Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -r4a65377085c075e15056b4157e17e7ed0ec15301 -rfe29b840bff79d853e49baf3a78b080e1cf428b6
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 4a65377085c075e15056b4157e17e7ed0ec15301)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision fe29b840bff79d853e49baf3a78b080e1cf428b6)
@@ -27,7 +27,6 @@
 
 // ********** private definitions **********
 
-#define MAX_PUMP_SPEED_RPM      3080U                                           ///< Maximum speed (in RPM) that a peristaltic pump can be set to.
 #define H4_PUMP_CMD_GAIN        0.9F                                            ///< Gain for blood pump commanded RPM that must be applied before sending to FPGA.
 #define H4_PUMP_CMD_OFFSET      80.0F                                           ///< Offset for blood pump commanded RPM that must be applied before sending to FPGA.
 #define H4_PUMP_CMD_CAL(r)      ((r) * H4_PUMP_CMD_GAIN + H4_PUMP_CMD_OFFSET )  ///< Macro to calibrate a commanded blood pump RPM before sending to FPGA.
@@ -51,6 +50,7 @@
 static F32 pumpMeasSpeedRPM;                                                    ///< Latest measured pump speed (in RPM).
 static F32 pumpMeasRotSpeedRPM;                                                 ///< Latest measured pump rotor speed (in RPM).
 static BOOL pumpHomeInProgress;                                                 ///< Flag indicates a pump home operation is in progress.
+static BOOL pumpHomeLowSignalSeen;                                              ///< Flag indicates a pump home operation has seen a "not home" signal.
 
 // ********** private function prototypes **********
 
@@ -64,10 +64,11 @@
  *************************************************************************/
 void initPeristalticPumpDriver(void)
 {
-    pumpHomeInProgress = FALSE;
-    pumpSetSpeedRPM = 0;
-    pumpMeasSpeedRPM = 0.0F;
-    pumpMeasRotSpeedRPM = 0.0F;
+    pumpHomeInProgress    = FALSE;
+    pumpHomeLowSignalSeen = FALSE;
+    pumpSetSpeedRPM       = 0;
+    pumpMeasSpeedRPM      = 0.0F;
+    pumpMeasRotSpeedRPM   = 0.0F;
 
     setH4Direction( MOTOR_DIR_FORWARD );
     setH4SetSpeed( 0 );
@@ -120,11 +121,15 @@
     }
 
     // monitor home command status if in progress, stop pump if rotor is in home position
-    if ( ( TRUE == pumpHomeInProgress ) && ( TRUE == isPeristalticPumpHome() ) )
+    if ( ( TRUE == pumpHomeInProgress ) && ( TRUE == isPeristalticPumpHome() ) && ( TRUE == pumpHomeLowSignalSeen ) )
     {
         setPeristalticPumpSetSpeed( 0 );
         pumpHomeInProgress = FALSE;
     }
+    else if ( isPeristalticPumpHome() != TRUE )
+    {
+        pumpHomeLowSignalSeen = TRUE;
+    }
 }
 
 /*********************************************************************//**
@@ -143,6 +148,7 @@
     {
         result = TRUE;
         pumpHomeInProgress = TRUE;
+        pumpHomeLowSignalSeen = ( isPeristalticPumpHome() != TRUE ? TRUE : FALSE );
         setPeristalticPumpSetSpeed( H4_HOME_SPEED_RPM );
     }