Index: SystemComm.c
===================================================================
diff -u -rbcc1ad9652142c462704a092ab3ac861ad161477 -r846cda3afaef883f86e6aced931e4b4070c8350f
--- SystemComm.c	(.../SystemComm.c)	(revision bcc1ad9652142c462704a092ab3ac861ad161477)
+++ SystemComm.c	(.../SystemComm.c)	(revision 846cda3afaef883f86e6aced931e4b4070c8350f)
@@ -15,6 +15,7 @@
 *
 ***************************************************************************/
 
+
 #include <string.h>     // For memcpy()
 
 #include "can.h"
@@ -24,16 +25,18 @@
 #include "Comm.h"
 #include "Interrupts.h"
 #include "Messaging.h"
-#include "OperationModes.h"
 #include "SystemComm.h"
 #ifdef _TD_
 #include "SystemCommTD.h"
+#include "OperationModes.h"
 #endif
 #ifdef _DD_
 #include "SystemCommDD.h"
+#include "OperationModes.h"
 #endif
 #ifdef _RO_
-#include "SystemCommRO.h"
+#include "SystemCommFP.h"
+#include "FPOperationModes.h"
 #endif
 #include "Timers.h"
 #include "Utilities.h"
@@ -252,7 +255,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_CAN_MESSAGE_BOX, srcCANBox )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_CAN_MESSAGE_BOX, srcCANBox )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_CAN_MESSAGE_BOX, srcCANBox )
 #endif
     }
 }
@@ -388,7 +391,7 @@
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_SYSTEM_CMMM_CAN_TRANSMIT_REJECTED, (U32)mBox )
 #endif
 #ifdef _RO_
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_SYSTEM_CMMM_CAN_TRANSMIT_REJECTED, (U32)mBox )
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_SYSTEM_CMMM_CAN_TRANSMIT_REJECTED, (U32)mBox )
 #endif
             }
         }
@@ -401,7 +404,7 @@
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_SYSTEM_COMM_INVALID_FRAME_SIZE, ((U32)buffer << 16) | dataSize )
 #endif
 #ifdef _RO_
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_SYSTEM_COMM_INVALID_FRAME_SIZE, ((U32)buffer << 16) | dataSize )
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_SYSTEM_COMM_INVALID_FRAME_SIZE, ((U32)buffer << 16) | dataSize )
 #endif
         }
     }
@@ -473,7 +476,7 @@
                     // Copy CRC portion of message data to the new message
                     rcvMsg.crc = *dataPtr;
                     // Set incoming buffer that message came into
-                    rcvMsg.msg.in_buffer = (COMM_BUFFER_T)i;
+                    rcvMsg.msg.in_buffer = getInBufferID( i );
                     // Add new message to queue for later processing
                     addToMsgQueue( MSG_Q_IN, &rcvMsg );
 #ifdef _TD_
@@ -734,7 +737,7 @@
 #ifdef _RO_
             // TODO : clean up required
             // Remove message pending ACK from list
-            if ( ( ( getU32OverrideValue( &pendingACKOverride ) != PENDING_ACK_LIST_OVERRIDE_DD_CHANNEL ) || ( pendingAckList[ i ].channel != COMM_BUFFER_OUT_CAN_RO_2_DD ) ) )
+            if ( ( ( getU32OverrideValue( &pendingACKOverride ) != PENDING_ACK_LIST_OVERRIDE_DD_CHANNEL ) || ( pendingAckList[ i ].channel != COMM_BUFFER_OUT_CAN_FP_2_DD ) ) )
 #endif
             {
                 pendingAckList[ i ].used = FALSE;
@@ -796,9 +799,9 @@
                 }
 #endif
 #ifdef _RO_
-                if ( pendingAckList[ i ].channel != COMM_BUFFER_OUT_CAN_RO_2_DD )
+                if ( pendingAckList[ i ].channel != COMM_BUFFER_OUT_CAN_FP_2_DD )
                 {
-                    SET_ALARM_WITH_1_U32_DATA( ALARM_ID_RO_CAN_MESSAGE_NOT_ACKED_BY_DD, (U32)msgID );
+                    SET_ALARM_WITH_1_U32_DATA( ALARM_ID_FP_CAN_MESSAGE_NOT_ACKED_BY_DD, (U32)msgID );
                 }
 #endif
                 pendingAckList[ i ].used = FALSE;  // Take pending message off of list