Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rf8e78fc4b4f0506d7f5274f64294724b4cf44603 -rbfbe825bef1c8544c37c20bbeaf61c0c27356096
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision f8e78fc4b4f0506d7f5274f64294724b4cf44603)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision bfbe825bef1c8544c37c20bbeaf61c0c27356096)
@@ -7,8 +7,8 @@
 *
 * @file    BloodFlow.c
 *
-* @author  (last)      Sean Nash
-* @date    (last)      01-May-2026
+* @author  (last)      Praneeth Bunne
+* @date    (last)      27-May-2026
 *
 * @author  (original)  Sean Nash
 * @date    (original)  24-Oct-2024
@@ -94,6 +94,9 @@
 #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
 
+#define BP_ZERO_SPEED_THRESHOLD_RPM         0.01F                                   ///< Blood pump threshold in rpm
+#define BP_ZERO_FLOW_THRESHOLD_ML_MIN       0.01F                                   ///< Blood pump zero flow threshold in ml.
+
 /// Enumeration of blood pump controller states.
 typedef enum BloodPump_States
 {
@@ -306,7 +309,13 @@
             {
                 resetBloodPumpRPMMovingAverage();
                 targetBloodFlowRate = dirFlowRate;
-                bloodPumpDirectionSet = dir;
+
+                // This is for Preserving the current direction while ramping down to a stop. A zero request does not represent a new direction.
+                if ( flowRate != 0 )
+                {
+                    bloodPumpDirectionSet = dir;
+                }
+
                 bloodPumpControlMode = mode;
                 bloodPumpRampToSpeedRPM = BP_RPM_FROM_RATE( flowRate );
 
@@ -513,8 +522,24 @@
 
     filterBloodPumpRPMReadings( getPeristalticPumpMeasSpeed() );
     bloodPumpSpeedRPM.data = filteredBloodPumpSpeed;
+
+    // Remove small floating point residuals when the pump is stopped.
+    if ( fabs( bloodPumpSpeedRPM.data ) < BP_ZERO_SPEED_THRESHOLD_RPM )
+    {
+        bloodPumpSpeedRPM.data = 0.0F;
+    }
     bloodPumpDirection = ( getMeasuredBloodPumpSpeed() < 0.0F ? MOTOR_DIR_REVERSE : MOTOR_DIR_FORWARD );
+
+    // Update calculated blood-flow rate.
     measuredBloodFlowRate.data = calcBloodFlow();
+
+    // Remove small floating-point residuals from calculated flow.
+    if ( fabs( measuredBloodFlowRate.data ) < BP_ZERO_FLOW_THRESHOLD_ML_MIN )
+    {
+        measuredBloodFlowRate.data = 0.0F;
+    }
+
+    // Update measured torque.
     bloodPumpTorquemNm.data = calcBloodPumpTorque();
 
     // Do not start enforcing checks until out of init/POST mode   TODO-add checks later
@@ -533,6 +558,7 @@
 //    }
 }
 
+
 /*********************************************************************//**
  * @brief
  * The execBloodFlowController function executes the blood flow controller.
@@ -617,7 +643,7 @@
     {
         isBloodPumpOn = FALSE;
         bloodPumpSetSpeedRPM = 0;
-        setPeristalticPumpSetSpeed( bloodPumpSetSpeedRPM );
+        setPeristalticPumpSetSpeed( BP_SIGNED_SET_SPEED );
     }
 
     return result;
@@ -626,8 +652,7 @@
 /*********************************************************************//**
  * @brief
  * The handleBloodPumpHomingState function handles the blood pump homing state
- * of the blood pump controller state machine.
- * @details \b Inputs: bpHomeStartTime
+ * 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
  *************************************************************************/
@@ -915,7 +940,7 @@
         payload.h4MeasRotorSpd  = getMeasuredBloodPumpRotorSpeed();
         payload.h4MeasPumpSpd   = getMeasuredBloodPumpSpeed();
         payload.h4MeasTorquemNm = getMeasuredBloodPumpTorque();
-        payload.h4SetRPM        = bloodPumpSetSpeedRPM;
+        payload.h4SetRPM        = BP_SIGNED_SET_SPEED;
         payload.h4RotorCount    = getBloodPumpRotorCount();
         if ( ( MODE_PRET == opMode ) || ( MODE_TREA == opMode ) || ( MODE_POST == opMode ) )
         {   // prescribed flow only available in treatment modes
@@ -1027,12 +1052,28 @@
  *************************************************************************/
 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;
+    S16 torqueCount = getH4TorqueCount();
+    F32 torquemNm;
 
+    if ( torqueCount <= 0 )
+    {
+        torquemNm = 0.0F;
+    }
+    else
+    {
+        F32 torqueResolutionUS = (F32)torqueCount * BP_TORQUE_PERIOD_RESOLUTION_US;
+        F32 torqueResolutionS  = torqueResolutionUS / (F32)US_PER_SECOND;
+        F32 frequencyHz        = 1.0F / torqueResolutionS;
+        F32 frequencyKHz       = frequencyHz / (F32)HZ_PER_KHZ;
+        torquemNm              = frequencyKHz * BP_1KHZ_TO_TORQUE_CONVERSION_MNM;
+
+        // This FPGA torque count provides torque magnitude only and applies the measured H4 speed direction to the reported torque.
+        if( getPeristalticPumpMeasSpeed() < 0.0F )
+        {
+            torquemNm *= -1.0F;
+        }
+    }
+
     return torquemNm;
 }