Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rae4a44c74291d5891ef2a7f45320158e73fecbbc -rbe1f6ba8f58abfe098865c85ebca070eb0dde6ce
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision ae4a44c74291d5891ef2a7f45320158e73fecbbc)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision be1f6ba8f58abfe098865c85ebca070eb0dde6ce)
@@ -92,6 +92,9 @@
 
 #define SIZE_OF_ROLLING_AVG                 20                                      ///< Number of pump speed samples in rolling average.
 
+#define BP_TORQUE_PERIOD_RESOLUTION_US      1.0F                                    ///< Blood pump torque period resolution in microseconds (1 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;
@@ -382,7 +391,7 @@
     bloodPumpSetSpeedRPM = 0;
     isBloodPumpOn = FALSE;
     bpControlTimerCounter = 0;
-    setPeristalticPumpSetSpeed( bloodPumpSetSpeedRPM );
+    setPeristalticPumpHardStop();
     resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, 0.0F, 0.0F );
 }
 
@@ -468,7 +477,7 @@
 {
     bloodPumpRotorCounter.data = 0;
 
-    if ( TRUE == getTestConfigStatus( TEST_CONFIG_USE_WORN_CARTRIDGE ) )
+//    if ( TRUE == getTestConfigStatus( TEST_CONFIG_USE_WORN_CARTRIDGE ) )
     {
         bloodPumpRotorCounter.data = BP_MAX_ROTOR_COUNT_FOR_WEAR;
     }
@@ -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 )
@@ -803,6 +813,21 @@
 
 /*********************************************************************//**
  * @brief
+ * The getMeasuredBloodPumpTorque function gets the measured blood pump
+ * torque in mN.m.
+ * @details \b Inputs: bloodPumpTorquemNm
+ * @details \b Outputs: none
+ * @return the current blood pump torque (in mN.m).
+ *************************************************************************/
+F32 getMeasuredBloodPumpTorque( void )
+{
+    F32 result = getF32OverrideValue( &bloodPumpTorquemNm );
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getBPFlowAlphaYIntercept function gets the blood pump flow alpha
  * intercept for blood flow estimation.
  * @details \b Inputs: bpFlowAlphaYIntercept
@@ -865,13 +890,13 @@
         TD_OP_MODE_T opMode = getCurrentOperationMode();
         U32 hallSensor = 0; // TODO gioGetBit( hetPORT1, BP_ROTOR_HALL_SENSOR_NHET_ID );
 
-        payload.h4SetFlowRate = targetBloodFlowRate;
-        payload.h4MeasFlow = getMeasuredBloodFlowRate();
-        payload.h4MeasRotorSpd = getMeasuredBloodPumpRotorSpeed();
-        payload.h4MeasPumpSpd = getMeasuredBloodPumpSpeed();
-        payload.h4MeasCurr = 0.0F; // TODO getMeasuredBloodPumpMCCurrent();
-        payload.h4SetRPM = bloodPumpSetSpeedRPM;
-        payload.h4RotorCount = getBloodPumpRotorCount();
+        payload.h4SetFlowRate   = targetBloodFlowRate;
+        payload.h4MeasFlow      = getMeasuredBloodFlowRate();
+        payload.h4MeasRotorSpd  = getMeasuredBloodPumpRotorSpeed();
+        payload.h4MeasPumpSpd   = getMeasuredBloodPumpSpeed();
+        payload.h4MeasTorquemNm = getMeasuredBloodPumpTorque();
+        payload.h4SetRPM        = bloodPumpSetSpeedRPM;
+        payload.h4RotorCount    = getBloodPumpRotorCount();
         if ( ( MODE_PRET == opMode ) || ( MODE_TREA == opMode ) || ( MODE_POST == opMode ) )
         {   // prescribed flow only available in treatment modes
             payload.h4PresFlow = getTreatmentParameterU32( TREATMENT_PARAM_BLOOD_FLOW );
@@ -928,6 +953,25 @@
 
 /*********************************************************************//**
  * @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)getH4TorqueCount() * BP_TORQUE_PERIOD_RESOLUTION_US;
+    F32 torqueResolutionS  = torqueResolutionUS / (F32)US_PER_SECOND;
+    F32 frequencyHz        = 1.0F / torqueResolutionS;
+    F32 frequencyKHz       = frequencyHz / (F32)HZ_PER_KHZ;
+    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
@@ -1319,6 +1363,27 @@
 
 /*********************************************************************//**
  * @brief
+ * The testHardStopBloodPump function hard stops the blood pump.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @param message BP home command message from Dialin.
+ * @return TRUE if command successful, FALSE if not
+ *************************************************************************/
+BOOL testHardStopBloodPump( MESSAGE_T *message )
+{
+    BOOL result = FALSE;
+
+    if ( 0 == message->hdr.payloadLen )
+    {
+        result = TRUE;
+        signalBloodPumpHardStop();
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The testBPFlowAlphaYInterceptOverride function overrides the Alpha Y
  * intercept of the blood flow estimation equation.
  * @details \b Inputs: none