Index: firmware/App/Controllers/BalancingChamber.c
===================================================================
diff -u -r3c3ce491ef31e52b19e5166a04467ea359fbfdae -r081b2525e3a650671d770513eb841057d88ea505
--- firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision 3c3ce491ef31e52b19e5166a04467ea359fbfdae)
+++ firmware/App/Controllers/BalancingChamber.c	(.../BalancingChamber.c)	(revision 081b2525e3a650671d770513eb841057d88ea505)
@@ -7,8 +7,8 @@
 *
 * @file    BalancingChamber.c
 *
-* @author  (last)      Sameer Kalliadan Poyil
-* @date    (last)      24-Jun-2026
+* @author  (last)      Santhosh Reddy
+* @date    (last)      06-Jul-2026
 *
 * @author  (original)  Vinayakam Mani
 * @date    (original)  28-Jan-2025
@@ -23,10 +23,11 @@
 #include "FpgaDD.h"
 #include "Heaters.h"
 #include "Level.h"
+#include "MessageSupport.h"
+#include "Messaging.h"
 #include "MixingControl.h"
 #include "ModeGenDialysate.h"
 #include "ModeStandby.h"
-#include "Messaging.h"
 #include "OperationModes.h"
 #include "Pressure.h"
 #include "TaskGeneral.h"
@@ -61,6 +62,8 @@
 #define BICARB_CHAMBER_PERIODIC_FILL_TIME           ( 1 * SEC_PER_MIN * \
                                                     ( MS_PER_SECOND / TASK_GENERAL_INTERVAL ) ) ///< Periodic bicarb chamber fill request 60 sec x 20 = 1200
 #define BAL_CHAMBER_FILL_TIMEOUT_FACTOR             3.0F                                        ///< Balancing Chamber fill timeout factor (300% of observed fill count)
+#define COMP_SLOPE                                  -0.000376F                                  ///< Balancing chamber temperature compensation slope factor
+#define COMP_INTERCEPT                              1.007269F                                   ///< Balancing chamber temperature compensation intercept factor
 
 /// Payload record structure for balancing chamber switch only request
 typedef struct
@@ -108,9 +111,12 @@
 static F32 pendingTdDialysateFlowrate;                                                          ///< Pending TD dialysate flow rate; applied at FillEnd after a BC switch completes.
 static BOOL isBalChamberSwitchingPeriodUpdatePending;                                           ///< BC switching period update pending apply at fill end.
 static U32 bcSwitchingBasedOnClosedPeriodCounter;                                               ///< Valve-close segments remaining before first-cycle relaxations clear after Qd timing apply.
+static F32 balancingError;                                                                      ///< Balancing error that has been calculated during balancing chamber switching.
 
 //TODO: remove later once level sensor working
 static U32 bicarbChamberPeriodicFillCounter;  
+// Balancing chamber state change tracker
+static BAL_CHAMBER_EXEC_STATE_T prevBalChamberState;                                            ///< Balancing chamber Previous State tracking variable
 
 // ********** private function prototypes **********
 
@@ -132,6 +138,7 @@
 static void valveControlForBCState1FreshSideClose( void );
 static void valveControlForBCState2FreshSideClose( void );
 static void closeFreshSideValvesWhenFillComplete( void );
+static void calculateBalancingChamberError( void );
 
 /*********************************************************************//**
  * @brief
@@ -191,6 +198,8 @@
     pendingTdDialysateFlowrate                  = 0.0F;
     isBalChamberSwitchingPeriodUpdatePending    = FALSE;
     bcSwitchingBasedOnClosedPeriodCounter       = 0;
+    balancingError                              = 0.0F;
+    prevBalChamberState                         = BAL_CHAMBER_STATE_IDLE;
     //TODO:remove once level sensor working
     bicarbChamberPeriodicFillCounter            = 0;
 }
@@ -366,8 +375,8 @@
 /*********************************************************************//**
  * @brief
  * The execBalancingChamberControl function executes the balancing chamber state machine.
- * @details \b Inputs: balChamberExecState
- * @details \b Outputs: balChamberExecState
+ * @details \b Inputs: balChamberExecState, prevBalChamberState
+ * @details \b Outputs: balChamberExecState prevBalChamberState
  * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT when wrong balancing chamber state invoked.
  * @return current state.
  *************************************************************************/
@@ -452,6 +461,17 @@
             break;
     }
 
