Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -r52e1d4487a69a1ef0475321084527c0ba86c0892 -raa6d45143096dfab776ce2ed7c775cfe2dd6db18
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 52e1d4487a69a1ef0475321084527c0ba86c0892)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision aa6d45143096dfab776ce2ed7c775cfe2dd6db18)
@@ -38,15 +38,21 @@
 #define H4_HZ_TO_RPM(h)         ((h) * H4_HZ_TO_RPM_SCALAR)                     ///< Blood pump Hz to RPM conversion macro.
 #define H4_ZERO_SPEED_PERIOD    0xFFFF                                          ///< Blood pump period reported when pump is stopped.
 
+#define H4_ROT_GEAR_RATIO       64.0F                                           ///< Blood pump rotor to motor gear ratio.
+#define H4_ROT_PERIOD_SEC       0.001F                                          ///< Blood pump rotor feedback period in seconds.
+#define H4_ROT_PERIOD_TO_HZ(p)  ( 1.0F / (F32)((S32)(p) * H4_ROT_PERIOD_SEC) )  ///< Blood pump rotor period to Hz conversion macro.
+#define H4_ROT_PERIOD_TO_RPM(p) ((H4_ROT_PERIOD_TO_HZ(p)) * (F32)SEC_PER_MIN)   ///< Blood pump rotor period to RPM conversion macro.
+
 #define H4_HOME_SPEED_RPM       400                                             ///< Blood pump set speed for rotor homing operation.
 
 #define H6_STATUS_HOME_BIT_POS  0x1                                             ///< Bit position in H6 status register that indicates whether rotor is in home position.
 
 // ********** private data **********
 
 static S32 pumpSetSpeedRPM;                                                     ///< Current set speed for the pump (in RPM).  Negative indicates reverse direction.
-static OVERRIDE_F32_T pumpMeasSpeedRPM;                                         ///< Latest measured pump speed (in RPM).
-static BOOL pumpHomeRequested;                                                  ///< Flag indicates a pump home operation has been requested.
+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.
 
 // ********** private function prototypes **********
 
@@ -60,12 +66,10 @@
  *************************************************************************/
 void initPeristalticPumpDriver(void)
 {
-    pumpHomeRequested = FALSE;
+    pumpHomeInProgress = FALSE;
     pumpSetSpeedRPM = 0;
-    pumpMeasSpeedRPM.data = 0.0F;
-    pumpMeasSpeedRPM.ovData = 0.0F;
-    pumpMeasSpeedRPM.ovInitData = 0.0F;
-    pumpMeasSpeedRPM.override = OVERRIDE_RESET;
+    pumpMeasSpeedRPM = 0.0F;
+    pumpMeasRotSpeedRPM = 0.0F;
 
     setH4Direction( MOTOR_DIR_FORWARD );
     setH4SetSpeed( 0 );
@@ -78,37 +82,49 @@
  * peristaltic pump from the FPGA.
  * @note This function should be called periodically to maintain fresh
  * sensor readings for the pump.
- * @details \b Inputs: pumpSetSpeedRPM, pumpHomeRequested, FPGA
- * @details \b Outputs: pumpMeasSpeedRPM, pumpHomeRequested
+ * @details \b Inputs: pumpSetSpeedRPM, pumpHomeInProgress, FPGA
+ * @details \b Outputs: pumpMeasSpeedRPM, pumpHomeInProgress
  * @return none
  *************************************************************************/
 void readPeristalticPumps( void )
 {
     U16 period = getH4Period();
-    F32 Hz     = H4_PERIOD_TO_HZ(period);
-    F32 rpm    = H4_HZ_TO_RPM(Hz);
+    S16 rotPer = getH4RotorCount();
 
-    // update measured pump speed
+    // update measured pump motor speed
     if ( period != H4_ZERO_SPEED_PERIOD )
     {
+        F32 Hz  = H4_PERIOD_TO_HZ( period );
+        F32 rpm = H4_HZ_TO_RPM( Hz );
+
         if ( pumpSetSpeedRPM < 0 )  // TODO - can we get a real measured direction to base measured speed sign on?
         {
-            pumpMeasSpeedRPM.data = rpm * -1.0F;
+            pumpMeasSpeedRPM = rpm * -1.0F;
         }
         else
         {
-            pumpMeasSpeedRPM.data = rpm;
+            pumpMeasSpeedRPM = rpm;
         }
     }
     else
     {
-        pumpMeasSpeedRPM.data = 0.0F;
+        pumpMeasSpeedRPM = 0.0F;
     }
 
-    // monitor home command status if in progress, stop pump if rotor in home position
-    if ( ( TRUE == pumpHomeRequested ) && ( TRUE == isPeristalticPumpHome() ) )
+    // update measured pump rotor speed
+    if ( rotPer != 0 )
     {
-        pumpHomeRequested = FALSE;
+        pumpMeasRotSpeedRPM = H4_ROT_PERIOD_TO_RPM( rotPer );
+    }
+    else
+    {
+        pumpMeasRotSpeedRPM = 0.0F;
+    }
+
+    // monitor home command status if in progress, stop pump if rotor is in home position
+    if ( ( TRUE == pumpHomeInProgress ) && ( TRUE == isPeristalticPumpHome() ) )
+    {
+        pumpHomeInProgress = FALSE;
         setPeristalticPumpSetSpeed( 0 );
     }
 }
@@ -117,17 +133,18 @@
  * @brief
  * The cmdPeristalticPumpHome function initiates a pump home operation.
  * @details \b Inputs: none
- * @details \b Outputs: pumpHomeRequested, FPGA
+ * @details \b Outputs: pumpHomeInProgress, FPGA
  * @return TRUE if home operation is initiated, FALSE if not
  *************************************************************************/
 BOOL cmdPeristalticPumpHome( void )
 {
     BOOL result = FALSE;
 
-    if ( ( 0 == pumpSetSpeedRPM ) && ( pumpHomeRequested != TRUE ) )
+    // Pump must be stopped before homing
+    if ( ( 0 == pumpSetSpeedRPM ) && ( pumpHomeInProgress != TRUE ) )
     {
         result = TRUE;
-        pumpHomeRequested = TRUE;
+        pumpHomeInProgress = TRUE;
         setPeristalticPumpSetSpeed( H4_HOME_SPEED_RPM );
     }
 
@@ -213,9 +230,21 @@
  *************************************************************************/
 F32 getPeristalticPumpMeasSpeed( void )
 {
-    F32 result = getF32OverrideValue( &pumpMeasSpeedRPM );
+    return pumpMeasSpeedRPM;
+}
 
-    return result;
+/*********************************************************************//**
+ * @brief
+ * The getPeristalticPumpMeasRotorSpeed function gets the latest measured pump
+ * rotor speed in RPM.
+ * @note A negative speed indicates reverse direction.
+ * @details \b Inputs: pumpMeasRotSpeedRPM
+ * @details \b Outputs: none
+ * @return Latest measured pump rotor speed in RPM.
+ *************************************************************************/
+F32 getPeristalticPumpMeasRotorSpeed( void )
+{
+    return pumpMeasRotSpeedRPM;
 }
 
 /**@}*/