Index: firmware/App/Modes/Dialysis.c
===================================================================
diff -u -r9848d793638e2f613678e60ea7c0f1e7bc31d9eb -r1f91b5a53bda942b0967817bbd5e68a499dbf816
--- firmware/App/Modes/Dialysis.c	(.../Dialysis.c)	(revision 9848d793638e2f613678e60ea7c0f1e7bc31d9eb)
+++ firmware/App/Modes/Dialysis.c	(.../Dialysis.c)	(revision 1f91b5a53bda942b0967817bbd5e68a499dbf816)
@@ -1,14 +1,14 @@
 /**************************************************************************
 *
-* Copyright (c) 2020-2022 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2020-2023 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    Dialysis.c
 *
-* @author  (last)      Dara Navaei
-* @date    (last)      23-May-2022
+* @author  (last)      Michael Garthwaite
+* @date    (last)      19-Jan-2023
 *
 * @author  (original)  Sean
 * @date    (original)  15-Jan-2020
@@ -52,6 +52,14 @@
 
 #define MAX_ACTIVE_LOAD_CELL_CHANGE_G           50.0F                           ///< Maximum delta between new and previous measured UF volume.
 
+/// Defined states for the Load Cell cycles.
+typedef enum Reservoir_Steady_Cycle
+{
+    RESERVOIR_STEADY_CYCLE_START = 0,           ///< Reservoir steady cycle load cell reading at Start
+    RESERVOIR_STEADY_CYCLE_FINAL,               ///< Reservoir steady cycle load cell reading at Final
+    NUM_OF_RESERVOIR_STEADY_CYCLES              ///< Number of Reservoir steady cycle load cell readings
+} RESERVOIR_STEADY_CYCLE_T;
+
 // ********** private data **********
 
 static DIALYSIS_STATE_T currentDialysisState;           ///< Current state of the dialysis sub-mode state machine.
@@ -65,7 +73,7 @@
 static F32 resCurrVolume[ NUM_OF_DG_RESERVOIRS ];       ///< Reservoir current volume.
 static F32 resLastVolume[ NUM_OF_DG_RESERVOIRS ];       ///< Reservoir previous volume.
 static F32 measUFVolumeFromPriorReservoirs;             ///< Current total ultrafiltration volume from previous reservoirs in current treatment.
-static F32 lcLastSteadyWeight[NUM_OF_LOAD_CELLS];        ///< Load Cell Last Steady Weight for drift test
+static F32 lcLastSteadyWeight[NUM_OF_RESERVOIR_STEADY_CYCLES][NUM_OF_LOAD_CELLS];    ///< Load Cell Last Steady Weight for drift test Start/Final cycle
 
 static U32 uFTimeMS;                                    ///< Current elapsed ultrafiltration time (in ms).  Used for calculating UF reference volume.
 static U32 lastUFTimeStamp;                             ///< HD timer value when we last took stock of ultrafiltration time (so we can determine how much time has elapsed since).
@@ -107,7 +115,7 @@
 static void updateUFVolumes( void );
 
 static void publishSalineBolusData( void );
-static void checkLoadCellsStablePrimaryBackupDriftOutOfRange( DG_RESERVOIR_ID_T reservoirID );
+static void checkLoadCellsStablePrimaryBackupDriftOutOfRange( DG_RESERVOIR_ID_T reservoirID, RESERVOIR_STEADY_CYCLE_T cycle );
 
 /*********************************************************************//**
  * @brief
@@ -148,7 +156,8 @@
 
     for (i=0; i<NUM_OF_LOAD_CELLS; i++)
     {
-        lcLastSteadyWeight[i] = LOAD_CELL_ILLEGAL_WEIGHT_VALUE;
+        lcLastSteadyWeight[RESERVOIR_STEADY_CYCLE_START][i] = LOAD_CELL_ILLEGAL_WEIGHT_VALUE;
+        lcLastSteadyWeight[RESERVOIR_STEADY_CYCLE_FINAL][i] = LOAD_CELL_ILLEGAL_WEIGHT_VALUE;
     }
     resetSalineBolus();
 }
@@ -194,6 +203,8 @@
 {
     PUMP_CONTROL_MODE_T mode = PUMP_CONTROL_MODE_CLOSED_LOOP;
 
