState
- * @details Outputs: none
+ * @details \b Inputs: bloodPumpState
+ * @details \b Outputs: none
  * @return TRUE if pump is in control state, FALSE if not
  *************************************************************************/
 BOOL isBloodPumpRampComplete( void )
@@ -474,8 +475,8 @@
  * The resetBloodPumpRotorCount function resets the blood pump rotor counter
  * that is a proxy for cartridge wear.  Call this function after a new cartridge
  * has been installed.
- * @details Inputs: none
- * @details Outputs: bloodPumpRotorCounter
+ * @details \b Inputs: none
+ * @details \b Outputs: bloodPumpRotorCounter
  * @return none
  *************************************************************************/
 void resetBloodPumpRotorCount( void )
@@ -491,8 +492,8 @@
 /*********************************************************************//**
  * @brief
  * The execBloodFlowMonitor function executes the blood flow monitor.
- * @details Inputs: none
- * @details Outputs: measuredBloodFlowRate, adcBloodPumpMCSpeedRPM,
+ * @details \b Inputs: none
+ * @details \b Outputs: measuredBloodFlowRate, adcBloodPumpMCSpeedRPM,
  * adcBloodPumpMCCurrentmA
  * @return none
  *************************************************************************/
@@ -533,8 +534,8 @@
 /*********************************************************************//**
  * @brief
  * The execBloodFlowController function executes the blood flow controller.
- * @details Inputs: bloodPumpState
- * @details Outputs: bloodPumpState
+ * @details \b Inputs: bloodPumpState
+ * @details \b Outputs: bloodPumpState
  * @return none
  *************************************************************************/
 void execBloodFlowController( void )
@@ -571,8 +572,8 @@
  * @brief
  * The handleBloodPumpOffState function handles the blood pump off state
  * of the blood pump controller state machine.
- * @details Inputs: targetBloodFlowRate, bloodPumpDirection
- * @details Outputs: bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet, isBloodPumpOn
+ * @details \b Inputs: targetBloodFlowRate, bloodPumpDirection
+ * @details \b Outputs: bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet, isBloodPumpOn
  * @return next state
  *************************************************************************/
 static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void )
@@ -602,8 +603,8 @@
  * @brief
  * The handleBloodPumpRampingUpState function handles the ramp up state
  * of the blood pump controller state machine.
- * @details Inputs: bloodPumpRampToSpeedRPM, bloodPumpSetSpeedRPM
- * @details Outputs: bloodPumpSetSpeedRPM
+ * @details \b Inputs: bloodPumpRampToSpeedRPM, bloodPumpSetSpeedRPM
+ * @details \b Outputs: bloodPumpSetSpeedRPM
  * @return next state
  *************************************************************************/
 static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void )
@@ -643,8 +644,8 @@
  * @brief
  * The handleBloodPumpRampingDownState function handles the ramp down state
  * of the blood pump controller state machine.
- * @details Inputs: bloodPumpRampToSpeedRPM, bloodPumpSetSpeedRPM
- * @details Outputs: bloodPumpSetSpeedRPM
+ * @details \b Inputs: bloodPumpRampToSpeedRPM, bloodPumpSetSpeedRPM
+ * @details \b Outputs: bloodPumpSetSpeedRPM
  * @return next state
  *************************************************************************/
 static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void )
@@ -682,8 +683,8 @@
  * @brief
  * The handleBloodPumpControlToTargetState function handles the "control to
  * target" state of the blood pump controller state machine.
- * @details Inputs: bloodPumpControlMode
- * @details Outputs: bloodPumpState
+ * @details \b Inputs: bloodPumpControlMode
+ * @details \b Outputs: bloodPumpState
  * @return next state
  *************************************************************************/
 static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void )
@@ -713,8 +714,8 @@
 /*********************************************************************//**
  * @brief
  * The getTargetBloodFlowRate function gets the target blood flow rate.
- * @details Inputs: targetBloodFlowRate
- * @details Outputs: none
+ * @details \b Inputs: targetBloodFlowRate
+ * @details \b Outputs: none
  * @return the current target blood flow rate (in mL/min).
  *************************************************************************/
 S32 getTargetBloodFlowRate( void )
@@ -726,8 +727,8 @@
  * @brief
  * The getMeasuredBloodFlowRate function gets the measured blood flow
  * rate.
- * @details Inputs: measuredBloodFlowRate
- * @details Outputs: none
+ * @details \b Inputs: measuredBloodFlowRate
+ * @details \b Outputs: none
  * @return the current blood flow rate (in mL/min).
  *************************************************************************/
 F32 getMeasuredBloodFlowRate( void )
@@ -746,8 +747,8 @@
  * @brief
  * The getMeasuredBloodPumpRotorSpeed function gets the measured blood flow
  * rate.
