Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -ra8bb1da29825b5d666333629fda871652d16229a -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision a8bb1da29825b5d666333629fda871652d16229a)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -111,6 +111,10 @@
 static BOOL hasClosedLoopBeenRequested = FALSE;                                                                 ///< Closed loop pump control flag.
 static U32 currentDrainPumpRPM = 0;                                                                             ///< Current drain pump RPM from feedback.
 
+static DRAIN_PUMP_STATE_T pendingDrainPumpCmd = DRAIN_PUMP_OFF_STATE;                                           ///< Delayed (pending) drain pump command.
+static F32 pendingDrainPumpCmdTarget = 0.0;                                                                     ///< Delayed (pending) drain pump command target (rpm or PSI depending on command).
+static U32 pendingDrainPumpCmdCountDown = 0;                                                                    ///< Delayed (pending) drain pump command count down timer (in task intervals).
+
 /* TODO These variables are used for POST. POST will be implemented later
 static DRAIN_PUMP_SELF_TEST_STATE_T drainPumpSelfTestState = DRAIN_PUMP_SELF_TEST_STATE_START;                  ///< Current drain pump self test state.
 static U32 drainPumpSelfTestTimerCount = 0;                                                                     ///< Timer counter for drain pump self test.
@@ -187,8 +191,38 @@
 
 /*********************************************************************//**
  * @brief
- * The setDrainPumpTargetOutletPressure function sets the target drain pump
- * outlet pressure.
+ * The setDrainPumpTargetRPMDelayed function sets a new target RPM for the
+ * drain pump with delayed start.
+ * @details Inputs: drainPumpDAC, targetDrainPumpSpeed, drainPumpControlMode,
+ * drainPumpControlModeSet
+ * @details Outputs: pendingDrainPumpCmd, pendingDrainPumpCmdTarget, pendingDrainPumpCmdCountDown
+ * @param rpm new drain pump target RPM
+ * @param delayMs delay duration (in ms) before drain pump started
+ * @return TRUE if new target RPM is set, FALSE if not
+ *************************************************************************/
+BOOL setDrainPumpTargetRPMDelayed( U32 rpm, U32 delayMs )
+{
+    BOOL result = FALSE;
+
+    if ( ( 0 == rpm ) || ( ( rpm >= MIN_DRAIN_PUMP_RPM ) && ( rpm <= MAX_DRAIN_PUMP_RPM ) ) )
+    {
+        pendingDrainPumpCmd = DRAIN_PUMP_OPEN_LOOP_STATE;
+        pendingDrainPumpCmdTarget = (F32)rpm;
+        pendingDrainPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
+        result = TRUE;
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_DRAIN_PUMP_INVALID_RPM_SELECTED, rpm )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setDrainPumpTargetOutletPressure function sets the drain pump to start
+ * with given target PDr pressure.
  * @details Inputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
  * drainPumpDAC, drainPumpControlMode, drainPumpControlModeSet
  * @details Outputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
@@ -221,6 +255,38 @@
 
 /*********************************************************************//**
  * @brief
+ * The setDrainPumpTargetOutletPressureDelayed function sets the drain pump
+ * to start with given target PDr pressure after given delay.
+ * @details Inputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
+ * drainPumpDAC, drainPumpControlMode, drainPumpControlModeSet
+ * @details Outputs: targetDrainPumpDeltaPressure, hasClosedLoopBeenRequested,
+ * drainPumpDAC, drainPumpControlMode, drainPumpControlModeSet
+ * @param pressure new target drain pump outlet pressure
+ * @param delayMS delay duration (in ms) before drain pump started
+ * @return TRUE if new target speed is set, FALSE if not
+ *************************************************************************/
+BOOL setDrainPumpTargetOutletPressureDelayed( F32 pressure, U32 delayMs )
+{
+    BOOL result = FALSE;
+
+    // Check the delta pressure is in range
+    if ( ( pressure >= MIN_ALLOWED_TARGET_OUTLET_PRESSURE ) && ( pressure <= MAX_ALLOWED_TARGET_OUTLET_PRESSURE ) )
+    {
+        pendingDrainPumpCmd = DRAIN_PUMP_CONTROL_TO_TARGET_STATE;
+        pendingDrainPumpCmdTarget = pressure;
+        pendingDrainPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
+        result = TRUE;
+    }
+    else
+    {
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_DRAIN_PUMP_INVALID_DELTA_PRESSURE_SELECTED, pressure )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The signalDrainPumpHardStop function stops the Drain pump immediately.
  * @details Inputs: targetDrainPumpSpeed, drainPumpState, drainPumpControlMode,
  * hasClosedLoopBeenRequested, drainControlTimerCounter
@@ -311,6 +377,33 @@
  *************************************************************************/
 void execDrainPumpController( void )
 {
+    // Handle pending drain pump command
+    if ( pendingDrainPumpCmdCountDown > 0 )
+    {
+        pendingDrainPumpCmdCountDown--;
+        if ( 0 == pendingDrainPumpCmdCountDown )
+        {
+            if ( DRAIN_PUMP_CONTROL_TO_TARGET_STATE == pendingDrainPumpCmd )
+            {
+                targetDrainPumpOutletPressure = pendingDrainPumpCmdTarget;
+                hasClosedLoopBeenRequested    = TRUE;
+                drainPumpDAC                  = DRAIN_PUMP_MIN_DAC;
+                drainPumpControlMode          = PUMP_CONTROL_MODE_CLOSED_LOOP;
+                drainPumpControlModeSet       = drainPumpControlMode;
+            }
+            else if ( DRAIN_PUMP_OPEN_LOOP_STATE == pendingDrainPumpCmd )
+            {
+                drainPumpDAC = (U32)(pendingDrainPumpCmdTarget * DRP_SPEED_RPM_TO_ADC_FACTOR + FLOAT_TO_INT_ROUNDUP_OFFSET);
+                targetDrainPumpRPM      = (U32)pendingDrainPumpCmdTarget;
+                drainPumpControlMode    = PUMP_CONTROL_MODE_OPEN_LOOP;
+                drainPumpControlModeSet = drainPumpControlMode;
+            }
+            pendingDrainPumpCmdTarget = 0.0;
+            pendingDrainPumpCmd = DRAIN_PUMP_OFF_STATE;
+        }
+    }
+
+    // Execute drain pump state machine
     switch ( drainPumpState )
     {
         case DRAIN_PUMP_OFF_STATE:
@@ -378,6 +471,18 @@
 
 /*********************************************************************//**
  * @brief
+ * The isDrainPumpOn function determines whether the drain pump is on.
+ * @details Inputs: drainPumpDACSet
+ * @details Outputs: none
+ * @return TRUE if drain pump is on, FALSE if not.
+ *************************************************************************/
+BOOL isDrainPumpOn( void )
+{
+    return ( drainPumpDACSet > 0 ? TRUE : FALSE );
+}
+
+/*********************************************************************//**
+ * @brief
  * The handleDrainPumpOffState function handles the drain pump off state of
  * the drain pump controller state machine.
  * @details Inputs: drainPumpControlModeSet, drainPumpDACSet, drainPumpDAC
@@ -391,7 +496,7 @@
 
     // If the target drain pump speed was not 0 and the control mode
     // is open loop, set the drain pump to open loop
-    if ( getTargetDrainPumpRPM() > 0 && drainPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP )
+    if ( ( getTargetDrainPumpRPM() > 0 ) && ( drainPumpControlModeSet == PUMP_CONTROL_MODE_OPEN_LOOP ) )
     {
         // Set drain pump enable pin
         SET_DRAIN_PUMP_ENABLE();
@@ -404,7 +509,7 @@
     }
     // If the drain pump is set to closed loop, call the proper state
     // It is checked for the value of delta pressure because it can be anything including 0
-    else if ( drainPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP && hasClosedLoopBeenRequested )
+    else if ( ( drainPumpControlModeSet == PUMP_CONTROL_MODE_CLOSED_LOOP ) && ( hasClosedLoopBeenRequested ) )
     {
        // set drain pump enable pin
        SET_DRAIN_PUMP_ENABLE();
Index: firmware/App/Controllers/LoadCell.c
===================================================================
diff -u -r7b6b599a6f98241bc51bbee65b736b92cb881f01 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Controllers/LoadCell.c	(.../LoadCell.c)	(revision 7b6b599a6f98241bc51bbee65b736b92cb881f01)
+++ firmware/App/Controllers/LoadCell.c	(.../LoadCell.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -37,7 +37,7 @@
 #define LOAD_CELL_REPORT_PERIOD             (100 / TASK_PRIORITY_INTERVAL)                  ///< Broadcast load cell values message every 100 ms.
 /// Conversion factor from ADC counts to grams.
 static const F32 ADC2GRAM = (0.0894 * 1.1338);
-#define LOAD_CELL_ZERO_OFFSET               -1500.0                                         ///< Zero offset (in grams).  TODO - right now, this is empty reservoir weight.
+
 #define LOAD_CELL_FILTER_ALPHA              0.05                                            ///< Alpha factor for the alpha filter used on load cell readings.
 
 #define SIZE_OF_SMALL_LOAD_CELL_AVG         100                                             ///< Small load cell moving average has 100 raw samples @ 10ms intervals (1-second).
@@ -48,18 +48,18 @@
 /// Load cell data structure.
 typedef struct
 {
-    U32 rawReading;                                                 ///< Latest raw load cell reading
-    OVERRIDE_F32_T weight;                                          ///< Latest load cell weight
+    U32 rawReading;                                                 ///< Latest raw load cell reading.
+    OVERRIDE_F32_T weight;                                          ///< Latest load cell weight.
     F32 autoCalOffset;                                              ///< Load cell auto-calibration offset
     F32 loadCellVelocity_g_min;                                     ///< Velocity (in g/min) of load cell.
 
