Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -r291d652fcd09b461728962a547d3b08163737d76 -r52a632f60aba59fe611daf7736dae8bc6f263a2a
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 291d652fcd09b461728962a547d3b08163737d76)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 52a632f60aba59fe611daf7736dae8bc6f263a2a)
@@ -121,7 +121,14 @@
     // update measured pump rotor speed
     if ( rotPer != 0 )
     {
-        pumpMeasRotSpeedRPM = H4_ROT_PERIOD_TO_RPM( rotPer );
+        // abs() is used to get the magnitude from signed FPGA period value
+        pumpMeasRotSpeedRPM = H4_ROT_PERIOD_TO_RPM( abs( rotPer ) );
+
+        // negate rotor speed as motor spins in opposite direction
+        if ( pumpSetSpeedRPM > 0 )
+        {
+            pumpMeasRotSpeedRPM *= -1.0F;
+        }
     }
     else
     {