Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r1a1aa235cfb5d13555d8cf943825cd99e36c97fb -r6b96f1a18ab2f93068daddbf24178fbbae7cc570
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 1a1aa235cfb5d13555d8cf943825cd99e36c97fb)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 6b96f1a18ab2f93068daddbf24178fbbae7cc570)
@@ -42,13 +42,13 @@
 
 #define MAX_SETTABLE_BLOOD_FLOW_RATE        700                                     ///< Maximum settable blood flow rate (in mL/min).
 
-#define BP_CONTROL_INTERVAL_SEC             10                                      ///< Blood pump control interval (in seconds).
+#define BP_CONTROL_INTERVAL_SEC             2                                       ///< Blood pump control interval (in seconds).
 
 /// Interval (ms/task time) at which the blood pump is controlled.
 static const U32 BP_CONTROL_INTERVAL      = ( BP_CONTROL_INTERVAL_SEC * MS_PER_SECOND / TASK_GENERAL_INTERVAL );
 
-#define BP_P_COEFFICIENT                    0.0001F                                 ///< P term for blood pump control
-#define BP_I_COEFFICIENT                    0.00075F                                ///< I term for blood pump control
+#define BP_P_COEFFICIENT                    0.5F                                    ///< P term for blood pump control
+#define BP_I_COEFFICIENT                    1.5F                                    ///< I term for blood pump control
 
 #define BP_HOME_SPEED                       400                                     ///< Target pump speed (in RPM) for homing.
 #define BP_HOME_TIMEOUT_MS                  ( 12 * MS_PER_SECOND )                  ///< Maximum time (in ms) allowed for homing to complete.
@@ -277,7 +277,6 @@
                 bloodPumpDirectionSet = dir;
                 bloodPumpControlMode = mode;
                 bloodPumpRampToSpeedRPM = BP_RPM_FROM_RATE( flowRate );
-                isBloodPumpOn = ( 0 == flowRate ? FALSE : isBloodPumpOn );
 
                 if ( BLOOD_PUMP_CONTROL_TO_TARGET_STATE == bloodPumpState )
                 {
@@ -361,7 +360,7 @@
 void signalBloodPumpHardStop( void )
 {
     targetBloodFlowRate = 0;
-    bloodPumpState = BLOOD_PUMP_OFF_STATE; // TODO SEAN: Are you changing the state directly here?
+    bloodPumpState = BLOOD_PUMP_OFF_STATE;
     bloodPumpSetSpeedRPM = 0;
     isBloodPumpOn = FALSE;
     bpControlTimerCounter = 0;
@@ -714,21 +713,14 @@
         {
             F32 tgtFlow = (F32)targetBloodFlowRate;
             F32 actFlow = getMeasuredBloodFlowRate();
-            F32 newRPM = bloodPumpSetSpeedRPM; // TODO - don't set speed here when control is implemented below.
+            F32 newRPM= runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow );
 
-            newRPM = runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow );
-            newRPM = ( newRPM < 0.0F ? 0.0F : newRPM );
             bloodPumpSetSpeedRPM = (U32)((S32)(newRPM));
             setPeristalticPumpSetSpeed( BP_SIGNED_SET_SPEED );
         }
         bpControlTimerCounter = 0;
     }
 
-    if ( FALSE == isBloodPumpOn )
-    {
-        result = BLOOD_PUMP_OFF_STATE;
-    }
-
     return result;
 }
 
Index: firmware/App/Drivers/RotaryValve.c
===================================================================
diff -u -r101c03d165ec613ba384bdad53100ba7bdda1e2c -r6b96f1a18ab2f93068daddbf24178fbbae7cc570
--- firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 101c03d165ec613ba384bdad53100ba7bdda1e2c)
+++ firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 6b96f1a18ab2f93068daddbf24178fbbae7cc570)
@@ -116,7 +116,7 @@
 