- * @details Inputs: bloodPumpRotorSpeedRPM
- * @details Outputs: none
+ * @details \b Inputs: bloodPumpRotorSpeedRPM
+ * @details \b Outputs: none
  * @return the current blood flow rate (in mL/min).
  *************************************************************************/
 F32 getMeasuredBloodPumpRotorSpeed( void )
@@ -766,8 +767,8 @@
  * @brief
  * The getMeasuredBloodPumpSpeed function gets the measured blood flow
  * rate.
- * @details Inputs: bloodPumpSpeedRPM
- * @details Outputs: none
+ * @details \b Inputs: bloodPumpSpeedRPM
+ * @details \b Outputs: none
  * @return the current blood flow rate (in mL/min).
  *************************************************************************/
 F32 getMeasuredBloodPumpSpeed( void )
@@ -786,9 +787,10 @@
  * @brief
  * The publishBloodFlowData function publishes blood flow data at the set
  * interval.
- * @details Inputs: target flow rate, measured flow rate, measured MC speed,
+ * @details \b Message \b Sent: MSG_ID_TD_BLOOD_PUMP_DATA at set interval.
+ * @details \b Inputs: target flow rate, measured flow rate, measured MC speed,
  * measured MC current
- * @details Outputs: Blood flow data is published to CAN bus.
+ * @details \b Outputs: Blood flow data is published to CAN bus.
  * @return none
  *************************************************************************/
 static void publishBloodFlowData( void )
@@ -825,8 +827,8 @@
  * @brief
  * The resetBloodPumpRPMMovingAverage function re-initializes the pump speed
  * moving average sample buffer.
- * @details Inputs: none
- * @details Outputs: rpmReadingsTotal, rpmReadingsIdx, rpmReadingsCount all set to zero.
+ * @details \b Inputs: none
+ * @details \b Outputs: rpmReadingsTotal, rpmReadingsIdx, rpmReadingsCount all set to zero.
  * @return none
  *************************************************************************/
 static void resetBloodPumpRPMMovingAverage( void )
@@ -841,8 +843,8 @@
  * @brief
  * The filterBloodPumpRPMReadings function adds a new pump speed sample to
  * the filter.
- * @details Inputs: none
- * @details Outputs: rpmReadings[], rpmReadingsIdx, rpmReadingsCount, rpmReadingsTotal
+ * @details \b Inputs: none
+ * @details \b Outputs: rpmReadings[], rpmReadingsIdx, rpmReadingsCount, rpmReadingsTotal
  * @param rpm newest blood pump speed (in RPM) sample to add to filter
  * @return none
  *************************************************************************/
@@ -864,9 +866,11 @@
  * The checkBloodPumpRotor function checks the rotor for the blood
  * pump.  If homing, this function will stop when hall sensor detected.  If pump
  * is off or running very slowly, rotor speed will be set to zero.
- * @details Inputs: bpStopAtHomePosition, bpHomeStartTime, bpRotorRevStartTime,
+ * @details \b Alarm: ALARM_ID_HD_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH if rotor speed
+ * is too high.
+ * @details \b Inputs: bpStopAtHomePosition, bpHomeStartTime, bpRotorRevStartTime,
  * bpRotorSpeedTooFastPulseCount
- * @details Outputs: pump may be stopped if homing, bloodPumpRotorSpeedRPM may be
+ * @details \b Outputs: pump may be stopped if homing, bloodPumpRotorSpeedRPM may be
  * set to zero if too long since last pulse.
  * @return none
  *************************************************************************/
@@ -898,8 +902,9 @@
  * @brief
  * The checkBloodPumpDirection function checks the set direction vs.
  * the direction implied by the sign of the measured MC speed.
- * @details Inputs:
- * @details Outputs:
+ * @details \b Alarm:
+ * @details \b Inputs:
+ * @details \b Outputs:
  * @return none
  *************************************************************************/
 static void checkBloodPumpDirection( void )
@@ -920,7 +925,7 @@
 //            if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_PUMP_DIRECTION_CHECKS ) != SW_CONFIG_ENABLE_VALUE )
 //#endif
 //            {
-//                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_PUMP_DIRECTION_STATUS_ERROR, (U32)HD_PUMP_BLOOD_PUMP )
+//                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_TD_PUMP_DIRECTION_STATUS_ERROR, (U32)HD_PUMP_BLOOD_PUMP )
 //            }
 //        }
 //        lastBloodPumpDirectionCount = dirErrorCnt;
@@ -961,8 +966,9 @@
  * 2. while pump is controlling, measured motor speed should be within allowed range of commanded speed.
  * 3. measured motor speed should be within allowed range of measured rotor speed.