+    doorClosedRequired( TRUE, TRUE );
+
     // Set last UF timestamp so UF ref is resumed from this time
     lastUFTimeStamp = getMSTimerCount();
     // Send dialysate outlet pump latest UF volumes
@@ -334,9 +345,9 @@
 void stopDialysis( void )
 {
     // Stop pumps
-    setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
-    setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
-    setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
+    signalDialInPumpHardStop();
+    signalDialOutPumpHardStop();
+    signalBloodPumpHardStop();
     stopSyringePump();
     // Tell DG to stop heating dialysate
     cmdStopDGTrimmerHeater();
@@ -520,8 +531,6 @@
     {
         result = TRUE;
         sendTreatmentLogEventData( UF_PAUSE_EVENT, setUFRate, 0.0 );
-        // Set outlet pump to dialysate rate
-        setDialOutPumpTargetRate( setDialysateFlowRate, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
         // Go to UF paused state
         currentUFState = UF_PAUSED_STATE;
         sendTreatmentLogEventData( UF_START_RESUME_EVENT, UF_RUNNING_STATE, UF_PAUSED_STATE );
@@ -571,8 +580,6 @@
     {
         result = TRUE;
         sendTreatmentLogEventData( UF_START_RESUME_EVENT, 0.0, setUFRate );
-        // Set outlet pump to dialysate rate + set UF rate
-        setDialOutPumpTargetRate( setDialysateFlowRate + (S32)setUFRate, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
         // Restart UF time accumulation for reference volume calculation
         lastUFTimeStamp = getMSTimerCount();
         // Go to UF running state
@@ -616,6 +623,8 @@
  *************************************************************************/
 void execDialysis( void )
 {
+    DIALYSIS_STATE_T priorSubState = currentDialysisState;
+
     // Check ultrafiltration max rate and accuracy during dialysis (even when ultrafiltration is paused).
     checkUFAccuracyAndVolume();
 
@@ -639,6 +648,10 @@
             break;
     }
 
+    if ( priorSubState != currentDialysisState )
+    {
+        SEND_EVENT_WITH_2_U32_DATA( HD_EVENT_SUB_STATE_CHANGE, priorSubState, currentDialysisState );
+    }
     // Publish saline bolus data at set interval (whether we are delivering one or not)
     publishSalineBolusData();
 }
@@ -654,6 +667,7 @@
 static DIALYSIS_STATE_T handleDialysisUltrafiltrationState( void )
 {
     DIALYSIS_STATE_T result = DIALYSIS_UF_STATE;
+    UF_STATE_T priorSubState = currentUFState;
     U32 preStop = getTreatmentParameterU32( TREATMENT_PARAM_HEPARIN_PRE_STOP_TIME );
     F32 minRem  = (F32)getTreatmentTimeRemainingSecs() / (F32)SEC_PER_MIN;
 
@@ -690,6 +704,11 @@
             break;
     }
 
+    if ( priorSubState != currentUFState )
+    {
+        SEND_EVENT_WITH_2_U32_DATA( HD_EVENT_SUB_STATE_CHANGE, priorSubState, currentUFState );
+    }
+
     return result;
 }
 
@@ -705,6 +724,8 @@
 {
     DIALYSIS_STATE_T result = DIALYSIS_SALINE_BOLUS_STATE;
 
+    SALINE_BOLUS_STATE_T priorSubState = currentSalineBolusState;
+
     switch ( currentSalineBolusState )
     {
         case SALINE_BOLUS_STATE_IDLE:
@@ -729,6 +750,11 @@
             break;
     }
 
+    if ( priorSubState != currentSalineBolusState )
+    {
+        SEND_EVENT_WITH_2_U32_DATA( HD_EVENT_SUB_STATE_CHANGE, priorSubState, currentSalineBolusState );
+    }
+
     return result;
 }
 
@@ -891,17 +917,9 @@
         // Switch to saline bag
         setValvePosition( VBA, VALVE_POSITION_C_CLOSE );
         // Start blood pump at saline bolus rate
-#ifndef RUN_PUMPS_OPEN_LOOP
         setBloodPumpTargetFlowRate( SALINE_BOLUS_FLOW_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
-#else
-        setBloodPumpTargetFlowRate( SALINE_BOLUS_FLOW_RATE, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-#endif
         // Start dialysate inlet pump at re-circ rate
-#ifndef RUN_PUMPS_OPEN_LOOP
         setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_CLOSED_LOOP );
-#else
-        setDialInPumpTargetFlowRate( DIALYSATE_FLOW_RATE_FOR_RECIRC, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-#endif
         // Begin saline bolus
         result = SALINE_BOLUS_STATE_IN_PROGRESS;
     }
@@ -1146,7 +1164,7 @@
     resStartVolume[ reservoirID ] = resVolume;
     resFinalVolume[ reservoirID ] = resVolume;
 
-    checkLoadCellsStablePrimaryBackupDriftOutOfRange( reservoirID );
+    checkLoadCellsStablePrimaryBackupDriftOutOfRange( reservoirID, RESERVOIR_STEADY_CYCLE_START );
 }
 
 /*********************************************************************//**
@@ -1185,7 +1203,7 @@
     resFinalVolume[ inactiveRes ] = resVolume;
     measUFVolumeFromPriorReservoirs += ( resFinalVolume[ inactiveRes ] - resStartVolume[ inactiveRes ] );
 
-    checkLoadCellsStablePrimaryBackupDriftOutOfRange( inactiveRes );
+    checkLoadCellsStablePrimaryBackupDriftOutOfRange( inactiveRes, RESERVOIR_STEADY_CYCLE_FINAL );
 }
 
