Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r952a79dda24f4fb84937c8cc4e4dc9ef18c040f6 -r22a8500467c47070dff55824e2ec567c007434ce
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 952a79dda24f4fb84937c8cc4e4dc9ef18c040f6)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 22a8500467c47070dff55824e2ec567c007434ce)
@@ -92,6 +92,9 @@
 
 #define SIZE_OF_ROLLING_AVG                 20                                      ///< Number of pump speed samples in rolling average.
 
+#define BP_TORQUE_PERIOD_RESOLUTION_US      10.0F                                   ///< Blood pump torque period resolution in microseconds (10 us).
+#define BP_1KHZ_TO_TORQUE_CONVERSION_MNM    10.0F                                   ///< Blood pump 1kHz to torque conversion in milli-newtonmeter
+
 /// Enumeration of blood pump controller states.
 typedef enum BloodPump_States
 {
@@ -131,6 +134,7 @@
 static OVERRIDE_F32_T measuredBloodFlowRate;                                        ///< Measured (calculated now) blood flow rate.
 static OVERRIDE_F32_T bloodPumpRotorSpeedRPM;                                       ///< Measured blood pump rotor speed.
 static OVERRIDE_F32_T bloodPumpSpeedRPM;                                            ///< Measured blood pump motor speed.
+static OVERRIDE_F32_T bloodPumpTorquemNm;                                           ///< Measured blood pump torque in mNm.
 
 static F32 rpmReadings[ SIZE_OF_ROLLING_AVG ];                                      ///< Holds RPM samples for a rolling average.
 static U32 rpmReadingsIdx;                                                          ///< Index for next sample in rolling average array.
@@ -167,6 +171,7 @@
 static F32  getBPFlowWearBTerm( void );
 static void resetBloodPumpRPMMovingAverage( void );
 static void filterBloodPumpRPMReadings( F32 rpm );
+static F32  calcBloodPumpTorque( void );
 
 static void publishBloodFlowData( void );
 
@@ -219,6 +224,10 @@
     bloodPumpRotorCounter.ovData = 0;
     bloodPumpRotorCounter.ovInitData = 0;
     bloodPumpRotorCounter.override = OVERRIDE_RESET;
+    bloodPumpTorquemNm.data = 0.0F;
+    bloodPumpTorquemNm.ovData = 0.0F;
+    bloodPumpTorquemNm.ovInitData = 0.0F;
+    bloodPumpTorquemNm.override = OVERRIDE_RESET;
     bpFlowAlphaYIntercept.data = BP_FLOW_ALPHA_Y_INTERCEPT;
     bpFlowAlphaYIntercept.ovData = BP_FLOW_ALPHA_Y_INTERCEPT;
     bpFlowAlphaYIntercept.ovInitData = BP_FLOW_ALPHA_Y_INTERCEPT;
@@ -501,6 +510,7 @@
     bloodPumpSpeedRPM.data = filteredBloodPumpSpeed;
     bloodPumpDirection = ( getMeasuredBloodPumpSpeed() < 0.0F ? MOTOR_DIR_REVERSE : MOTOR_DIR_FORWARD );
     measuredBloodFlowRate.data = calcBloodFlow();
+    bloodPumpTorquemNm.data = calcBloodPumpTorque();
 
     // Do not start enforcing checks until out of init/POST mode   TODO-add checks later
 //    if ( opMode != MODE_INIT )
@@ -881,6 +891,7 @@
             payload.h4PresFlow = 0;
         }
         payload.h6RotorHallState = ( hallSensor > 0 ? 0 : 1 );  // 1=home, 0=not home
+        payload.h4MeasTorquemNm  = getF32OverrideValue( &bloodPumpTorquemNm );
         //payload.bPstate = bloodPumpState;
         //payload.bpRotorStatus = (U32)getH6RotorStatus();
         broadcastData( MSG_ID_TD_BLOOD_PUMP_DATA, COMM_BUFFER_OUT_CAN_TD_BROADCAST, (U08*)&payload, sizeof( BLOOD_PUMP_STATUS_PAYLOAD_T ) );
@@ -928,6 +939,24 @@
 
 /*********************************************************************//**
  * @brief
+ * The calcBloodPumpTorque function calculates the blood pump's torque from
+ * the resolution count.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @return calculated blood pump torque (mN.m)
+ *************************************************************************/
+static F32 calcBloodPumpTorque( void )
+{
+    F32 torqueResolutionUS = (F32)getH4Period() * BP_TORQUE_PERIOD_RESOLUTION_US;
+    F32 frequencyHz        = 1.0F / ( (F32)US_PER_SECOND / torqueResolutionUS );
+    F32 frequencyKHz       = (F32)HZ_PER_KHZ / frequencyHz;
+    F32 torquemNm          = frequencyKHz * BP_1KHZ_TO_TORQUE_CONVERSION_MNM;
+
+    return torquemNm;
+}
+
+/*********************************************************************//**
+ * @brief
  * The checkBloodPumpRotor function checks the rotor for the blood
  * pump.  If pump is off or running very slowly, rotor speed will be set to zero.
  * @details \b Alarm: ALARM_ID_HD_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH if rotor speed