I am just over 5'11" and am "inbetween" medium and large for many bikes. However when its come to Cannondales I have always gone for a large frame size - that is going back to my first m900, f1000, various super vs, gemini and now a rush. The rush is the first one I have had that does actually feel like a large (so maybe C'dale have increased their sizes) but that is fine for the type of bike it is and the type of riding I will be doing on it.
Only exception was a medium gemini I bought for downhill.
I think the best idea is try before you buy. If you are anywhere near Aberdeen you can try my rush for size.