Index: firmware/App/Modes/SelfTests.c
===================================================================
diff -u -r5e79889ab3931589b2e05d554097d1a106c6634a -r62200ed6423dfd6ff7881bd0fc308162384e663e
--- firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision 5e79889ab3931589b2e05d554097d1a106c6634a)
+++ firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision 62200ed6423dfd6ff7881bd0fc308162384e663e)
@@ -122,10 +122,11 @@
 static void setupForSelfTestsStop( void );
 
 static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestsWaitForClosedDoor( void );
-static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestPumpsState( void );
 static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestLeakDetectorsState( void );
-static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestStartHomingState( void );
-static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeValvesAndPumpState( void );
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeValvesState( void );
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeSyringePumpState( void );
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestPumpsState( void );
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeIdleState( void );
 static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestStoppedState( void );
 
 static DRY_SELF_TESTS_STATE_T handleDrySelfTestWaitForDoorCloseState( void );
@@ -273,21 +274,25 @@
 
         case NO_CART_SELF_TESTS_BOARD_TEMPERATURE_STATE:
             // TODO: Implement self tests
-            currentNoCartSelfTestsState = NO_CART_SELF_TESTS_START_HOMING_STATE;
+            currentNoCartSelfTestsState = NO_CART_SELF_TESTS_HOME_VALVES_STATE;
             break;
 
-        case NO_CART_SELF_TESTS_START_HOMING_STATE:
-            currentNoCartSelfTestsState = handleNoCartSelfTestStartHomingState();
+        case NO_CART_SELF_TESTS_HOME_VALVES_STATE:
+            currentNoCartSelfTestsState = handleNoCartSelfTestHomeValvesState();
             break;
 
-        case NO_CART_SELF_TESTS_HOME_VALVES_AND_PUMPS_STATE:
-            currentNoCartSelfTestsState = handleNoCartSelfTestHomeValvesAndPumpState();
+        case NO_CART_SELF_TESTS_HOME_SYRINGE_PUMP_STATE:
+            currentNoCartSelfTestsState = handleNoCartSelfTestHomeSyringePumpState();
             break;
 
         case NO_CART_SELF_TESTS_PUMPS_STATE:
             currentNoCartSelfTestsState = handleNoCartSelfTestPumpsState();
             break;
 
+        case NO_CART_SELF_TESTS_HOME_IDLE_STATE:
+            currentNoCartSelfTestsState = handleNoCartSelfTestHomeIdleState();
+            break;
+
         case NO_CART_SELF_TESTS_STOPPED_STATE:
             currentNoCartSelfTestsState = handleNoCartSelfTestStoppedState();
             break;
@@ -598,37 +603,53 @@
 
 /*********************************************************************//**
  * @brief
- * The handleNoCartSelfTestPumpsState function runs blood, dialysate inlet,
- * dialysate outlet pumps for certain time to make sure no alarms occur.
+ * The handleNoCartSelfTestLeakDetectorsState function verifies leak detectors status.
  * @details Inputs: none
  * @details Outputs: none
  * @return the next state of no cartridge self-tests state machine
  *************************************************************************/
-static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestPumpsState( void )
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestLeakDetectorsState( void )
 {
-    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_PUMPS_STATE;
+    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_LEAK_DETECTORS_STATE;
+    // TODO: Use appropriate sensor driver
+    BOOL const bloodLeakDetector = getFPGABloodLeakDetectorStatus();
 
-    if ( FALSE == havePumpsStarted )
+    if ( TRUE == bloodLeakDetector )
     {
-        havePumpsStarted = TRUE;
-
-        setBloodPumpTargetFlowRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-        setDialInPumpTargetFlowRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-        setDialOutPumpTargetRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-        runPumpStartTime = getMSTimerCount();
+        // TODO: Use appropriate sensor driver
+        setFPGASensorTest( BLOOD_LEAK_NORMAL_OPERATION );
+        state = NO_CART_SELF_TESTS_BOARD_TEMPERATURE_STATE;
     }
+    else
+    {
+        SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_BLOOD_LEAK_SELF_TEST_FAILURE, (U32)bloodLeakDetector );
+    }
 
-    if ( TRUE == didTimeout( runPumpStartTime, PUMP_RUN_SELF_TEST_TIME_MS ) )
+    if ( TRUE == doesAlarmStatusIndicateStop() )
     {
-        signalBloodPumpHardStop();
-        signalDialInPumpHardStop();
-        signalDialOutPumpHardStop();
+        setupForSelfTestsStop();
+        state = NO_CART_SELF_TESTS_STOPPED_STATE;
+    }
 
-        // Home pumps for cartridge installation
-        homeBloodPump();
-        homeDialInPump();
-        homeDialOutPump();
-        state = NO_CART_SELF_TESTS_COMPLETE_STATE;
+    return state;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The handleNoCartSelfTestHomeValvesState function starts homing process for
+ * all the valves.
+ * @details Inputs: none
+ * @details Outputs: Home all valves
+ * @return the next state of no cartridge self-tests state machine
+ *************************************************************************/
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeValvesState( void )
+{
+    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_HOME_SYRINGE_PUMP_STATE;
+    VALVE_T valve;
+
+    for ( valve = VDI; valve < NUM_OF_VALVES; ++valve )
+    {
+        homeValve( valve );
     }
 
     if ( TRUE == doesAlarmStatusIndicateStop() )
@@ -642,27 +663,26 @@
 
 /*********************************************************************//**
  * @brief
- * The handleNoCartSelfTestLeakDetectorsState function verify leak detectors status.
- * @details Inputs: none
- * @details Outputs: none
- * @param result self-test result
+ * The handleNoCartSelfTestHomeSyringePumpState function homes syringe pump.
+ * @details Inputs: useHeparin
+ * @details Outputs: Home syringe pump
  * @return the next state of no cartridge self-tests state machine
  *************************************************************************/
-static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestLeakDetectorsState( void )
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeSyringePumpState( void )
 {
-    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_LEAK_DETECTORS_STATE;
-    // TODO: Use appropriate sensor driver
-    BOOL const bloodLeakDetector = getFPGABloodLeakDetectorStatus();
+    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_HOME_SYRINGE_PUMP_STATE;
 