-    F32 smallFilterReadings[ SIZE_OF_SMALL_LOAD_CELL_AVG ];         ///< Load cell samples for small load cell moving average
-    F32 smallFilterTotal;                                           ///< Small filter rolling total - used to calc small load cell moving average
-    F32 smallFilteredWeight;                                        ///< Load cell small filtered (100 100Hz raw sample) weight
+    F32 smallFilterReadings[ SIZE_OF_SMALL_LOAD_CELL_AVG ];         ///< Load cell samples for small load cell moving average.
+    F32 smallFilterTotal;                                           ///< Small filter rolling total - used to calc small load cell moving average.
+    F32 smallFilteredWeight;                                        ///< Load cell small filtered (100 100Hz raw sample) weight.
 
-    F32 largeFilterReadings[ SIZE_OF_LARGE_LOAD_CELL_AVG ];         ///< Load cell samples for large load cell moving average
-    F32 largeFilterTotal;                                           ///< Large filter rolling total - used to calc small load cell moving average
-    F32 largeFilteredWeight;                                        ///< Load cell large filtered (40 10Hz filtered sample) weight
+    F32 largeFilterReadings[ SIZE_OF_LARGE_LOAD_CELL_AVG ];         ///< Load cell samples for large load cell moving average.
+    F32 largeFilterTotal;                                           ///< Large filter rolling total - used to calc small load cell moving average.
+    F32 largeFilteredWeight;                                        ///< Load cell large filtered (40 10Hz filtered sample) weight.
 } LOADCELL_T;
 
 // ********** private data **********
@@ -74,8 +74,6 @@
 static U32 largeReadingsIdx;                                                            ///< Index for next sample in load cell large rolling average sample array.
 static DG_LOAD_CELLS_CAL_RECORD_T loadCellsCalRecord;                                   ///< Load cells calibration record.
 
-// TODO - gain and offset for load cells should be read from NV Data calibration record.
-
 // ********** private function prototypes **********
 
 static U32 getLoadCellDataPublishInterval( void );
@@ -174,10 +172,31 @@
         SET_ALARM_WITH_1_U32_DATA( ALARM_ID_DG_LOAD_CELL_ADC_ERROR, ( a1 | a2 | b1 | b2 ) )
     }
 
+    // Check if a new calibration is available
+    if ( isNewCalibrationRecordAvailable() == TRUE )
+    {
+        // Get the new calibration data and check its validity
+        processCalibrationData();
+
+        // Zero the current tare values when new calibration data is available
+        loadcells[ LOAD_CELL_RESERVOIR_1_PRIMARY ].autoCalOffset = 0.0;
+        loadcells[ LOAD_CELL_RESERVOIR_1_BACKUP ].autoCalOffset  = 0.0;
+        loadcells[ LOAD_CELL_RESERVOIR_2_PRIMARY ].autoCalOffset = 0.0;
+        loadcells[ LOAD_CELL_RESERVOIR_2_BACKUP ].autoCalOffset  = 0.0;
+    }
+
     // Rolling average of last 100 raw samples in small filter
     for ( ii = 0; ii < NUM_OF_LOAD_CELLS; ++ii )
     {
-        loadcells[ ii ].weight.data = (F32)loadcells[ ii ].rawReading * ADC2GRAM + LOAD_CELL_ZERO_OFFSET - loadcells[ ii ].autoCalOffset;
+        loadcells[ ii ].weight.data = (F32)loadcells[ ii ].rawReading * ADC2GRAM;
+        // Apply the calibration factors to the data.
+        // load_cell_weight = fourth_order_coeff * (load_cell^4) + third_order_coeff * (load_cell^3) + second_order_coeff * (load_cell^2) + gain * load_cell + offset
+        loadcells[ ii ].weight.data = pow(loadcells[ ii ].weight.data, 4) * loadCellsCalRecord.loadCells[ (CAL_DATA_DG_LOAD_CELLS_T)ii ].fourthOrderCoeff +
+                                      pow(loadcells[ ii ].weight.data, 3) * loadCellsCalRecord.loadCells[ (CAL_DATA_DG_LOAD_CELLS_T)ii ].thirdOrderCoeff  +
+                                      pow(loadcells[ ii ].weight.data, 2) * loadCellsCalRecord.loadCells[ (CAL_DATA_DG_LOAD_CELLS_T)ii ].secondOrderCoeff +
+                                          loadcells[ ii ].weight.data     * loadCellsCalRecord.loadCells[ (CAL_DATA_DG_LOAD_CELLS_T)ii ].gain +
+                                          loadCellsCalRecord.loadCells[ (CAL_DATA_DG_LOAD_CELLS_T)ii ].offset;
+        loadcells[ ii ].weight.data = loadcells[ ii ].weight.data - loadcells[ ii ].autoCalOffset;
         loadcells[ ii ].loadCellVelocity_g_min = ( getLoadCellWeight( (LOAD_CELL_ID_T)ii ) - loadcells[ ii ].smallFilterReadings[ smallReadingsIdx ] ) * (F32)SEC_PER_MIN;
 
         // Update small filter with new weight sample
Index: firmware/App/Controllers/Pressures.c
===================================================================
diff -u -rbdf2072247c8779596c6bcf418c5a7ae4d9f9848 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Controllers/Pressures.c	(.../Pressures.c)	(revision bdf2072247c8779596c6bcf418c5a7ae4d9f9848)
+++ firmware/App/Controllers/Pressures.c	(.../Pressures.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -35,7 +35,7 @@
 
 #define PUMP_PRESSURE_ZERO                          777                                             ///< ADC counts equivalent to 0 PSI for pump in/out pressure sensors.
 #define PUMP_PRESSURE_PSIA_PER_COUNT                0.06434                                         ///< PSIA per ADC count conversion factor for pump in/out pressure sensors.
-#define PUMP_PRESSURE_PSIA_TO_PSI_OFFSET            14.7                                            ///< Subtract this offset to convert PSIA to PSI.
+#define PUMP_PRESSURE_PSIA_TO_PSI_OFFSET            14.7                                            ///< Subtract this offset to convert PSIA to PSI.  TODO - use barometric sensor when available.
 
 #define PRESSURE_SAMPLES_TO_AVERAGE                 ( 200 / TASK_PRIORITY_INTERVAL )                ///< Averaging pressure data over the reporting interval.
 #define PRESSURE_AVERAGE_MULTIPLIER                 ( 1.0 / (F32)PRESSURE_SAMPLES_TO_AVERAGE )      ///< Optimization - multiplying is faster than dividing.
Index: firmware/App/Controllers/ROPump.c
===================================================================
diff -u -r8467f8ff09e382e0991f14d02683080dc811e24e -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 8467f8ff09e382e0991f14d02683080dc811e24e)
+++ firmware/App/Controllers/ROPump.c	(.../ROPump.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -113,6 +113,10 @@
 static F32 roPumpDutyCyclePctSet = 0.0;                                                            ///< Currently set RO pump PWM duty cycle.
 static PUMP_CONTROL_MODE_T roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;                      ///< Requested RO pump control mode.
 
+static F32 pendingROPumpCmdMaxPressure = 0.0;                                                      ///< Delayed (pending) RO pump max pressure (in PSI) setting.
+static F32 pendingROPumpCmdTargetFlow = 0.0;                                                       ///< Delayed (pending) RO pump target flow rate (in mL/min) setting.
+static U32 pendingROPumpCmdCountDown = 0;                                                          ///< Delayed (pending) RO pump command count down timer (in task intervals).
+
 static F32 targetROPumpFlowRate = 0.0;                                                             ///< Target RO flow rate (in L/min).
 static F32 targetROPumpMaxPressure = 0.0;                                                          ///< Target RO max allowed pressure (in PSI).
 
@@ -169,7 +173,8 @@
     initPersistentAlarm( ALARM_ID_FLOW_RATE_OUT_OF_LOWER_RANGE, FLOW_OUT_OF_RANGE_PERSISTENT_INTERVAL, FLOW_OUT_OF_RANGE_PERSISTENT_INTERVAL );
 
     // Initialize the persistent alarm for max allowed pressure out of range
-    initPersistentAlarm( ALARM_ID_RO_PUMP_PRESSURE_OUT_OF_RANGE, MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL, MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL );
+    initPersistentAlarm( ALARM_ID_RO_PUMP_PRESSURE_OUT_OF_RANGE, MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL,
+                                                                 MAX_PRESSURE_OUT_OF_RANGE_PERSISTENT_INTERVAL );
 
     // Initialize the persistent alarm for not turning off the pump
     initPersistentAlarm( ALARM_ID_RO_PUMP_OFF_FAULT, SAFETY_SHUTDOWN_TIMEOUT, SAFETY_SHUTDOWN_TIMEOUT );
@@ -237,6 +242,49 @@
 