  * All 3 checks have a persistence time that must be met before an alarm is triggered.
- * @details Inputs: bloodPumpState, targetBloodFlowRate, bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet
- * @details Outputs: errorBloodRotorSpeedPersistTimerCtr, alarm(s) may be triggered
+ * @details \b Alarm:
+ * @details \b Inputs: bloodPumpState, targetBloodFlowRate, bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet
+ * @details \b Outputs: errorBloodRotorSpeedPersistTimerCtr, alarm(s) may be triggered
  * @return none
  *************************************************************************/
 static void checkBloodPumpSpeeds( void )
@@ -1036,8 +1042,8 @@
  * @brief
  * The execBloodFlowTest function executes the state machine for the
  * BloodFlow self-test.
- * @details Inputs: bloodPumpCalRecord
- * @details Outputs: none
+ * @details \b Inputs: bloodPumpCalRecord
+ * @details \b Outputs: none
  * @return the current state of the BloodFlow self-test.
  *************************************************************************/
 SELF_TEST_STATUS_T execBloodFlowTest( void )
@@ -1069,8 +1075,8 @@
  * @brief
  * The testBloodFlowDataPublishIntervalOverride function overrides the
  * blood flow data publish interval.
- * @details Inputs: none
- * @details Outputs: bloodFlowDataPublishInterval
+ * @details \b Inputs: none
+ * @details \b Outputs: bloodFlowDataPublishInterval
  * @param message Override message from Dialin which includes the interval
  * (in ms) to override the blood pump data broadcast interval to.
  * @return TRUE if override successful, FALSE if not
@@ -1086,8 +1092,8 @@
  * @brief
  * The testSetTargetBloodFlowRateOverride function commands the blood pump to
  * run at a given flow rate (mL/min) and in a given control mode.
- * @details Inputs: none
- * @details Outputs: Blood pump commanded to given rate w/ given control mode.
+ * @details \b Inputs: none
+ * @details \b Outputs: Blood pump commanded to given rate w/ given control mode.
  * @param message set message from Dialin which includes the flow rate (mL/min)
  * and control mode to command the blood pump to.
  * @return TRUE if set command successful, FALSE if not
@@ -1131,8 +1137,8 @@
  * @brief
  * The testSetBloodPumpSpeedOverride function sets the blood pump to run
  * open loop at a given speed (in RPM).
- * @details Inputs: none
- * @details Outputs: Blood pump commanded to given rate w/ given control mode.
+ * @details \b Inputs: none
+ * @details \b Outputs: Blood pump commanded to given rate w/ given control mode.
  * @param message set message from Dialin which includes the pump speed (RPM)
  * to command the blood pump to.
  * @return TRUE if override successful, FALSE if not
@@ -1170,8 +1176,8 @@
  * @brief
  * The testMeasuredBloodFlowRateOverride function overrides the measured
  * blood flow rate.
- * @details Inputs: none
- * @details Outputs: measuredBloodFlowRate
+ * @details \b Inputs: none
+ * @details \b Outputs: measuredBloodFlowRate
  * @param message Override message from Dialin which includes the flow rate
  * (in mL/min) to override the measured flow rate to.
  * @return TRUE if override successful, FALSE if not
@@ -1187,8 +1193,8 @@
  * @brief
  * The testMeasuredBloodPumpRotorSpeedOverride function overrides the measured
  * blood pump rotor speed.
- * @details Inputs: none
- * @details Outputs: bloodPumpRotorSpeedRPM
+ * @details \b Inputs: none
+ * @details \b Outputs: bloodPumpRotorSpeedRPM
  * @param message Override message from Dialin which includes the pump rotor
  * speed (in RPM) to override the measured rotor speed to.
  * @return TRUE if override successful, FALSE if not
@@ -1204,8 +1210,8 @@
  * @brief
  * The testMeasuredBloodPumpSpeedOverride function overrides the measured
  * blood pump motor speed.
- * @details Inputs: none
- * @details Outputs: bloodPumpSpeedRPM
+ * @details \b Inputs: none
+ * @details \b Outputs: bloodPumpSpeedRPM
  * @param message Override message from Dialin which includes the pump motor
  * speed (in RPM) to override the measured pump speed to.
  * @return TRUE if override successful, FALSE if not
@@ -1221,8 +1227,8 @@
  * @brief
  * The testBloodPumpRotorCountOverride function overrides the blood pump
  * rotor counter value.
- * @details Inputs: none
- * @details Outputs: bloodPumpRotorCounter
+ * @details \b Inputs: none
+ * @details \b Outputs: bloodPumpRotorCounter
  * @param message Override message from Dialin which includes the count
  * to override the blood pump rotor count to.
  * @return TRUE if override successful, FALSE if not