         if ( ( status & VALVE_GEN_FAULT_BIT_MASK ) != 0 )
         {
-            //SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_PINCH_VALVE_FAULT, i, status )
+            //SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_PINCH_VALVE_FAULT, i, status )  TODO - resolve issue and restore alarm
         }
     }
 }
Index: firmware/App/Services/SystemCommTD.c
===================================================================
diff -u -rae3240cfb3237c01472168fee0bfc6beb34e0ed9 -r6b96f1a18ab2f93068daddbf24178fbbae7cc570
--- firmware/App/Services/SystemCommTD.c	(.../SystemCommTD.c)	(revision ae3240cfb3237c01472168fee0bfc6beb34e0ed9)
+++ firmware/App/Services/SystemCommTD.c	(.../SystemCommTD.c)	(revision 6b96f1a18ab2f93068daddbf24178fbbae7cc570)
@@ -181,9 +181,10 @@
  *************************************************************************/
 BOOL uiCommunicated( void )
 {
-#ifdef TEST_DEBUGGER
+#ifdef TEST_PROCESS_TASKS_WO_UI
     uiDidCommunicate = TRUE;
 #endif
+
     return uiDidCommunicate;
 }
 
Index: firmware/App/TDCommon.h
===================================================================
diff -u -r2d40deb50ffb27667c3e57f427b1e197e163910e -r6b96f1a18ab2f93068daddbf24178fbbae7cc570
--- firmware/App/TDCommon.h	(.../TDCommon.h)	(revision 2d40deb50ffb27667c3e57f427b1e197e163910e)
+++ firmware/App/TDCommon.h	(.../TDCommon.h)	(revision 6b96f1a18ab2f93068daddbf24178fbbae7cc570)
@@ -34,7 +34,8 @@
 //    #define TASK_TIMING_OUTPUT_ENABLED      1           // Re-purposes alarm lamp pins for task timing
 //    #define TEST_AIR_TRAP_ALPHA_TESTING     1           // Alpha unit air trap testing
 //    #define TEST_PINCH_VALVES               1           // Alpha unit pinch valve testing
-//    #define TEST_DEBUGGER                   1           // Alpha test with debugger
+//    #define TEST_DEBUGGER                   1           // Testing with debugger - prevents FPGA comm alarms caused by breakpoints
+//    #define TEST_PROCESS_TASKS_WO_UI        1           // Allow task processing even when UI not connected
 //    #define TEST_UI_ONLY                    1           // Alpha test with TD and UI only - no DD
 //    #define TEST_NO_PINCH_VALVES            1           // Alpha test with no pinch valve functionality
 //    #define TEST_USE_OFF_AS_STOP_BUTTON     1           // Alpha test re-purposing off button as a stop button
Index: firmware/App/Tasks/TaskGeneral.c
===================================================================
diff -u -r4a65377085c075e15056b4157e17e7ed0ec15301 -r6b96f1a18ab2f93068daddbf24178fbbae7cc570
--- firmware/App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision 4a65377085c075e15056b4157e17e7ed0ec15301)
+++ firmware/App/Tasks/TaskGeneral.c	(.../TaskGeneral.c)	(revision 6b96f1a18ab2f93068daddbf24178fbbae7cc570)
@@ -160,6 +160,9 @@
         static BOOL setValvePos = FALSE;
         static BOOL homeBPCmd = FALSE;
         static BOOL bpHomed = FALSE;
+        static BOOL bpRunCmd = FALSE;
+        static BOOL bpStopCmd = FALSE;
+        static U32  bpSetPt = 300;
         static VALVE_POSITION_T setPos = VALVE_POSITION_A_INSERT_EJECT;  // VALVE_POSITION_B_OPEN VALVE_POSITION_C_CLOSE VALVE_POSITION_A_INSERT_EJECT
 
         execValvesController();
@@ -177,6 +180,18 @@
             homeBPCmd = FALSE;
         }
 
+        if ( TRUE == bpRunCmd )
+        {
+            setBloodPumpTargetFlowRate( bpSetPt, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
+            bpRunCmd = FALSE;
+        }
+        else if ( TRUE == bpStopCmd )
+        {
+            setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
+            bpStopCmd = FALSE;
+            //signalBloodPumpHardStop();
+        }
+
         if ( TRUE == homeValveCmd )
         {
             homeValve( H1_VALV, FALSE, FALSE );