 /*********************************************************************//**
  * @brief
+ * The setROPumpTargetFlowRateDelayed function sets a new target flow rate for the
+ * RO pump to be set after given delay.
+ * @details Inputs: none
+ * @details Outputs: pendingROPumpCmdMaxPressure, pendingROPumpCmdTargetFlow,
+ * pendingROPumpCmdCountDown
+ * @param roFlowRate which is target RO flow rate
+ * @param maxPressure which is the maximum allowed pressure that the RO pump
+ * can reach
+ * @param delayMs delay duration (in ms) before RO pump started
+ * @return TRUE if new target flow rate is set successfully, FALSE if not
+ *************************************************************************/
+BOOL setROPumpTargetFlowRateDelayed( F32 roFlowRate, U32 maxPressure, U32 delayMs )
+{
+    BOOL result = FALSE;
+
+    // First of all, the flow rate must be in range
+    if ( ( roFlowRate <= MAX_RO_FLOWRATE_LPM ) && ( roFlowRate >= MIN_RO_FLOWRATE_LPM ) )
+    {
+        // Then the max pressure that we are allowed to reach must be in range
+        if ( ( maxPressure >= MIN_ALLOWED_PRESSURE_PSI ) && ( maxPressure <= MAX_ALLOWED_PRESSURE_PSI ) )
+        {
+            pendingROPumpCmdMaxPressure = (F32)maxPressure;
+            pendingROPumpCmdTargetFlow = roFlowRate;
+            pendingROPumpCmdCountDown = delayMs / TASK_GENERAL_INTERVAL;
+            result = TRUE;
+        }
+        // Requested max pressure is out of range
+        else
+        {
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_RO_PUMP_INVALID_FLOW_RATE_SET, maxPressure )
+        }
+    }
+    // Requested flow rate is out of range
+    else
+    {
+        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_RO_PUMP_INVALID_PRESSURE_SELECTED, roFlowRate )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The signalROPumpHardStop function stops the RO pump immediately and
  * resets all the variables associated with the RO pump run.
  * @details Inputs: targetROPumpFlowRate, roPumpState, roPumpPWMDutyCyclePct,
@@ -350,6 +398,26 @@
  *************************************************************************/
 void execROPumpController( void )
 {
+    // Handle pending delayed RO pump command
+    if ( pendingROPumpCmdCountDown > 0 )
+    {
+        pendingROPumpCmdCountDown--;
+        if ( 0 == pendingROPumpCmdCountDown )
+        {
+            targetROPumpMaxPressure = pendingROPumpCmdMaxPressure;
+            targetROPumpFlowRate = pendingROPumpCmdTargetFlow;
+            pendingROPumpCmdMaxPressure = 0.0;
+            pendingROPumpCmdTargetFlow = 0.0;
+            roPumpControlMode = PUMP_CONTROL_MODE_CLOSED_LOOP;
+            roPumpState = RO_PUMP_RAMP_UP_TO_TARGET_FLOW_STATE;
+            // Get the initial guess of the duty cycle
+            roPumpPWMDutyCyclePct = ROP_FLOW_TO_PWM_DC( targetROPumpFlowRate );
+            roControlTimerCounter = 0;
+            isROPumpOn = TRUE;
+        }
+    }
+
+    // Execute RO pump control state machine
     switch ( roPumpState )
     {
         case RO_PUMP_OFF_STATE:
@@ -381,13 +449,13 @@
 
 /*********************************************************************//**
  * @brief
- * The isReverseOsmosisPumpOn function returns the on/off status of RO pump.
+ * The isROPumpRunning function returns the on/off status of RO pump.
  * @details Inputs: isROPumpOn
  * @details Outputs: none
  * @return isROPumpOn the boolean flag that is TRUE if the pump is on and
  * FALSE if it is off
  *************************************************************************/
-BOOL isReverseOsmosisPumpOn( void )
+BOOL isROPumpRunning( void )
 {
     return isROPumpOn;
 }
Index: firmware/App/Controllers/ROPump.h
===================================================================
diff -u -r8467f8ff09e382e0991f14d02683080dc811e24e -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Controllers/ROPump.h	(.../ROPump.h)	(revision 8467f8ff09e382e0991f14d02683080dc811e24e)
+++ firmware/App/Controllers/ROPump.h	(.../ROPump.h)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -51,10 +51,11 @@
 void execROPumpController( void );
 
 BOOL setROPumpTargetFlowRate( F32 roFlowRate, U32 maxPressure );
+BOOL setROPumpTargetFlowRateDelayed( F32 roFlowRate, U32 maxPressure, U32 delayMs );
 
 void signalROPumpHardStop( void );
 
-BOOL isReverseOsmosisPumpOn( void );
+BOOL isROPumpRunning( void );
 
 F32  getTargetROPumpFlowRate( void );
 F32  getMeasuredROFlowRate( void );
Index: firmware/App/DGCommon.h
===================================================================
diff -u -rbd8fa3f754c8a8fd797d1828c416f73680924b64 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/DGCommon.h	(.../DGCommon.h)	(revision bd8fa3f754c8a8fd797d1828c416f73680924b64)
+++ firmware/App/DGCommon.h	(.../DGCommon.h)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -37,8 +37,8 @@
 //    #define SIMULATE_UI                     1
 //    #define TASK_TIMING_OUTPUT_ENABLED      1           // re-purposes drain pump enable pin for task timing
 //    #define DISABLE_HEATERS_AND_TEMPS       1
-    #define DISABLE_ACCELS                  1
-    #define SKIP_POST                       1
+//    #define DISABLE_ACCELS                  1
+//    #define SKIP_POST                       1
     #define DISABLE_CAL_CHECK               1
 //    #define ENABLE_DIP_SWITCHES             1
 //    #define EMC_TEST_BUILD                  1
@@ -50,7 +50,7 @@
     #define IGNORE_HEATERS_MONITOR          1
     #define IGNORE_RO_PUMP_MONITOR          1
     #define IGNORE_HEAT_DISINFECT_RSRVR_TIMEOUT 1
-    #define DISABLE_RO_RATIO_CHECK          1
+//    #define DISABLE_RO_RATIO_CHECK          1
     #define DISABLE_COND_SENSOR_CHECK       1
     #define DISABLE_MIXING                  1
 //    #define DISABLE_WATER_QUALITY_CHECK     1
Index: firmware/App/Drivers/InternalADC.c
===================================================================
diff -u -r08e11fb11f818dd326617362ca7361b2fae1662a -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Drivers/InternalADC.c	(.../InternalADC.c)	(revision 08e11fb11f818dd326617362ca7361b2fae1662a)
+++ firmware/App/Drivers/InternalADC.c	(.../InternalADC.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -164,14 +164,21 @@
     {
         // process readings from last conversion
         for ( i = 0; i < adcRawReadingsCount; i++ )
-        {
-            U32 ch = adcChannelNum2ChannelId[ adcRawReadings[ i ].id ];  // TODO - need to range check .id?
+        {
+            if ( adcRawReadings[ i ].id < NUM_OF_INT_ADC_CHANNELS )
+            {
+                U32 ch = adcChannelNum2ChannelId[ adcRawReadings[ i ].id ];
 
-            adcReadingsTotals[ ch ] -= adcReadings[ ch ][ adcReadingsIdx[ ch ] ];
-            adcReadings[ ch ][ adcReadingsIdx[ ch ] ] = adcRawReadings[i].value;
-            adcReadingsTotals[ ch ] += adcRawReadings[ i ].value;
-            adcReadingsAvgs[ ch ] = adcReadingsTotals[ ch ] >> ROLLING_AVG_SHIFT_DIVIDER;
-            adcReadingsIdx[ ch ] = INC_WRAP( adcReadingsIdx[ ch ], 0, SIZE_OF_ROLLING_AVG - 1 );
+                adcReadingsTotals[ ch ] -= adcReadings[ ch ][ adcReadingsIdx[ ch ] ];
+                adcReadings[ ch ][ adcReadingsIdx[ ch ] ] = adcRawReadings[i].value;
+                adcReadingsTotals[ ch ] += adcRawReadings[ i ].value;
+                adcReadingsAvgs[ ch ] = adcReadingsTotals[ ch ] >> ROLLING_AVG_SHIFT_DIVIDER;
+                adcReadingsIdx[ ch ] = INC_WRAP( adcReadingsIdx[ ch ], 0, SIZE_OF_ROLLING_AVG - 1 );
+            }
+            else
+            {
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_INT_ADC_CHANNEL_NUMBER, adcRawReadings[ i ].id )
+            }
         }
     }
     else
Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -ra8bb1da29825b5d666333629fda871652d16229a -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision a8bb1da29825b5d666333629fda871652d16229a)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -21,6 +21,7 @@
 #include "ModeFault.h"
 #include "OperationModes.h"
 #include "ROPump.h"
+#include "SystemCommMessages.h"
 #include "UVReactors.h"
 #include "Valves.h"
 
@@ -59,6 +60,13 @@
 void transitionToFaultMode( void )
 {
     deenergizeActuators();
+
+    // Publish POST failure status to UI if fault triggered in Init/POST mode
+    if ( DG_MODE_INIT == getPreviousOperationMode() )
+    {
+        // Broadcast final POST failed
+        sendPOSTFinalResult( FALSE );
+    }
 }
 
 /*********************************************************************//**
@@ -115,7 +123,7 @@
     setValveState( VPI, VALVE_STATE_CLOSED );
     setValveState( VBF, VALVE_STATE_CLOSED );
     setValveState( VSP, VALVE_STATE_CLOSED );
-    setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+    setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
     setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
     setValveState( VDR, VALVE_STATE_DRAIN_C_TO_NO );
     setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
Index: firmware/App/Modes/ModeFlush.c
===================================================================
diff -u -ra8bb1da29825b5d666333629fda871652d16229a -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Modes/ModeFlush.c	(.../ModeFlush.c)	(revision a8bb1da29825b5d666333629fda871652d16229a)
+++ firmware/App/Modes/ModeFlush.c	(.../ModeFlush.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -376,15 +376,15 @@
          {
              // Set the actuators to flush drain
              setValveState( VPI, VALVE_STATE_OPEN );
-             setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
+             setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
 
              state = DG_FLUSH_STATE_FLUSH_DRAIN;
          }
          else
          {
              // Set the actuators to pull fresh water in to drain the circulation line
              setValveState( VPI, VALVE_STATE_OPEN );
-             setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+             setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
              setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
              setValveState( VDR, VALVE_STATE_DRAIN_C_TO_NO );
              setROPumpTargetFlowRate( FINAL_DRAIN_RO_PUMP_FLOW_LPM, RO_PUMP_MAX_PRESSURE_PSI );
@@ -416,7 +416,7 @@
 
     if ( TRUE == didTimeout( stateTimerStart, FLUSH_DRAIN_WAIT_TIME_MS ) )
     {
-        setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+        setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
         setROPumpTargetFlowRate( RO_PUMP_TARGET_FLOW_RATE_LPM, RO_PUMP_MAX_PRESSURE_PSI );
 
         // Turn on the UV reactors
@@ -664,7 +664,7 @@
     {
         // Set the actuators to transition to flush circulation
         // The valves are set to do flush drain and flush circulation
-        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
+        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
         setValveState( VRC, VALVE_STATE_RECIRC_C_TO_NC );
         setValveState( VDR, VALVE_STATE_RECIRC_C_TO_NC );
         setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
@@ -699,7 +699,7 @@
 
     if ( TRUE == didTimeout( stateTimerStart, FLUSH_CIRCULATION_WAIT_TIME_MS ) )
     {
-        setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+        setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
         setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
         setValveState( VDR, VALVE_STATE_DRAIN_C_TO_NO );
 
