Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -r87d705fcf977af12b7b034735fa5867f2daea2b9 -rf3a26c402a2ec88f5ee7dbb8eb7127ab5b4692aa
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 87d705fcf977af12b7b034735fa5867f2daea2b9)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision f3a26c402a2ec88f5ee7dbb8eb7127ab5b4692aa)
@@ -27,13 +27,22 @@
 
 // ********** private definitions **********
 
-#define MAX_PUMP_SPEED_RPM                      5000U               ///< Maximum speed (in RPM) that a peristaltic pump can be set to.
+#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.
 
+#define H4_PERIOD_SEC           0.00001F                                        ///< Blood pump feedback period in seconds.
+#define H4_HZ_TO_RPM_SCALAR     10.0F                                           ///< Blood pump Hz to RPM scalar.
+#define H4_PERIOD_TO_HZ(p)      ( 1.0F / (F32)((S32)(p) * H4_PERIOD_SEC) )      ///< Blood pump period to Hz conversion macro.
+#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.
+
 // ********** private data **********
 
-static S32 pumpSetSpeedRPM;                                         ///< Current set speed for the pump (in RPM).  Negative indicates reverse direction.
-static OVERRIDE_S32_T pumpMeasSpeedRPM;                             ///< Latest measured pump speed (in RPM).
-static BOOL pumpHomeRequested;                                      ///< Flag indicates a pump home operation has been requested.
+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.
 
 // ********** private function prototypes **********
 
@@ -49,15 +58,15 @@
 {
     pumpHomeRequested = FALSE;
     pumpSetSpeedRPM = 0;
-    pumpMeasSpeedRPM.data = 0;
-    pumpMeasSpeedRPM.ovData = 0;
-    pumpMeasSpeedRPM.ovInitData = 0;
+    pumpMeasSpeedRPM.data = 0.0F;
+    pumpMeasSpeedRPM.ovData = 0.0F;
+    pumpMeasSpeedRPM.ovInitData = 0.0F;
     pumpMeasSpeedRPM.override = OVERRIDE_RESET;
 
-    setBPDirection( MOTOR_DIR_FORWARD );
-    resetBPHomeRequest();
-    setBPSetSpeed( 0 );
-    setBPEnabled( TRUE );
+    setH4Direction( MOTOR_DIR_FORWARD );
+    resetH4HomeRequest();
+    setH4SetSpeed( 0 );
+    setH4Enabled( TRUE );
 }
 
 /*********************************************************************//**
@@ -72,21 +81,32 @@
  *************************************************************************/
 void readPeristalticPumps( void )
 {
+    U16 period = getH4Period();
+    F32 Hz     = H4_PERIOD_TO_HZ(period);
+    F32 rpm    = H4_HZ_TO_RPM(Hz);
+
     // update measured pump speed
-    if ( pumpSetSpeedRPM < 0 )
+    if ( period != H4_ZERO_SPEED_PERIOD )
     {
-        pumpMeasSpeedRPM.data = (S32)( (S16)getBPSpeed() * -1 );
+        if ( pumpSetSpeedRPM < 0 )  // TODO - can we get a real measured direction to base measured speed sign on?
+        {
+            pumpMeasSpeedRPM.data = rpm * -1.0F;
+        }
+        else
+        {
+            pumpMeasSpeedRPM.data = rpm;
+        }
     }
     else
     {
-        pumpMeasSpeedRPM.data = (S32)( (S16)getBPSpeed() );
+        pumpMeasSpeedRPM.data = 0.0F;
     }
 
     // clear home command if previously requested
     if ( TRUE == pumpHomeRequested )
     {
         pumpHomeRequested = FALSE;
-        resetBPHomeRequest();
+        resetH4HomeRequest();
     }
 }
 
@@ -100,7 +120,7 @@
 void cmdPeristalticPumpHome( void )
 {
     pumpHomeRequested = TRUE;
-    homeBP();
+    homeH4();
 }
 
 /*********************************************************************//**
@@ -120,16 +140,17 @@
 
     if ( abs( rpm ) < MAX_PUMP_SPEED_RPM )
     {
-        U16 setRpm      = (U16)( abs( rpm ) );
+        F32 calRpm      = H4_PUMP_CMD_CAL( (F32)rpm );
+        U16 setRpm      = (U16)( abs( (S32)calRpm ) );
         MOTOR_DIR_T dir = MOTOR_DIR_FORWARD;
 
         if ( rpm < 0 )
         {
             dir = MOTOR_DIR_REVERSE;
         }
         pumpSetSpeedRPM = rpm;
-        setBPDirection( dir );
-        setBPSetSpeed( setRpm );
+        setH4Direction( dir );
+        setH4SetSpeed( setRpm );
         result = TRUE;
     }
     else
@@ -163,9 +184,9 @@
  * @details \b Outputs: none
  * @return Latest measured pump speed in RPM.
  *************************************************************************/
-S32 getPeristalticPumpMeasSpeed( void )
+F32 getPeristalticPumpMeasSpeed( void )
 {
-    S32 result = pumpMeasSpeedRPM.data;
+    F32 result = pumpMeasSpeedRPM.data;
 
     if ( OVERRIDE_KEY == pumpMeasSpeedRPM.override )
     {
@@ -175,41 +196,5 @@
     return result;
 }
 
-
-/*************************************************************************
- *                       TEST SUPPORT FUNCTIONS
- *************************************************************************/
-
-
-/*********************************************************************//**
- * @brief
- * The testSetPeristalticPumpSetSpeed function sets the pump to a given speed
- * (RPM).  A negative speed indicates reverse (CCW) direction.
- * @details \b Inputs: none
- * @details \b Outputs: pumpSetSpeedRPM
- * @param message set message from Dialin which includes the speed (RPM) to set
- * the peristaltic pump to.
- * @return TRUE if set request is successful, FALSE if not
- *************************************************************************/
-BOOL testSetPeristalticPumpSetSpeed( MESSAGE_T *message )
-{
-    BOOL result = FALSE;
-
-    // Verify tester has logged in with TD and override type is valid
-    if ( TRUE == isTestingActivated() )
-    {
-        // Verify payload length is valid
-        if ( sizeof( S32 ) == message->hdr.payloadLen )
-        {
-            S32 speed;
-
-            memcpy( &speed, message->payload, sizeof(S32) );
-            result = setPeristalticPumpSetSpeed( (S16)speed );
-        }
-    }
-
-    return result;
-}
-
 /**@}*/