Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rb88a8fd2c5fca8f055d6df1437635692388fcb0d -rae3240cfb3237c01472168fee0bfc6beb34e0ed9
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision b88a8fd2c5fca8f055d6df1437635692388fcb0d)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision ae3240cfb3237c01472168fee0bfc6beb34e0ed9)
@@ -92,6 +92,7 @@
 typedef enum BloodPump_States
 {
     BLOOD_PUMP_OFF_STATE = 0,                                                       ///< Blood pump off state
+    BLOOD_PUMP_HOMING_STATE,                                                        ///< Blood pump homing state
     BLOOD_PUMP_RAMPING_UP_STATE,                                                    ///< Blood pump ramping up state
     BLOOD_PUMP_RAMPING_DN_STATE,                                                    ///< Blood pump ramping down state
     BLOOD_PUMP_CONTROL_TO_TARGET_STATE,                                             ///< Blood pump controlling to target state
@@ -136,14 +137,15 @@
 static U32 bpControlTimerCounter;                                                   ///< Determines when to perform control on blood flow.
 
 static OVERRIDE_U32_T bloodPumpRotorCounter;                                        ///< Running counter for blood pump rotor revolutions.
-static BOOL bpStopAtHomePosition;                                                   ///< Stop blood pump at next home position.
+static BOOL bpHomeRequested;                                                        ///< Flag indicating a home operation has been requested.
 static U32 bpHomeStartTime;                                                         ///< When did blood pump home command begin? (in ms).
 
 //static TD_PUMPS_CAL_RECORD_T bloodPumpCalRecord;                                    ///< Blood pump calibration record.
 
 // ********** private function prototypes **********
 
 static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void );
+static BLOOD_PUMP_STATE_T handleBloodPumpHomingState( void );
 static BLOOD_PUMP_STATE_T handleBloodPumpRampingUpState( void );
 static BLOOD_PUMP_STATE_T handleBloodPumpRampingDownState( void );
 static BLOOD_PUMP_STATE_T handleBloodPumpControlToTargetState( void );
@@ -183,8 +185,8 @@
     bloodPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;
     bpControlTimerCounter = 0;
     bloodFlowDataPublicationTimerCounter = DATA_PUBLISH_COUNTER_START_COUNT;
+    bpHomeRequested = FALSE;
     bpHomeStartTime = 0;
-    bpStopAtHomePosition = FALSE;
 
     // Initialize overrides
     bloodFlowDataPublishInterval.data = BLOOD_FLOW_DATA_PUB_INTERVAL;
@@ -366,21 +368,21 @@
  * @brief
  * The homeBloodPump function initiates a blood pump home operation.
  * @details \b Inputs: bloodPumpState
- * @details \b Outputs: bpStopAtHomePosition, bpHomeStartTime, blood pump started (slow)
- * @return none
+ * @details \b Outputs: bpHomeRequested
+ * @return TRUE if home request accepted, FALSE if not
  *************************************************************************/
 BOOL homeBloodPump( void )
 {
-    BOOL result = FALSE;
-
     if ( BLOOD_PUMP_OFF_STATE == bloodPumpState )
     {
-        bpStopAtHomePosition = TRUE;
-        bpHomeStartTime = getMSTimerCount();
-        result = setBloodPumpTargetRPM( BP_HOME_SPEED, MOTOR_DIR_FORWARD );
+        bpHomeRequested = TRUE;
     }
+    else
+    {
+        bpHomeRequested = FALSE;
+    }
 
-    return result;
+    return bpHomeRequested;
 }
 
 /*********************************************************************//**
@@ -511,6 +513,10 @@
             bloodPumpState = handleBloodPumpOffState();
             break;
 
