Index: firmware/App/Modes/ModeInitPOST.c
===================================================================
diff -u -rce20c155091cd03f6ec01c0316a428b8b612492f -rdcd360fb4dc37db2dcbeb7fb14fb327fe68235f4
--- firmware/App/Modes/ModeInitPOST.c	(.../ModeInitPOST.c)	(revision ce20c155091cd03f6ec01c0316a428b8b612492f)
+++ firmware/App/Modes/ModeInitPOST.c	(.../ModeInitPOST.c)	(revision dcd360fb4dc37db2dcbeb7fb14fb327fe68235f4)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2021 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 ModeInitPOST.c
+* @file    ModeInitPOST.c
 *
-* @author (last) Quang Nguyen
-* @date (last) 27-Aug-2020
+* @author  (last)      Dara Navaei
+* @date    (last)      06-Nov-2021
 *
-* @author (original) Dara Navaei
-* @date (original) 05-Nov-2019
+* @author  (original)  Dara Navaei
+* @date    (original)  05-Nov-2019
 *
 ***************************************************************************/
 
@@ -34,6 +34,7 @@
 #include "RTC.h"
 #include "SafetyShutdown.h"
 #include "SystemCommMessages.h"
+#include "TaskGeneral.h"
 #include "TemperatureSensors.h"
 #include "Thermistors.h"
 #include "UVReactors.h"
@@ -44,31 +45,40 @@
  *  @{
  */
 
+// ********** private definitions **********
+
+#define START_POST_DELAY_COUNT                  ( ( 1 * MS_PER_SECOND ) / TASK_GENERAL_INTERVAL )          ///< Start POST delay in count.
+
 // ********** private data **********
 
-static DG_POST_STATE_T postState = DG_POST_STATE_START;     ///< Currently active initialize & POST state.
-static BOOL postCompleted = FALSE;                          ///< Flag indicating POST completed.
-static BOOL postPassed = FALSE;                             ///< Flag indicating all POST tests passed.
-static BOOL tempPOSTPassed = TRUE;                          ///< Temporary flag indicating all POST tests completed so far have passed.
+static DG_POST_STATE_T postState = DG_POST_STATE_START;                                                     ///< Currently active initialize & POST state.
+static BOOL postCompleted = FALSE;                                                                          ///< Flag indicating POST completed.
+static BOOL postPassed = FALSE;                                                                             ///< Flag indicating all POST tests passed.
+static BOOL tempPOSTPassed = TRUE;                                                                          ///< Temporary flag indicating all POST tests completed so far have passed.
+static U32 startPOSTDelayCounter = 0;                                                                       ///< Start POST delay counter.
 
 // ********** private function prototypes **********
 
 static DG_POST_STATE_T handlePOSTStatus( SELF_TEST_STATUS_T testStatus );
+static DG_POST_STATE_T handlePOSTStateStart( void );
 static SELF_TEST_STATUS_T execFWCompatibilityTest( void );
 
 /*********************************************************************//**
  * @brief
- * The initInitAndPOSTMode function initializes the Initialization and POST mode module.
+ * The initInitAndPOSTMode function initializes the Initialization and POST
+ * mode module.
  * @details Inputs: none
- * @details Outputs: Initialization and POST mode module initialized
+ * @details Outputs: postState, postCompleted, tempPOSTPassed,
+ * startPOSTDelayCounter
  * @return none
  *************************************************************************/
 void initInitAndPOSTMode( void )
 {
-    postState = DG_POST_STATE_START;
-    postCompleted = FALSE;
-    postPassed = FALSE;
-    tempPOSTPassed = TRUE;
+    postState             = DG_POST_STATE_START;
+    postCompleted         = FALSE;
+    postPassed            = FALSE;
+    tempPOSTPassed        = TRUE;
+    startPOSTDelayCounter = 0;
 }
 
 /*********************************************************************//**
@@ -77,11 +87,13 @@
  * initialization and POST mode.
  * @details Inputs: none
  * @details Outputs: none
- * @return none
+ * @return initial state
  *************************************************************************/
-void transitionToInitAndPOSTMode( void )
+U32 transitionToInitAndPOSTMode( void )
 {
-    // TODO - anything needed here?
+    initInitAndPOSTMode();
+
+    return postState;
 }
 
 /*********************************************************************//**
@@ -100,11 +112,7 @@
     switch ( postState )
     {
         case DG_POST_STATE_START:
-            SEND_EVENT_WITH_2_U32_DATA( DG_EVENT_STARTUP, 0, 0 )
-            postState = DG_POST_STATE_FW_COMPATIBILITY;
-#ifdef SKIP_POST
-            postState = DG_POST_STATE_COMPLETED;
-#endif
+            postState = handlePOSTStateStart();
             break;
 
         case DG_POST_STATE_FW_COMPATIBILITY:
@@ -289,15 +297,15 @@
 {
     DG_POST_STATE_T result = postState;
 
-    if ( ( testStatus == SELF_TEST_STATUS_PASSED ) || ( testStatus == SELF_TEST_STATUS_FAILED ) )
+    if ( ( SELF_TEST_STATUS_PASSED == testStatus ) || ( SELF_TEST_STATUS_FAILED == testStatus ) )
     {
-        BOOL passed = ( testStatus == SELF_TEST_STATUS_PASSED ? TRUE : FALSE );
+        BOOL passed = ( SELF_TEST_STATUS_PASSED == testStatus ? TRUE : FALSE );
 
         // Broadcast passed POST result
         sendPOSTTestResult( (DG_POST_STATE_T)((int)postState), passed );
         // Move on to next POST test
         result = (DG_POST_STATE_T)((int)postState + 1);
-        if ( testStatus == SELF_TEST_STATUS_FAILED )
+        if ( SELF_TEST_STATUS_FAILED == testStatus )
         {
             tempPOSTPassed = FALSE;
         }
@@ -308,6 +316,36 @@
 
 /*********************************************************************//**
  * @brief
+ * The handlePOSTStateStart function handles the POST start state.
+ * @details Inputs: startPOSTDelayCounter
+ * @details Outputs: startPOSTDelayCounter
+ * @return next POST state
+ *************************************************************************/
+static DG_POST_STATE_T handlePOSTStateStart( void )
+{
+    DG_POST_STATE_T state = DG_POST_STATE_START;
+
+    // There is a delay before starting POST to make sure the CAN bus is up and listening so
+    // when the event data can be sent
+    if ( ++startPOSTDelayCounter > START_POST_DELAY_COUNT )
+    {
+        // Send the startup event
+        SEND_EVENT_WITH_2_U32_DATA( DG_EVENT_STARTUP, 0, 0 )
+        // Send the first submode change event. It is the mode Init and it does not start from a previous
+        // mode previous and current are both published as Init
+        SEND_EVENT_WITH_2_U32_DATA( DG_EVENT_OP_MODE_CHANGE, DG_MODE_INIT, DG_MODE_INIT )
+        state = DG_POST_STATE_FW_COMPATIBILITY;
+#ifdef SKIP_POST
+        state = DG_POST_STATE_COMPLETED;
+#endif
+        startPOSTDelayCounter = 0;
+    }
+
+    return state;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getCurrentInitAndPOSTState function returns the current state of the
  * initialization and POST mode.
  * @details Inputs: postState