Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -raa6d45143096dfab776ce2ed7c775cfe2dd6db18 -r395522dffef1348e176564925656012f529c1910
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision aa6d45143096dfab776ce2ed7c775cfe2dd6db18)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 395522dffef1348e176564925656012f529c1910)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2024-2024 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2024-2026 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
 * @file    PeristalticPump.c
 *
-* @author  (last)      Sean
-* @date    (last)      03-Oct-2024
+* @author  (last)      Dara Navaei
+* @date    (last)      25-Sep-2025
 *
-* @author  (original)  Sean
-* @date    (original)  03-Oct-2024
+* @author  (original)  Sean Nash
+* @date    (original)  24-Oct-2024
 *
 ***************************************************************************/
 
@@ -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.
@@ -43,8 +42,6 @@
 #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 **********
@@ -53,6 +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 **********
 
@@ -66,10 +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 );
@@ -122,11 +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 ) )
     {
-        pumpHomeInProgress = FALSE;
         setPeristalticPumpSetSpeed( 0 );
+        pumpHomeInProgress = FALSE;
     }
+    else if ( isPeristalticPumpHome() != TRUE )
+    {
+        pumpHomeLowSignalSeen = TRUE;
+    }
 }
 
 /*********************************************************************//**
@@ -145,6 +148,7 @@
     {
         result = TRUE;
         pumpHomeInProgress = TRUE;
+        pumpHomeLowSignalSeen = ( isPeristalticPumpHome() != TRUE ? TRUE : FALSE );
         setPeristalticPumpSetSpeed( H4_HOME_SPEED_RPM );
     }
 
@@ -153,6 +157,18 @@
 
 /*********************************************************************//**
  * @brief
+ * The cancelPeristalticPumpHome function cancels a pump home operation.
+ * @details \b Inputs: none
+ * @details \b Outputs: pumpHomeInProgress
+ * @return none
+ *************************************************************************/
+void cancelPeristalticPumpHome( void )
+{
+    pumpHomeInProgress = FALSE;
+}
+
+/*********************************************************************//**
+ * @brief
  * The isPeristalticPumpHome function determines whether the rotor is currently
  * in the home position.
  * @details \b Inputs: FPGA
@@ -161,14 +177,27 @@
  *************************************************************************/
 BOOL isPeristalticPumpHome( void )
 {
-    U08  status = getH6Status() & H6_STATUS_HOME_BIT_POS;
+    U08  status = getH6RotorStatus() & H6_STATUS_HOME_BIT_POS;
     BOOL result = ( status != 0 ? TRUE : FALSE );
 
     return result;
 }
 
 /*********************************************************************//**
  * @brief
+ * The isPumpHomeInProgress function determines whether a home operation is
+ * currently in progress.
+ * @details \b Inputs: pumpHomeInProgress
+ * @details \b Outputs: none
+ * @return pumpHomeInProgress
+ *************************************************************************/
+BOOL isPumpHomeInProgress( void )
+{
+    return pumpHomeInProgress;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setPeristalticPumpSetSpeed function sets the target pump speed (in RPM).
  * @note A negative set speed indicates reverse (CCW) direction.
  * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given set speed is out
@@ -207,6 +236,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The setPeristalticPumpHardStop function stops the pump and holds the torque
+ * of the pump.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @return none
+ *************************************************************************/
+void setPeristalticPumpHardStop( void )
+{
+    setH4BrakeAndHoldTorque();
+}
+
+/*********************************************************************//**
+ * @brief
  * The getPeristalticPumpSetSpeed function gets the current pump set
  * speed in RPM.
  * @note A negative speed indicates reverse direction.