@@ -776,7 +776,7 @@
 
         // Set the actuators
         setValveState( VPI, VALVE_STATE_CLOSED );
-        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
+        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
 
         // Set both reservoirs to be considered as full
         rsrvr1Status = DG_RESERVOIR_ABOVE_TARGET;
Index: firmware/App/Modes/ModeHeatDisinfect.c
===================================================================
diff -u -ra8bb1da29825b5d666333629fda871652d16229a -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Modes/ModeHeatDisinfect.c	(.../ModeHeatDisinfect.c)	(revision a8bb1da29825b5d666333629fda871652d16229a)
+++ firmware/App/Modes/ModeHeatDisinfect.c	(.../ModeHeatDisinfect.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -420,8 +420,13 @@
         setValveState( VPI, VALVE_STATE_CLOSED );
         // Request a tare for reservoir 1
         tareReservoir();
+#ifndef V_2_SYSTEM
         // Set the actuators to drain R1
+        setValveState( VRD1, VALVE_STATE_OPEN );
+#else
+        // Set the actuators to drain R1
         setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
         setDrainPumpTargetRPM( DRAIN_PUMP_TARGET_RPM );
 
         rsrvrFillStableTimeCounter = 0;
@@ -460,7 +465,12 @@
 
             // Set the valves to flush the recirculation line
             setValveState( VPI, VALVE_STATE_OPEN );
+#ifndef V_2_SYSTEM
+            setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+            setValveState( VRD1, VALVE_STATE_CLOSED );
+#else
             setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+#endif
             setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
             setValveState( VDR, VALVE_STATE_DRAIN_C_TO_NO );
             setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
@@ -480,9 +490,17 @@
             rsrvr2Status = DG_RESERVOIR_ABOVE_TARGET;
             // Request a tare for reservoir 2
             tareReservoir();
+#ifndef V_2_SYSTEM
+            // Done with draining R1, close it
+            setValveState( VRD1, VALVE_STATE_CLOSED );
             // Set the actuators to drain R2.
             // NOTE: Drain pump is already on and VDr is already on drain state
+            setValveState( VRD2, VALVE_STATE_OPEN );
+#else
+            // Set the actuators to drain R2.
+            // NOTE: Drain pump is already on and VDr is already on drain state
             setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#endif
             state = DG_HEAT_DISINFECT_STATE_DRAIN_R2;
         }
 
@@ -521,13 +539,22 @@
     {
         if ( TRUE == isThisLastDrain )
         {
+#ifndef V_2_SYSTEM
+            setValveState( VRD1, VALVE_STATE_OPEN );
+            setValveState( VRD2, VALVE_STATE_CLOSED );
+#else
             setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
             rsrvr1Status = DG_RESERVOIR_ABOVE_TARGET;
             state = DG_HEAT_DISINFECT_STATE_DRAIN_R1;
         }
         else
         {
             signalDrainPumpHardStop();
+#ifndef V_2_SYSTEM
+            // Done with draining R2, close it
+            setValveState( VRD2, VALVE_STATE_CLOSED );
+#endif
             setValveState( VPI, VALVE_STATE_OPEN );
             stateTrialCounter = 0;
             stateTimer = getMSTimerCount();
@@ -567,7 +594,11 @@
         if ( ( getTemperatureValue( TEMPSENSORS_INLET_PRIMARY_HEATER ) > MIN_INLET_TEMPERATURE_C ) &&
              ( getConductivityValue( CONDUCTIVITYSENSORS_CPI_SENSOR )  <=  MAX_INLET_CONDUCTIVITY_US_PER_CM ) )
         {
+#ifndef V_2_SYSTEM
+            setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+#else
             setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+#endif
             setROPumpTargetFlowRate( RO_PUMP_TARGET_FLUSH_FILL_FLOW_RATE_LPM, MAX_RO_PUMP_FLUSH_FILL_PRESSURE_PSI );
             stateTimer = getMSTimerCount();
             stateTrialCounter = 0;
@@ -714,7 +745,11 @@
             setValveState( VRF, VALVE_STATE_R2_C_TO_NO );
             setValveState( VRI, VALVE_STATE_R1_C_TO_NO );
             setValveState( VRO, VALVE_STATE_R2_C_TO_NC );
+#ifndef V_2_SYSTEM
+            setValveState( VRD1, VALVE_STATE_OPEN );
+#else
             setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
             setDrainPumpTargetRPM( DRAIN_PUMP_TARGET_RPM );
             stateTimer = getMSTimerCount();
 
@@ -764,6 +799,10 @@
     {
         // Done with draining R1
         signalDrainPumpHardStop();
+#ifndef V_2_SYSTEM
+        // Close VRD1
+        setValveState( VRD1, VALVE_STATE_CLOSED );
+#endif
     }
     else if ( DG_RESERVOIR_NOT_REACHED_TARGET == rsrvr1Status )
     {
@@ -804,10 +843,18 @@
 
             // Set the valves to drain R2 and no fill
             setValveState( VPI, VALVE_STATE_CLOSED );
+#ifndef V_2_SYSTEM
+            setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+#else
             setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+#endif
             setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
             setValveState( VRO, VALVE_STATE_R1_C_TO_NO );
+#ifndef V_2_SYSTEM
+            setValveState( VRD2, VALVE_STATE_OPEN );
+#else
             setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#endif
             setDrainPumpTargetRPM( DRAIN_PUMP_TARGET_RPM );
             // Start the timer for drain timeout
             stateTimer = getMSTimerCount();
@@ -851,7 +898,12 @@
     }
     else if ( DG_RESERVOIR_REACHED_TARGET == rsrvr2Status )
     {
+#ifndef V_2_SYSTEM
+        setValveState( VRD1, VALVE_STATE_OPEN );
+        setValveState( VRD2, VALVE_STATE_CLOSED );
+#else
         setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
         // Start the timer for drain timeout
         stateTimer = getMSTimerCount();
         rsrvr1Status = DG_RESERVOIR_ABOVE_TARGET;
@@ -893,12 +945,21 @@
 
         // Prepare for filling the reservoirs and heating the water
         setValveState( VPI, VALVE_STATE_OPEN );
+#ifndef V_2_SYSTEM
+        setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+#else
         setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+#endif
         setValveState( VPO, VALVE_STATE_FILL_C_TO_NC );
         setValveState( VRO, VALVE_STATE_R1_C_TO_NO );
         setValveState( VRI, VALVE_STATE_R2_C_TO_NC );
         setValveState( VRF, VALVE_STATE_R1_C_TO_NC );
+#ifndef V_2_SYSTEM
+        setValveState( VRD1, VALVE_STATE_CLOSED );
+        setValveState( VRD2, VALVE_STATE_OPEN );
+#else
         setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#endif
 
         // Turn on the RO pump
         setROPumpTargetFlowRate( RO_PUMP_TARGET_FLUSH_FILL_FLOW_RATE_LPM, MAX_RO_PUMP_FLUSH_FILL_PRESSURE_PSI );
@@ -957,7 +1018,11 @@
             // Set the valves to drain R2 and no fill
             setValveState( VPI, VALVE_STATE_CLOSED );
             setValveState( VBF, VALVE_STATE_OPEN );
+#ifndef V_2_SYSTEM
+            setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
+#else
             setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
+#endif
             setValveState( VDR, VALVE_STATE_RECIRC_C_TO_NC );
             setValveState( VRC, VALVE_STATE_RECIRC_C_TO_NC );
 
@@ -1025,7 +1090,12 @@
             //TODO turn off CP1 and CP2
             // Set the valves to transfer hot water from R1 to R2 and fill up R2.
             setValveState( VRO, VALVE_STATE_R2_C_TO_NC );
+#ifndef V_2_SYSTEM
+            setValveState( VRD1, VALVE_STATE_OPEN );
+            setValveState( VRD2, VALVE_STATE_CLOSED );
+#else
             setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
             setValveState( VRI, VALVE_STATE_R1_C_TO_NO );
             setValveState( VRF, VALVE_STATE_R2_C_TO_NO );
             // Although there is fluid in both reservoirs, but they are set to empty
@@ -1160,8 +1230,14 @@
         // water does not enter the circulation path the membrane is cooling down
         setValveState( VPI, VALVE_STATE_CLOSED );
         setValveState( VBF, VALVE_STATE_CLOSED );
+#ifndef V_2_SYSTEM
+        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
+        setValveState( VRD1, VALVE_STATE_CLOSED );
+#else
         setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
 
+#endif
+
         stateTimer = getMSTimerCount();
         state = DG_HEAT_DISINFECT_STATE_COOL_DOWN_RO_FILTER;
     }
@@ -1223,6 +1299,9 @@
     if ( ( TRUE == didTimeout( stateTimer, DRAIN_PUMP_START_TIME_IN_MIX_DRAIN_MS ) ) && ( isDrainPumpInMixDrainOn == FALSE ) )
     {
         isDrainPumpInMixDrainOn = TRUE;
+#ifndef V_2_SYSTEM
+        setValveState( VRD1, VALVE_STATE_OPEN );
+#endif
 
         // Turn on the drain pump to drain the reservoirs in open loop mode
         setDrainPumpTargetRPM( DRAIN_PUMP_RPM_IN_MIX_DRAIN );
@@ -1235,8 +1314,15 @@
         }
         else if ( DG_RESERVOIR_REACHED_TARGET == rsrvr1Status )
         {
+#ifndef V_2_SYSTEM
+            // Done with draining reservoir 1
+            setValveState( VRD1, VALVE_STATE_CLOSED );
             // Set the drain valve to reservoir 2
+            setValveState( VRD2, VALVE_STATE_OPEN );
+#else
+            // Set the drain valve to reservoir 2
             setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#endif
 
             rsrvr2Status = DG_RESERVOIR_ABOVE_TARGET;
             stateTimer = getMSTimerCount();
@@ -1245,7 +1331,7 @@
         else if ( DG_RESERVOIR_NOT_REACHED_TARGET == rsrvr1Status )
         {
             prevHeatDisinfectState = state;
-            state = DG_HEAT_DISINFECT_STATE_CANCEL_WATER_PATH;
+            state = DG_HEAT_DISINFECT_STATE_CANCEL_BASIC_PATH;
         }
     }
 