+        case BLOOD_PUMP_HOMING_STATE:
+            bloodPumpState = handleBloodPumpHomingState();
+            break;
+
         case BLOOD_PUMP_RAMPING_UP_STATE:
             bloodPumpState = handleBloodPumpRampingUpState();
             break;
@@ -536,8 +542,9 @@
  * @brief
  * The handleBloodPumpOffState function handles the blood pump off state
  * of the blood pump controller state machine.
- * @details \b Inputs: targetBloodFlowRate, bloodPumpDirection
- * @details \b Outputs: bloodPumpPWMDutyCyclePctSet, bloodPumpDirectionSet, isBloodPumpOn
+ * @details \b Inputs: targetBloodFlowRate, bpHomeRequested
+ * @details \b Outputs: bloodPumpSetSpeedRPM, isBloodPumpOn, bpHomeRequested,
+ * bpHomeStartTime
  * @return next state
  *************************************************************************/
 static BLOOD_PUMP_STATE_T handleBloodPumpOffState( void )
@@ -553,6 +560,21 @@
         isBloodPumpOn = TRUE;
         result = BLOOD_PUMP_RAMPING_UP_STATE;
     }
+    // If home requested, initiate homing operation
+    else if ( TRUE == bpHomeRequested )
+    {
+        BOOL homeOK = FALSE;
+
+        bpHomeRequested = FALSE;
+        bpHomeStartTime = getMSTimerCount();
+        homeOK = cmdPeristalticPumpHome();
+        if ( TRUE == homeOK )
+        {
+            isBloodPumpOn = TRUE;
+            bloodPumpSetSpeedRPM = H4_HOME_SPEED_RPM;
+            result = BLOOD_PUMP_HOMING_STATE;
+        }
+    }
     else
     {
         isBloodPumpOn = FALSE;
@@ -565,6 +587,33 @@
 
 /*********************************************************************//**
  * @brief
+ * The handleBloodPumpHomingState function handles the blood pump homing state
+ * of the blood pump controller state machine.
+ * @details \b Inputs: bpHomeStartTime
+ * @details \b Outputs: Blood pump stopped if complete or timed out
+ * @return next state
+ *************************************************************************/
+static BLOOD_PUMP_STATE_T handleBloodPumpHomingState( void )
+{
+    BLOOD_PUMP_STATE_T result = BLOOD_PUMP_HOMING_STATE;
+
+    if ( isPumpHomeInProgress() != TRUE )
+    {
+        signalBloodPumpHardStop();
+        result = BLOOD_PUMP_OFF_STATE;
+    }
+    else if ( TRUE == didTimeout( bpHomeStartTime, BP_HOME_TIMEOUT_MS ) )
+    {
+        cancelPeristalticPumpHome();
+        signalBloodPumpHardStop();
+        result = BLOOD_PUMP_OFF_STATE;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The handleBloodPumpRampingUpState function handles the ramp up state
  * of the blood pump controller state machine.
  * @details \b Inputs: bloodPumpRampToSpeedRPM, bloodPumpSetSpeedRPM
@@ -812,8 +861,7 @@
 /*********************************************************************//**
  * @brief
  * 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.
+ * 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
  * is too high.
  * @details \b Inputs: bpStopAtHomePosition, bpHomeStartTime, bpRotorRevStartTime,
@@ -826,13 +874,6 @@
 {
 //    F32 rotorSpeed = getMeasuredBloodPumpRotorSpeed();
 //
-//    // If homing, check timeout
-//    if ( ( TRUE == bpStopAtHomePosition ) && ( TRUE == didTimeout( bpHomeStartTime, BP_HOME_TIMEOUT_MS ) ) )
-//    {
-//        signalBloodPumpHardStop();
-//        bpStopAtHomePosition = FALSE;
-//    }
-//
 //    // Ensure rotor speed below maximum
 //    if ( TRUE == isPersistentAlarmTriggered( ALARM_ID_HD_BLOOD_PUMP_ROTOR_SPEED_TOO_HIGH, bpRotorSpeedTooFastPulseCount >= BP_MIN_ROTOR_PULSES_FOR_MAX_SPEED ) )
 //    {