 /*********************************************************************//**
@@ -1228,44 +1246,55 @@
  * @details Inputs: none
  * @details Outputs: none
  * @param reservoirID which is the reservoir ID that is range checked
+ * @param cycle - final or start reading for reservoir
  * @return none
  *************************************************************************/
-static void checkLoadCellsStablePrimaryBackupDriftOutOfRange( DG_RESERVOIR_ID_T reservoirID )
+static void checkLoadCellsStablePrimaryBackupDriftOutOfRange( DG_RESERVOIR_ID_T reservoirID, RESERVOIR_STEADY_CYCLE_T cycle )
 {
     F32 loadCellPrimaryWeight, loadCellBackupWeight;
     F32 loadCellPreviousDrift, loadCellCurrentDrift;
-    F32 driftDiff = 0.0;
+    F32 driftDiff = 0.0F;
     U16 lcPrimaryIndex, lcBackupIndex;
+    HD_EVENT_ID_T event;
 
     if ( DG_RESERVOIR_1 == reservoirID )
     {
         lcPrimaryIndex = LOAD_CELL_RESERVOIR_1_PRIMARY;
-        lcBackupIndex = LOAD_CELL_RESERVOIR_1_BACKUP;
+        lcBackupIndex  = LOAD_CELL_RESERVOIR_1_BACKUP;
+        event          = ( RESERVOIR_STEADY_CYCLE_START == cycle ? HD_EVENT_RSRVR_1_LOAD_CELL_START_VALUES : HD_EVENT_RSRVR_1_LOAD_CELL_END_VALUES );
     }
     else
     {
         lcPrimaryIndex = LOAD_CELL_RESERVOIR_2_PRIMARY;
-        lcBackupIndex = LOAD_CELL_RESERVOIR_2_BACKUP;
+        lcBackupIndex  = LOAD_CELL_RESERVOIR_2_BACKUP;
+        event          = ( RESERVOIR_STEADY_CYCLE_START == cycle ? HD_EVENT_RSRVR_2_LOAD_CELL_START_VALUES : HD_EVENT_RSRVR_2_LOAD_CELL_END_VALUES );
     }
 
     loadCellPrimaryWeight = getReservoirWeightLargeFilter( reservoirID );
     loadCellBackupWeight  = getReservoirBackupWeightLargeFilter( reservoirID );
-    loadCellCurrentDrift = fabs( loadCellPrimaryWeight - loadCellBackupWeight );
+    loadCellCurrentDrift  = loadCellPrimaryWeight - loadCellBackupWeight;
 
-    if ( lcLastSteadyWeight[lcPrimaryIndex] > (LOAD_CELL_ILLEGAL_WEIGHT_VALUE + 1) )
+    SEND_EVENT_WITH_2_F32_DATA( event, loadCellPrimaryWeight, loadCellBackupWeight )
+
+    if ( ( RESERVOIR_STEADY_CYCLE_FINAL == cycle ) && ( lcLastSteadyWeight[ RESERVOIR_STEADY_CYCLE_START ][ lcPrimaryIndex ] > ( LOAD_CELL_ILLEGAL_WEIGHT_VALUE + 1 ) ) )
     {
-        // Weight has been previously saved, ok to test
-        loadCellPreviousDrift = lcLastSteadyWeight[lcPrimaryIndex] - lcLastSteadyWeight[lcBackupIndex];
-        driftDiff = fabs ( loadCellCurrentDrift - loadCellPreviousDrift );
+        // Start Weight has been previously saved, ok to test
+        loadCellPreviousDrift = lcLastSteadyWeight[ RESERVOIR_STEADY_CYCLE_START ][ lcPrimaryIndex ] - lcLastSteadyWeight[ RESERVOIR_STEADY_CYCLE_START ][ lcBackupIndex ];
+        driftDiff             = fabs ( loadCellCurrentDrift - loadCellPreviousDrift );
     }
     // Save latest reading for next test time
-    lcLastSteadyWeight[lcPrimaryIndex] = loadCellPrimaryWeight;
-    lcLastSteadyWeight[lcBackupIndex]  = loadCellBackupWeight;
+    lcLastSteadyWeight[ cycle ][ lcPrimaryIndex ] = loadCellPrimaryWeight;
+    lcLastSteadyWeight[ cycle ][ lcBackupIndex ]  = loadCellBackupWeight;
 
-    // Check for drift out of range
-    if ( driftDiff > LOAD_CELL_PRIMARY_BACKUP_MAX_ALLOWED_DRIFT_GRAMS )
+#ifndef _RELEASE_
+    if ( getSoftwareConfigStatus( SW_CONFIG_DISABLE_ULTRAFILTRATION_ALARMS ) != SW_CONFIG_ENABLE_VALUE )
+#endif
     {
-        SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_LOAD_CELL_PRIMARY_BACKUP_DRIFT_OUT_OF_RANGE, loadCellCurrentDrift, loadCellPreviousDrift )
+        // Check for drift out of range
+        if ( driftDiff > LOAD_CELL_PRIMARY_BACKUP_MAX_ALLOWED_DRIFT_GRAMS )
+        {
+            SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_LOAD_CELL_PRIMARY_BACKUP_DRIFT_OUT_OF_RANGE, loadCellCurrentDrift, loadCellPreviousDrift )
+        }
     }
 }