@@ -1277,7 +1363,13 @@
 
         // Set the valves to fill up R1 and overflow to R2
         setValveState( VPI, VALVE_STATE_OPEN );
+#ifndef V_2_SYSTEM
+        setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+        // Done with draining reservoir 2
+        setValveState( VRD2, VALVE_STATE_CLOSED );
+#else
         setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+#endif
         setValveState( VPO, VALVE_STATE_FILL_C_TO_NC );
         setValveState( VDR, VALVE_STATE_DRAIN_C_TO_NO );
         setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
@@ -1295,7 +1387,7 @@
     else if ( DG_RESERVOIR_NOT_REACHED_TARGET == rsrvr2Status )
     {
         prevHeatDisinfectState = state;
-        state = DG_HEAT_DISINFECT_STATE_CANCEL_WATER_PATH;
+        state = DG_HEAT_DISINFECT_STATE_CANCEL_BASIC_PATH;
     }
 
     return state;
@@ -1328,7 +1420,11 @@
             // Set the valves to rinse R2 to R1 and drain R1
             setValveState( VRF, VALVE_STATE_R2_C_TO_NO );
             setValveState( VRO, VALVE_STATE_R2_C_TO_NC );
+#ifndef V_2_SYSTEM
+            setValveState( VRD1, VALVE_STATE_R1_C_TO_NC );
+#else
             setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
             setValveState( VRI, VALVE_STATE_R1_C_TO_NO );
             setDrainPumpTargetRPM( DRAIN_PUMP_TARGET_RPM );
 
@@ -1377,6 +1473,9 @@
     {
         // Done with draining R1
         signalDrainPumpHardStop();
+#ifndef V_2_SYSTEM
+        setValveState( VRD1, VALVE_STATE_CLOSED );
+#endif
     }
     else if ( DG_RESERVOIR_NOT_REACHED_TARGET == rsrvr1Status )
     {
@@ -1401,10 +1500,18 @@
 
             // De-energize all the valves and set the VDr to drain R2
             setValveState( VPI, VALVE_STATE_CLOSED );
+#ifndef V_2_SYSTEM
+            setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+#else
             setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+#endif
             setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
             setValveState( VRO, VALVE_STATE_R1_C_TO_NO );
+#ifndef V_2_SYSTEM
+            setValveState( VRD2, VALVE_STATE_OPEN );
+#else
             setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#endif
             setValveState( VRI, VALVE_STATE_R1_C_TO_NO );
             setValveState( VRF, VALVE_STATE_R2_C_TO_NO );
 
@@ -1515,7 +1622,11 @@
         {
             // The fluid is hot so this is a mix drain. Set the VPd to direct the cold inlet fluid to drain
             setValveState( VPI, VALVE_STATE_OPEN );
+#ifndef V_2_SYSTEM
+            setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
+#else
             setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
+#endif
 
             targetRPM = DRAIN_PUMP_RPM_IN_MIX_DRAIN;
             cancellationMode = CANCELLATION_MODE_HOT;
@@ -1540,8 +1651,13 @@
 
         if ( DG_RESERVOIR_REACHED_TARGET == rsrvr2Status )
         {
+#ifndef V_2_SYSTEM
             // Set the drain valve to reservoir 1
+            setValveState( VRD1, VALVE_STATE_OPEN );
+#else
+            // Set the drain valve to reservoir 1
             setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
         }
     }
     else if ( DG_RESERVOIR_NOT_REACHED_TARGET == rsrvr2Status )
@@ -1590,6 +1706,45 @@
 
 /*********************************************************************//**
  * @brief
+ * The resetActuators function sets all the actuators to reset and
+ * de-energized state.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @return none
+ *************************************************************************/
+static void resetActuators( void )
+{
+    // UV reactors will not be used in the heat disinfection since their operating temperature
+    // range is below 85C and they might be damaged by the high temperature.
+    turnOffUVReactor( INLET_UV_REACTOR );
+    turnOffUVReactor( OUTLET_UV_REACTOR );
+
+    // De-energize all the valves
+    setValveState( VPI, VALVE_STATE_CLOSED );
+    setValveState( VBF, VALVE_STATE_CLOSED );
+    setValveState( VSP, VALVE_STATE_CLOSED );
+#ifndef V_2_SYSTEM
+            setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+#else
+            setValveState( VPD, VALVE_STATE_OPEN_C_TO_NO );
+#endif
+    setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
+    setValveState( VDR, VALVE_STATE_DRAIN_C_TO_NO );
+    setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
+    setValveState( VRO, VALVE_STATE_R1_C_TO_NO );
+    setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+    setValveState( VRI, VALVE_STATE_R1_C_TO_NO );
+    setValveState( VRF, VALVE_STATE_R2_C_TO_NO );
+
+    //TODO add the composition pumps
+    signalROPumpHardStop();
+    signalDrainPumpHardStop();
+    stopPrimaryHeater();
+    stopTrimmerHeater();
+}
+
+/*********************************************************************//**
+ * @brief
  * The failHeatDisinfect function sets the alarm that failed the heat
  * disinfect mode.
  * @details Inputs: alarm, prevHeatDisinfectState
@@ -1752,7 +1907,7 @@
             status = HEAT_DISINFECT_HEAT_UP_TIMEOUT;
         }
     }
-    else if ( isPartialDisinfectInProgress != TRUE && ThdTemp > HEAT_DISINFECT_START_TEMPERATURE_C )
+    else if ( ( isPartialDisinfectInProgress != TRUE ) && ( ThdTemp > HEAT_DISINFECT_START_TEMPERATURE_C ) )
     {
         // The temperature of the coldest spot is in range to start the disinfect timer
         heatDisinfectTimer           = getMSTimerCount();
Index: firmware/App/Modes/ModeInitPOST.c
===================================================================
diff -u -rb57b5341e4dfe3a7b17cd333bfcfac9036d11e85 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Modes/ModeInitPOST.c	(.../ModeInitPOST.c)	(revision b57b5341e4dfe3a7b17cd333bfcfac9036d11e85)
+++ firmware/App/Modes/ModeInitPOST.c	(.../ModeInitPOST.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -28,6 +28,7 @@
 #include "OperationModes.h"
 #include "Pressures.h"
 #include "RTC.h"
+#include "SystemCommMessages.h"
 #include "TemperatureSensors.h"
 #include "Thermistors.h"
 #include "UVReactors.h"
@@ -48,6 +49,7 @@
 // ********** private function prototypes **********
 
 static DG_POST_STATE_T handlePOSTStatus( SELF_TEST_STATUS_T testStatus );
+static SELF_TEST_STATUS_T execFWCompatibilityTest( void );
 
 /*********************************************************************//**
  * @brief
@@ -93,7 +95,7 @@
     switch ( postState )
     {
         case DG_POST_STATE_START:
-            postState = DG_POST_STATE_FW_INTEGRITY;
+            postState = DG_POST_STATE_FW_COMPATIBILITY;
 #ifdef SKIP_POST
             postState = DG_POST_STATE_COMPLETED;
 #endif
@@ -103,6 +105,11 @@
 #endif
             break;
 
+        case DG_POST_STATE_FW_COMPATIBILITY:
+            testStatus = execFWCompatibilityTest();
+            postState = handlePOSTStatus( testStatus );
+            break;
+
         case DG_POST_STATE_FW_INTEGRITY:
             testStatus = execIntegrityTest();
             postState = handlePOSTStatus( testStatus );
@@ -123,11 +130,6 @@
             postState = handlePOSTStatus( testStatus );
             break;
 
-        case DG_POST_STATE_LOAD_CELL:
-            testStatus = execLoadCellsSelfTest();
-            postState = handlePOSTStatus( testStatus );
-            break;
-
         case DG_POST_STATE_TEMPERATURE_SENSORS:
 #ifdef DONT_SKIP_NV_POST
             // Skip the rest of the POSTs
@@ -138,11 +140,6 @@
 #endif
             break;
 
-        case DG_POST_STATE_HEATERS:
-            testStatus = execHeatersSelfTest();
-            postState = handlePOSTStatus( testStatus );
-            break;
-
         case DG_POST_STATE_ACCELEROMETER:
 #ifndef DISABLE_ACCELS
             testStatus = execAccelTest();
@@ -182,6 +179,12 @@
 
         case DG_POST_STATE_WATCHDOG:
             testStatus = execWatchdogTest();
+            postState = handlePOSTStatus( testStatus );
+            break;
+
+            // Should be last POST (and last POST test must be a test that completes in a single call)
+        case DG_POST_STATE_LOAD_CELL:
+            testStatus = execLoadCellsSelfTest();
             handlePOSTStatus( testStatus );  // ignoring return value because last test
             if ( TRUE == tempPOSTPassed )
             {
@@ -194,17 +197,23 @@
             break;
 
         case DG_POST_STATE_COMPLETED:
-            // set overall DG POST status to "passed"
+            // Set overall HD POST status to "passed"
             postPassed = TRUE;
-            // set overall DG POST completed status to TRUE
+            // Set overall HD POST completed status to TRUE
             postCompleted = TRUE;
-            // TODO - send POST status on CAN
-            // go to standby mode
+            // Broadcast final POST passed
+            sendPOSTFinalResult( TRUE );
+            // Go to standby mode
             requestNewOperationMode( DG_MODE_STAN );
             break;
 
         case DG_POST_STATE_FAILED:
-            // Should not get here - any failed post test should have already triggered a fault and taken us to fault mode
+            // Broadcast final POST failed
+            sendPOSTFinalResult( FALSE );
+            // Will want POST faults to wait for us to get here before sending us to fault mode
+            requestNewOperationMode( DG_MODE_FAUL );
+            break;
+
         default:
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_MODE_INIT_POST_INVALID_POST_STATE, postState )
             postState = DG_POST_STATE_FAILED;
@@ -254,7 +263,12 @@
 
