Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -rfa8c72cd56fbaee5260ab3b8c558875b83c20e92 -rd6647f4f9a7965625fa77af14142188d528f83bb
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision fa8c72cd56fbaee5260ab3b8c558875b83c20e92)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision d6647f4f9a7965625fa77af14142188d528f83bb)
@@ -626,8 +626,7 @@
 /*********************************************************************//**
  * @brief
  * The handleBloodPumpHomingState function handles the blood pump homing state
- * of the blood pump controller state machine.
- * @details \b Inputs: bpHomeStartTime
+ * of the blood pump controller state machine. * @details \b Inputs: bpHomeStartTime
  * @details \b Outputs: Blood pump stopped if complete or timed out
  * @return next state
  *************************************************************************/
@@ -1027,12 +1026,22 @@
  *************************************************************************/
 static F32 calcBloodPumpTorque( void )
 {
-    F32 torqueResolutionUS = (F32)getH4TorqueCount() * BP_TORQUE_PERIOD_RESOLUTION_US;
-    F32 torqueResolutionS  = torqueResolutionUS / (F32)US_PER_SECOND;
-    F32 frequencyHz        = 1.0F / torqueResolutionS;
-    F32 frequencyKHz       = frequencyHz / (F32)HZ_PER_KHZ;
-    F32 torquemNm          = frequencyKHz * BP_1KHZ_TO_TORQUE_CONVERSION_MNM;
+    S16 torqueCount = getH4TorqueCount();
+    F32 torquemNm;
 
+    if ( torqueCount <= 0 )
+    {
+        torquemNm = 0.0F;
+    }
+    else
+    {
+        F32 torqueResolutionUS = (F32)torqueCount * BP_TORQUE_PERIOD_RESOLUTION_US;
+        F32 torqueResolutionS  = torqueResolutionUS / (F32)US_PER_SECOND;
+        F32 frequencyHz        = 1.0F / torqueResolutionS;
+        F32 frequencyKHz       = frequencyHz / (F32)HZ_PER_KHZ;
+        torquemNm              = frequencyKHz * BP_1KHZ_TO_TORQUE_CONVERSION_MNM;
+    }
+
     return torquemNm;
 }