-    if ( TRUE == bloodLeakDetector )
+    if ( TRUE == useHeparin )
     {
-        // TODO: Use appropriate sensor driver
-        setFPGASensorTest( BLOOD_LEAK_NORMAL_OPERATION );
-        state = NO_CART_SELF_TESTS_BOARD_TEMPERATURE_STATE;
+        if ( ( FALSE == isSyringePumpHome() ) && ( TRUE == isSyringePumpStopped() ) )
+        {
+            retractSyringePump();
+        }
     }
-    else
+
+    if ( TRUE == isSyringePumpHome() )
     {
-        SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_BLOOD_LEAK_SELF_TEST_FAILURE, (U32)bloodLeakDetector );
+        state = NO_CART_SELF_TESTS_PUMPS_STATE;
     }
 
     if ( TRUE == doesAlarmStatusIndicateStop() )
@@ -676,29 +696,37 @@
 
 /*********************************************************************//**
  * @brief
- * The handleNoCartSelfTestStartHomingState function start homing process for
- * all the valves and pumps.
+ * The handleNoCartSelfTestPumpsState function runs blood, dialysate inlet,
+ * dialysate outlet pumps for certain time to make sure no alarms occur.
  * @details Inputs: none
- * @details Outputs: Valves and pumps started homing
+ * @details Outputs: Ran self-test for blood, dialysate in, dialysate out pumps
  * @return the next state of no cartridge self-tests state machine
  *************************************************************************/
-static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestStartHomingState( void )
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestPumpsState( void )
 {
-    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_HOME_VALVES_AND_PUMPS_STATE;
-    VALVE_T valve;
+    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_PUMPS_STATE;
 
-    for ( valve = VDI; valve < NUM_OF_VALVES; ++valve )
+    if ( FALSE == havePumpsStarted )
     {
-        homeValve( valve );
+        havePumpsStarted = TRUE;
+
+        setBloodPumpTargetFlowRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        setDialInPumpTargetFlowRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        setDialOutPumpTargetRate( PUMP_SELF_TEST_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+        runPumpStartTime = getMSTimerCount();
     }
 
-    homeBloodPump();
-    homeDialInPump();
-    homeDialOutPump();
-
-    if ( TRUE == useHeparin )
+    if ( TRUE == didTimeout( runPumpStartTime, PUMP_RUN_SELF_TEST_TIME_MS ) )
     {
-        retractSyringePump();
+        signalBloodPumpHardStop();
+        signalDialInPumpHardStop();
+        signalDialOutPumpHardStop();
+
+        // Home pumps for cartridge installation
+        homeBloodPump();
+        homeDialInPump();
+        homeDialOutPump();
+        state = NO_CART_SELF_TESTS_HOME_IDLE_STATE;
     }
 
     if ( TRUE == doesAlarmStatusIndicateStop() )
@@ -712,28 +740,20 @@
 
 /*********************************************************************//**
  * @brief
- * The handleNoCartSelfTestHomeValvesAndPumpState function homes all valves
- * and pumps.
+ * The handleNoCartSelfTestHomeIdleState function waits for all pumps finish homing.
  * @details Inputs: none
- * @details Outputs: none
+ * @details Outputs: All pumps finished homing
  * @return the next state of no cartridge self-tests state machine
  *************************************************************************/
-static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeValvesAndPumpState( void )
+static NO_CART_SELF_TESTS_STATE_T handleNoCartSelfTestHomeIdleState( void )
 {
-    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_HOME_VALVES_AND_PUMPS_STATE;
+    NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_HOME_IDLE_STATE;
 
-    // Retry homing syringe pump
-    if ( ( FALSE == isSyringePumpHome() ) && ( TRUE == isSyringePumpStopped() ) )
+    if ( ( FALSE == isDialInPumpRunning() ) && ( FALSE == isDialOutPumpRunning() ) && ( FALSE == isBloodPumpRunning() ) )
     {
-        retractSyringePump();
+        state = NO_CART_SELF_TESTS_COMPLETE_STATE;
     }
 
-    if ( ( FALSE == isDialInPumpRunning() ) && ( FALSE == isDialOutPumpRunning() ) &&
-         ( FALSE == isBloodPumpRunning() ) && ( TRUE == isSyringePumpHome() ) )
-    {
-        state = NO_CART_SELF_TESTS_PUMPS_STATE;
-    }
-
     if ( TRUE == doesAlarmStatusIndicateStop() )
     {
         setupForSelfTestsStop();
@@ -758,7 +778,7 @@
     if ( TRUE == selfTestsResumeRequested )
     {
         selfTestsResumeRequested = FALSE;
-        havePumpsStarted = TRUE;
+        havePumpsStarted = FALSE;
         state = NO_CART_SELF_TESTS_WAIT_FOR_DOOR_CLOSE_STATE;
     }