     if ( ( testStatus == SELF_TEST_STATUS_PASSED ) || ( testStatus == SELF_TEST_STATUS_FAILED ) )
     {
-        result = (DG_POST_STATE_T)((int)postState + 1);  // move on to next POST test
+        BOOL passed = ( testStatus == SELF_TEST_STATUS_PASSED ? 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 )
         {
             tempPOSTPassed = FALSE;
@@ -277,4 +291,20 @@
     return postState;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The execFWCompatibilityTest function executes the firmware compatibility test.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @return in progress, passed, or failed
+ *************************************************************************/
+static SELF_TEST_STATUS_T execFWCompatibilityTest( void )
+{
+    SELF_TEST_STATUS_T result = SELF_TEST_STATUS_PASSED;
+
+    // TODO - implement
+
+    return result;
+}
+
 /**@}*/
Index: firmware/App/Modes/ModeRecirculate.c
===================================================================
diff -u -r8467f8ff09e382e0991f14d02683080dc811e24e -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Modes/ModeRecirculate.c	(.../ModeRecirculate.c)	(revision 8467f8ff09e382e0991f14d02683080dc811e24e)
+++ firmware/App/Modes/ModeRecirculate.c	(.../ModeRecirculate.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -85,6 +85,9 @@
     // set initial actuator states
     setValveState( VSP, VALVE_STATE_CLOSED );
     setValveState( VPI, VALVE_STATE_OPEN );
+#ifndef V_2_SYSTEM
+    setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+#endif
     setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
     setValveState( VDR, VALVE_STATE_DRAIN_C_TO_NO );
     setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
Index: firmware/App/Modes/ModeStandby.c
===================================================================
diff -u -r64f7d82ff6637d6fb179d31b0c1481d68ed99143 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Modes/ModeStandby.c	(.../ModeStandby.c)	(revision 64f7d82ff6637d6fb179d31b0c1481d68ed99143)
+++ firmware/App/Modes/ModeStandby.c	(.../ModeStandby.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -101,7 +101,12 @@
     // set initial actuator states
     setValveState( VRF, VALVE_STATE_R2_C_TO_NO );
     setValveState( VRI, VALVE_STATE_R1_C_TO_NO );
+#ifndef V_2_SYSTEM
+    setValveState( VRD1, VALVE_STATE_CLOSED );
+    setValveState( VRD2, VALVE_STATE_CLOSED );
+#else
     setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#endif
     setValveState( VRO, VALVE_STATE_R1_C_TO_NO );
     setValveState( VPO, VALVE_STATE_NOFILL_C_TO_NO );
     setValveState( VRC, VALVE_STATE_DRAIN_C_TO_NO );
@@ -185,7 +190,11 @@
         flushFilterRequest = FALSE;
         filterFlushStartTime = getMSTimerCount();
         setValveState( VPI, VALVE_STATE_OPEN );
-        setValveState( VPD, VALVE_STATE_OPEN );      // TODO: VPD drain state is closed for V3
+#ifndef V_2_SYSTEM
+        setValveState( VPD, VALVE_STATE_OPEN_C_TO_NC );
+#else
+        setValveState( VPD, VALVE_STATE_OPEN );  // TODO: VPD drain state is closed for V3
+#endif
         state = DG_STANDBY_MODE_STATE_FLUSH_FILTER;
     }
     else if ( TRUE == pendingStartDGRequest )
@@ -253,7 +262,11 @@
     if ( TRUE == endSampleWaterRequest )
     {
         setValveState( VPI, VALVE_STATE_CLOSED );
+#ifndef V_2_SYSTEM
+        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
+#else
         setValveState( VPD, VALVE_STATE_CLOSED );
+#endif
         state = DG_STANDBY_MODE_STATE_IDLE;
     }
 
@@ -276,7 +289,11 @@
     if ( ( TRUE == stopSampleWaterRequest ) || ( TRUE == didTimeout( waterSampleStartTime, MAX_WATER_SAMPLE_TIME_MS ) ) )
     {
         setValveState( VSP, VALVE_STATE_CLOSED );
+#ifndef V_2_SYSTEM
+        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NO );
+#else
         setValveState( VPD, VALVE_STATE_OPEN );     // TODO: VPD drain state is closed for V3
+#endif
         state = DG_STANDBY_MODE_STATE_FLUSH_FILTER_IDLE;
     }
 
Index: firmware/App/Services/AlarmMgmtSWFaults.h
===================================================================
diff -u -r90b9d26ec61408366dcc745b583a69414a2271cd -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Services/AlarmMgmtSWFaults.h	(.../AlarmMgmtSWFaults.h)	(revision 90b9d26ec61408366dcc745b583a69414a2271cd)
+++ firmware/App/Services/AlarmMgmtSWFaults.h	(.../AlarmMgmtSWFaults.h)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -121,6 +121,9 @@
     SW_FAULT_ID_INVALID_CONDUCTIVITY_SENSOR_ID,                         // 90
     SW_FAULT_ID_INVALID_PRESSURE_SENSOR_ID,
     SW_FAULT_ID_INVALID_TASK,
+    SW_FAULT_ID_INVALID_VOLTAGE_MONITOR_STATE,
+    SW_FAULT_ID_INVALID_MONITORED_VOLTAGE_ID,
+    SW_FAULT_ID_INVALID_LOAD_CELL_ID,                                   // 95
     NUM_OF_SW_FAULT_IDS
 } SW_FAULT_ID_T;
 
Index: firmware/App/Services/FPGA.c
===================================================================
diff -u -r90b9d26ec61408366dcc745b583a69414a2271cd -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 90b9d26ec61408366dcc745b583a69414a2271cd)
+++ firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -23,6 +23,7 @@
 
 #include "FPGA.h"
 #include "Comm.h"
+#include "Compatible.h"
 #include "SystemCommMessages.h"
 #include "Utilities.h"
 
@@ -106,8 +107,8 @@
     U32 fpgaTPiTemp;                        ///< Reg 292. ADC RTD channel 3 - conductivity sensor CPi temperature
     U32 fpgaRTDTemp;                        ///< Reg 296. ADC RTD channel 4 - internal temperature
 
-    U32 fpgaTHDo;                           ///< Reg 300. ADC THDo channel 0 - temperature
-    U32 fpgaTHDoTemp;                       ///< Reg 304. ADC THDo channel 1 - internal temperature
+    U32 fpgaTRo;                            ///< Reg 300. ADC TRo channel 0 - temperature
+    U32 fpgaTRoTemp;                        ///< Reg 304. ADC TRo channel 1 - internal temperature
 
     U32 fpgaTDi;                            ///< Reg 308. ADC TDi channel 0 - temperature
     U32 fpgaTDiTemp;                        ///< Reg 312. ADC TDi channel 1 - internal temperature
@@ -140,8 +141,8 @@
     U08 fpgaADC2ErrorCnt;                   ///< Reg 357.
     U08 fpgaRTDReadCnt;                     ///< Reg 358. Temperature sensors read count
     U08 fpgaRTDErrorCnt;                    ///< Reg 359. Temperature sensors error count
-    U08 fpgaTHDoReadCnt;                    ///< Reg 360. Redundant outlet temperature sensor read count
-    U08 fpgaTHDoErrorCnt;                   ///< Reg 361. Redundant outlet temperature sensor error count
+    U08 fpgaTRoReadCnt;                     ///< Reg 360. Redundant outlet temperature sensor read count
+    U08 fpgaTRoErrorCnt;                    ///< Reg 361. Redundant outlet temperature sensor error count
     U08 fpgaTDiReadCnt;                     ///< Reg 362. Dialysate inlet temperature sensor read count
     U08 fpgaTDiErrorCnt;                    ///< Reg 363. Dialysate inlet temperature sensor error count
     U08 fpgaPrimaryHeaterFlags;             ///< Reg 364. Primary heater flags
@@ -466,10 +467,15 @@
             break;
     }
 
-    // if retries for commands exceeds limit, fault
-    if ( fpgaCommRetryCount > MAX_COMM_ERROR_RETRIES )
+    // if retries for commands exceeds limit or FPGA reports comm error, fault
+    if ( ( fpgaCommRetryCount > MAX_COMM_ERROR_RETRIES )
+#ifdef _RELEASE_
+         || ( fpgaSensorReadings.fpgaIOErrorCntProcessor > MAX_COMM_ERROR_RETRIES ) )
+#else
+         )
+#endif
     {
-        // TODO - FPGA comm fault
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_FPGA_COMM_TIMEOUT, fpgaCommRetryCount, (U32)fpgaSensorReadings.fpgaIOErrorCntProcessor )
     }
 
     // reset comm flags after processing incoming responses
@@ -722,7 +728,23 @@
     if ( 1 )
 #endif
     {
-        result = SELF_TEST_STATUS_PASSED;
+        // Check FPGA compatibility w/ firmware
+        if ( fpgaHeader.fpgaRevMajor > MIN_DG_FPGA_MAJOR )
+        {
+            result = SELF_TEST_STATUS_PASSED;
+        }
+        else
+        {
+            if ( ( MIN_DG_FPGA_MAJOR == fpgaHeader.fpgaRevMajor ) && ( fpgaHeader.fpgaRevMinor >= MIN_DG_FPGA_MINOR ) )
+            {
+                result = SELF_TEST_STATUS_PASSED;
+            }
+            else
+            {
+                result = SELF_TEST_STATUS_FAILED;
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_FPGA_POST_TEST_FAILED, (U32)fpgaHeader.fpgaRevMajor, (U32)fpgaHeader.fpgaRevMinor )
+            }
+        }
     }
     else
     {
@@ -1047,49 +1069,57 @@
 /*********************************************************************//**
  * @brief
  * The getFPGALoadCellA1 function gets the latest load cell A 1 reading.
+ * Least significant 24 bits are the reading.  Most significant bit indicates
+ * CRC or status error.
  * @details Inputs: fpgaSensorReadings
  * @details Outputs: none
  * @return last load cell A 1 reading
  *************************************************************************/
 U32 getFPGALoadCellA1( void )
 {
-    return ( fpgaSensorReadings.fpgaLCA1 & MASK_OFF_U32_MSB );
+    return fpgaSensorReadings.fpgaLCA1;
 }
 
 /*********************************************************************//**
  * @brief
  * The getFPGALoadCellA2 function gets the latest load cell A 2 reading.
+ * Least significant 24 bits are the reading.  Most significant bit indicates
+ * CRC or status error.
  * @details Inputs: fpgaSensorReadings
  * @details Outputs: none
  * @return last load cell A 2 reading
  *************************************************************************/
 U32 getFPGALoadCellA2( void )
 {
-    return ( fpgaSensorReadings.fpgaLCA2 & MASK_OFF_U32_MSB );
+    return fpgaSensorReadings.fpgaLCA2;
 }
 
 /*********************************************************************//**
  * @brief
  * The getFPGALoadCellB1 function gets the latest load cell B 1 reading.
+ * Least significant 24 bits are the reading.  Most significant bit indicates
+ * CRC or status error.
  * @details Inputs: fpgaSensorReadings
  * @details Outputs: none
  * @return last load cell B 1 reading
  *************************************************************************/
 U32 getFPGALoadCellB1( void )
 {
-    return ( fpgaSensorReadings.fpgaLCB1 & MASK_OFF_U32_MSB );
+    return fpgaSensorReadings.fpgaLCB1;
 }
 
 /*********************************************************************//**
  * @brief
  * The getFPGALoadCellB2 function gets the latest load cell B 2 reading.
+ * Least significant 24 bits are the reading.  Most significant bit indicates
+ * CRC or status error.
  * @details Inputs: fpgaSensorReadings
  * @details Outputs: none
  * @return last load cell B 2 reading
  *************************************************************************/
 U32 getFPGALoadCellB2( void )
 {
-    return ( fpgaSensorReadings.fpgaLCB2 & MASK_OFF_U32_MSB );
+    return fpgaSensorReadings.fpgaLCB2;
 }
 
 /*********************************************************************//**
@@ -1210,37 +1240,37 @@
  * @brief
  * The getFPGATRoTemp function gets the latest redundant sensor outlet
  * temperature reading in ADC.
- * @details Inputs: fpgaSensorReadings.fpgaTHDoTemp
+ * @details Inputs: fpgaSensorReadings.fpgaTRo
  * @details Outputs: none
  * @return Last redundant sensor outlet temperature reading
  *************************************************************************/
-U32 getFPGATHDoTemp( void )
+U32 getFPGATRoTemp( void )
 {
-    return fpgaSensorReadings.fpgaTHDo;
+    return fpgaSensorReadings.fpgaTRo;
 }
 
 /*********************************************************************//**
  * @brief
- * The getFPGATHDoErrorCount gets the error count of the THDo (redundant) temperature sensor.
- * @details Inputs: fpgaSensorReadings.fpgaTHDoErrorCnt
+ * The getFPGATRoErrorCount gets the error count of the THDo (redundant) temperature sensor.
+ * @details Inputs: fpgaSensorReadings.fpgaTRoErrorCnt
  * @details Outputs: none
  * @return Last redundant sensor outlet temperature error count
  *************************************************************************/
-U08 getFPGATHDoErrorCount( void )
+U08 getFPGATRoErrorCount( void )
 {
-    return fpgaSensorReadings.fpgaTHDoErrorCnt;
+    return fpgaSensorReadings.fpgaTRoErrorCnt;
 }
 
 /*********************************************************************//**
  * @brief
- * The getFPGATHDoReadCount gets the read count of the THDo (redundant) temperature sensor.
- * @details Inputs: fpgaSensorReadings.fpgaTHDoReadCnt
+ * The getFPGATRoReadCount gets the read count of the THDo (redundant) temperature sensor.
+ * @details Inputs: fpgaSensorReadings.fpgaTRoReadCnt
  * @details Outputs: none
  * @return Last redundant sensor outlet temperature error count reading
  *************************************************************************/
-U08 getFPGATHDoReadCount( void )
+U08 getFPGATRoReadCount( void )
 {
-    return fpgaSensorReadings.fpgaTHDoReadCnt;
+    return fpgaSensorReadings.fpgaTRoReadCnt;
 }
 
 /*********************************************************************//**
@@ -1703,14 +1733,14 @@
 
 /*********************************************************************//**
  * @brief
- * The getFPGATHDoInternalTemp function gets THDo internal temperature reading.
+ * The getFPGATRoInternalTemp function gets TRo internal temperature reading.
  * @details Inputs: fpgaSensorReadings
  * @details Outputs: none
- * @return THDo internal temperature reading in ADC counts
+ * @return TRo internal temperature reading in ADC counts
  *************************************************************************/
-U32 getFPGATHDoInternalTemp( void )
+U32 getFPGATRoInternalTemp( void )
 {
-    return fpgaSensorReadings.fpgaTHDoTemp;
+    return fpgaSensorReadings.fpgaTRoTemp;
 }
 
 /*********************************************************************//**
Index: firmware/App/Services/FPGA.h
===================================================================
diff -u -r0d46714bc22f87f7027c6e82ad59cef1a01ff69b -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Services/FPGA.h	(.../FPGA.h)	(revision 0d46714bc22f87f7027c6e82ad59cef1a01ff69b)
+++ firmware/App/Services/FPGA.h	(.../FPGA.h)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -68,10 +68,10 @@
 U08 getFPGARTDErrorCount( void );
 U08 getFPGARTDReadCount( void );
 
-U32 getFPGATHDoTemp( void );
+U32 getFPGATRoTemp( void );
 
-U08 getFPGATHDoErrorCount( void );
-U08 getFPGATHDoReadCount( void );
+U08 getFPGATRoErrorCount( void );
+U08 getFPGATRoReadCount( void );
 
 U32 getFPGATDiTemp( void );
 
@@ -122,7 +122,7 @@
 U16 getFPGABoardTemp( void );
 U32 getFPGALoadCellsA1B1Temp( void );
 U32 getFPGALoadCellsA2B2Temp( void );
-U32 getFPGATHDoInternalTemp( void );
+U32 getFPGATRoInternalTemp( void );
 U32 getFPGATDiInternalTemp( void );
 U32 getFPGACondSnsrInternalTemp( void );
 
Index: firmware/App/Services/SystemComm.c
===================================================================
diff -u -r64f7d82ff6637d6fb179d31b0c1481d68ed99143 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision 64f7d82ff6637d6fb179d31b0c1481d68ed99143)
+++ firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -1037,10 +1037,6 @@
             handleStartStopTrimmerHeaterCmd( message );
             break;
 
-        case MSG_ID_DG_TESTER_LOGIN_REQUEST:
-            handleTesterLogInRequest( message );
-            break;
-
         case MSG_ID_DG_START_STOP_FLUSH:
             handleStartStopDGFlush( message );
             break;
@@ -1049,6 +1045,14 @@
             handleStartStopDGHeatDisinfect( message );
             break;
 
+        case MSG_ID_UI_DG_SET_RTC_REQUEST:
+            handleUIClockSyncRequest( message );
+            break;
+
+        case MSG_ID_DG_TESTER_LOGIN_REQUEST:
+            handleTesterLogInRequest( message );
+            break;
+
         default:
             // unrecognized message ID received - ok, ignore - may be a test message handled below
             break;
@@ -1151,6 +1155,14 @@
                 handleTestDGAccelBroadcastIntervalOverrideRequest( message );
                 break;
 
+            case MSG_ID_DG_MONITORED_VOLTAGES_SEND_INTERVAL_OVERRIDE:
+                handleTestMonitoredVoltagesSendIntervalOverrideRequest( message );
+                break;
+
+            case MSG_ID_DG_MONITORED_VOLTAGES_OVERRIDE:
+                handleTestMonitoredVoltageOverrideRequest( message );
+                break;
+
             case MSG_ID_DRAIN_PUMP_SET_DELTA_PRESSURE_OVERRIDE:
                 handleSetDrainPumpDeltaPressureOverrideRequest( message );
                 break;
Index: firmware/App/Services/SystemCommMessages.c
===================================================================
diff -u -r64f7d82ff6637d6fb179d31b0c1481d68ed99143 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 64f7d82ff6637d6fb179d31b0c1481d68ed99143)
+++ firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -1025,6 +1025,34 @@
 
 /*********************************************************************//**
  * @brief
+ * The broadcastVoltagesData function constructs a monitored voltages data msg to
+ * be broadcast and queues the msg for transmit on the appropriate CAN channel.
+ * @details Inputs: none
+ * @details Outputs: monitored voltages data msg constructed and queued.
+ * @param data Latest monitored voltage values.
+ * @return TRUE if msg successfully queued for transmit, FALSE if not
+ *************************************************************************/
+BOOL broadcastVoltagesData( VOLTAGES_DATA_PAYLOAD_T data )
+{
+    BOOL result;
+    MESSAGE_T msg;
+    U08 *payloadPtr = msg.payload;
+
+    // Create a message record
+    blankMessage( &msg );
+    msg.hdr.msgID = MSG_ID_DG_VOLTAGES_DATA;
+    msg.hdr.payloadLen = sizeof( VOLTAGES_DATA_PAYLOAD_T );
+
+    memcpy( payloadPtr, &data, sizeof( VOLTAGES_DATA_PAYLOAD_T ) );
+
+    // Serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    result = serializeMessage( msg, COMM_BUFFER_OUT_CAN_DG_BROADCAST, ACK_NOT_REQUIRED );
+
+    return result;
+}
+
+ /*********************************************************************//**
+  * @brief
  * The broadcastFlushData function sends out the flush mode data.
  * @details Inputs: none
  * @details Outputs: flush data msg constructed and queued
@@ -1169,6 +1197,67 @@
 
 /*********************************************************************//**
  * @brief
+ * The sendPOSTTestResult function constructs an DG POST test result message
+ * and queues the msg for transmit on the appropriate CAN channel.
+ * @details Inputs: none
+ * @details Outputs: DG POST test result msg constructed and queued.
+ * @param test ID of DG POST test
+ * @param passed TRUE if POST test passed, FALSE if not
+ * @return TRUE if msg successfully queued for transmit, FALSE if not
+ *************************************************************************/
+BOOL sendPOSTTestResult( DG_POST_STATE_T test, BOOL passed )
+{
+    BOOL result;
+    MESSAGE_T msg;
+    U08 *payloadPtr = msg.payload;
+    U32 testID = (U32)test;
+
+    // Create a message record
+    blankMessage( &msg );
+    msg.hdr.msgID = MSG_ID_DG_POST_SINGLE_TEST_RESULT;
+    msg.hdr.payloadLen = sizeof( BOOL ) + sizeof( U32 );
+
+    memcpy( payloadPtr, &passed, sizeof( BOOL ) );
+    payloadPtr += sizeof( BOOL );
+    memcpy( payloadPtr, &testID, sizeof( U32) );
+
+    // Serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    result = serializeMessage( msg, COMM_BUFFER_OUT_CAN_DG_BROADCAST, ACK_NOT_REQUIRED );
+
+    return result;
+
+}
+
+/*********************************************************************//**
+ * @brief
+ * The sendPOSTFinalResult function constructs an DG POST final result message
+ * and queues the msg for transmit on the appropriate CAN channel.
+ * @details Inputs: none
+ * @details Outputs: DG POST final result msg constructed and queued.
+ * @param passed TRUE if DG POST passed, FALSE if not
+ * @return TRUE if msg successfully queued for transmit, FALSE if not
+ *************************************************************************/
+BOOL sendPOSTFinalResult( BOOL passed )
+{
+    BOOL result;
+    MESSAGE_T msg;
+    U08 *payloadPtr = msg.payload;
+
+    // Create a message record
+    blankMessage( &msg );
+    msg.hdr.msgID = MSG_ID_DG_POST_FINAL_TEST_RESULT;
+    msg.hdr.payloadLen = sizeof( BOOL );
+
+    memcpy( payloadPtr, &passed, sizeof( BOOL ) );
+
+    // Serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    result = serializeMessage( msg, COMM_BUFFER_OUT_CAN_DG_BROADCAST, ACK_NOT_REQUIRED );
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The sendCommandResponseMsg function constructs a command response to HD
  * and queues the msg for transmit on the appropriate CAN channel.
  * @details Inputs: none
@@ -2199,6 +2288,70 @@
 
 /*********************************************************************//**
  * @brief
+ * The handleTestMonitoredVoltagesSendIntervalOverrideRequest function handles a
+ * request to override the monitored DG voltages data publication interval.
+ * @details Inputs: none
+ * @details Outputs: message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleTestMonitoredVoltagesSendIntervalOverrideRequest( MESSAGE_T *message )
+{
+    TEST_OVERRIDE_PAYLOAD_T payload;
+    BOOL result = FALSE;
+
+    // Verify payload length
+    if ( sizeof(TEST_OVERRIDE_PAYLOAD_T) == message->hdr.payloadLen )
+    {
+        memcpy( &payload, message->payload, sizeof(TEST_OVERRIDE_PAYLOAD_T) );
+        if ( FALSE == payload.reset )
+        {
+            result = testSetVoltagesDataPublishIntervalOverride( payload.state.u32 );
+        }
+        else
+        {
+            result = testResetVoltagesDataPublishIntervalOverride();
+        }
+    }
+
+    // Respond to request
+    sendTestAckResponseMsg( (MSG_ID_T)message->hdr.msgID, result );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The handleTestMonitoredVoltageOverrideRequest function handles a
+ * request to override the monitored DG voltage override.
+ * @details Inputs: none
+ * @details Outputs: message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleTestMonitoredVoltageOverrideRequest( MESSAGE_T *message )
+{
+    TEST_OVERRIDE_ARRAY_PAYLOAD_T payload;
+    BOOL result = FALSE;
+
+    // Verify payload length
+    if ( sizeof(TEST_OVERRIDE_ARRAY_PAYLOAD_T) == message->hdr.payloadLen )
+    {
+        memcpy( &payload, message->payload, sizeof(TEST_OVERRIDE_ARRAY_PAYLOAD_T) );
+        if ( FALSE == payload.reset )
+        {
+            result = testSetLineLevelOverride( payload.index, payload.state.f32 );
+        }
+        else
+        {
+            result = testResetLineLevelOverride( payload.index );
+        }
+    }
+
+    // Respond to request
+    sendTestAckResponseMsg( (MSG_ID_T)message->hdr.msgID, result );
+}
+
+/*********************************************************************//**
+ * @brief
  * The handleTestSetConductivityOverrideRequest function handles a
  * request to override a conductivity sensor's value
  * @details Inputs: none
@@ -2813,6 +2966,51 @@
 }
 
 /*********************************************************************//**
+ * @brief
+ * The handleUIClockSyncRequest function handles a UI clock sync message.
+ * @details Inputs: none
+ * @details Outputs: message handled, response constructed and queued for transmit.
+ * @param messagePtr pointer to the message to handle.
+ * @return none
+ *************************************************************************/
+void handleUIClockSyncRequest( MESSAGE_T *message )
+{
+    BOOL result = FALSE;
+    U32 rejReason = REQUEST_REJECT_REASON_NONE;
+    MESSAGE_T msg;
+    U08 *payloadPtr = msg.payload;
+
+    if ( message->hdr.payloadLen == sizeof( U32 ) )
+    {
+        U32 epoch;
+
+        memcpy( &epoch,  message->payload, sizeof( U32 ) );
+        result = setRTCEpoch( epoch );
+        if ( FALSE == result )
+        {
+            rejReason = REQUEST_REJECT_REASON_INVALID_DATE_OR_TIME;
+        }
+    }
+    else
+    {
+        rejReason = REQUEST_REJECT_REASON_INVALID_REQUEST_FORMAT;
+    }
+
+    // Create a response message record
+    blankMessage( &msg );
+    msg.hdr.msgID = MSG_ID_DG_UI_SET_RTC_RESPONSE;
+    msg.hdr.payloadLen = sizeof( BOOL ) + sizeof( U32 );
+    memcpy( payloadPtr, &result, sizeof( BOOL ) );
+    payloadPtr += sizeof( BOOL );
+    memcpy( payloadPtr, &rejReason, sizeof( U32 ) );
+
+    // Serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    result = serializeMessage( msg, COMM_BUFFER_OUT_CAN_DG_2_UI, ACK_REQUIRED );
+
+    sendAckResponseMsg( (MSG_ID_T)message->hdr.msgID, COMM_BUFFER_OUT_CAN_DG_2_UI, result );
+}
+
+/*********************************************************************//**
 * @brief
 * The handleSetDGCalibrationRecord function handles a request to set the DG
 * calibration data record.
Index: firmware/App/Services/SystemCommMessages.h
===================================================================
diff -u -r64f7d82ff6637d6fb179d31b0c1481d68ed99143 -r5a36a768d11cc597a36b894c1fb3a5e5590130f1
--- firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 64f7d82ff6637d6fb179d31b0c1481d68ed99143)
+++ firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 5a36a768d11cc597a36b894c1fb3a5e5590130f1)
@@ -32,6 +32,7 @@
 #include "TemperatureSensors.h"
 #include "Thermistors.h"
 #include "UVReactors.h"
+#include "Voltages.h"
 
 /**
  *  @defgroup SystemCommMessages SystemCommMessages
@@ -111,6 +112,9 @@
 // MSG_ID_DG_FLUID_LEAK_STATE
 BOOL broadcastFluidLeakState( FLUID_LEAK_STATES_T state);
 
+// MSG_ID_DG_VOLTAGES_DATA
+BOOL broadcastVoltagesData( VOLTAGES_DATA_PAYLOAD_T data );
+
 // MSG_ID_DG_FLUSH_DATA
 BOOL broadcastFlushData( MODE_FLUSH_DATA_T *flushData );
 
@@ -171,6 +175,12 @@
 // MSG_ID_DG_SEND_SCHEDULED_RUNS_RECORD
 BOOL sendDGScheduledRunsRecord( U32 payloadCurrNum, U32 payloadTotalNum, U32 length, U08* scheduledRcrdAddress );
 
+// MSG_ID_DG_POST_SINGLE_TEST_RESULT
+BOOL sendPOSTTestResult( DG_POST_STATE_T test, BOOL passed );
+
+// MSG_ID_DG_POST_FINAL_TEST_RESULT
+BOOL sendPOSTFinalResult( BOOL passed );
+
 // *********** public test support message functions **********
 
 #ifdef DEBUG_ENABLED
@@ -254,6 +264,12 @@
 // MSG_ID_DG_ACCEL_SEND_INTERVAL_OVERRIDE:
 void handleTestDGAccelBroadcastIntervalOverrideRequest( MESSAGE_T *message );
 
+// MSG_ID_DG_MONITORED_VOLTAGES_SEND_INTERVAL_OVERRIDE
+void handleTestMonitoredVoltagesSendIntervalOverrideRequest( MESSAGE_T *message );
+
+// MSG_ID_DG_MONITORED_VOLTAGES_OVERRIDE
+void handleTestMonitoredVoltageOverrideRequest( MESSAGE_T *message );
+
 // MSG_ID_DG_START_STOP_INLET_UV_REACTOR
 void handleStartStopUVReactors( MESSAGE_T *message );
 
@@ -311,6 +327,9 @@
 // MSG_ID_DG_START_STOP_HEAT_DISINFECT
 BOOL handleStartStopDGHeatDisinfect( MESSAGE_T *message );
 
+// MSG_ID_UI_DG_SET_RTC_REQUEST
+void handleUIClockSyncRequest( MESSAGE_T *message );
+
 // MSG_ID_DG_SET_CALIBRATION_DATA
 void handleSetDGCalibrationRecord( MESSAGE_T *message );