+    if ( prevBalChamberState != balChamberExecState )
+    {
+        if ( ( BAL_CHAMBER_STATE_IDLE == balChamberExecState ) ||
+             ( BAL_CHAMBER_STATE1_FILL_START == balChamberExecState ) ||
+             ( BAL_CHAMBER_STATE2_FILL_START == balChamberExecState ) )
+        {
+            SEND_EVENT_WITH_2_U32_DATA( DD_EVENT_BC_STATE_CHANGE, prevBalChamberState, balChamberExecState );
+        }
+    }
+    prevBalChamberState = balChamberExecState;
+
     //Publish balancing chamber data
     publishBalChamberData();
 
@@ -1610,14 +1630,15 @@
  * @brief
  * The setBalChamberSwitchingOnlyStatus function sets the balancing chamber
  * switching only On/Off status.
- * @details \b Inputs: balanceChamberSwitchingOnly
+ * @details \b Inputs: balanceChamberSwitchingOnly, isBalChamberSwitchingActive
  * @details \b Outputs: none
  * @param OnOff to set the BC switch status
  * @return none
  *************************************************************************/
 void setBalChamberSwitchingOnlyStatus( BOOL OnOff )
 {
     balanceChamberSwitchingOnly = OnOff;
+    SEND_EVENT_WITH_2_U32_DATA( DD_EVENT_BC_SWITCH_ONLY_MODE_CHANGE, balanceChamberSwitchingOnly, isBalChamberSwitchingActive );
 }
 
 /*********************************************************************//**
@@ -1669,6 +1690,50 @@
 
 /*********************************************************************//**
  * @brief
+ * The calculateBalancingChamberError function calculates the balancing error
+ * based on the fresh and spent dialysate temperature differences.
+ * @details \b Inputs: D4 and D50 temperature
+ * @details \b Outputs: balancing error
+ * @return balancing error the balancing error that impacts ultrafilteration.
+ *************************************************************************/
+static void calculateBalancingChamberError( void )
+{
+    F32 freshDensity        = 0.0F;
+    F32 spentDensity        = 0.0F;
+    F32 compFreshFlowrate   = 0.0F;
+    F32 compSpentFlowrate   = 0.0F;
+
+    // Fresh side dialysate density
+    if ( getTestConfigStatus( TEST_CONFIG_DD_FP_ENABLE_BETA_1_0_HW ) == TRUE )
+    {
+        freshDensity = ( COMP_SLOPE * getFilteredTemperatureValue( D4_TEMP ) ) + COMP_INTERCEPT;
+    }
+    else
+    {
+        freshDensity = ( COMP_SLOPE * getFilteredTemperatureValue( D99_TEMP ) ) + COMP_INTERCEPT;
+    }
+
+    spentDensity        = ( COMP_SLOPE * getFilteredTemperatureValue( D50_TEMP ) ) + COMP_INTERCEPT;        // spent side dialysate density
+    compFreshFlowrate   = getTDDialysateFlowrate() * freshDensity;                             // Qd * fresh density
+    compSpentFlowrate   = getTDDialysateFlowrate() * spentDensity;                             // Qd * spent density
+    balancingError      = compFreshFlowrate - compSpentFlowrate;                               // Error in g/min
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getBalancingChamberError function gets the calculated balancing chamber
+ * error that may be used for adjusting the ultrafiltration rate.
+ * @details \b Inputs: balancingError
+ * @details \b Outputs: none
+ * @return balancing chamber error
+ *************************************************************************/
+F32 getBalancingChamberError( void )
+{
+    return balancingError;
+}
+
+/*********************************************************************//**
+ * @brief
  * The publishBalChamberData function broadcasts the balancing chamber
  * execution data at defined interval.
  * @details \b Inputs: balChamberDataPublicationTimerCounter
Index: firmware/App/Controllers/DryBiCart.c
===================================================================
diff -u -r3c3ce491ef31e52b19e5166a04467ea359fbfdae -r081b2525e3a650671d770513eb841057d88ea505
--- firmware/App/Controllers/DryBiCart.c	(.../DryBiCart.c)	(revision 3c3ce491ef31e52b19e5166a04467ea359fbfdae)
+++ firmware/App/Controllers/DryBiCart.c	(.../DryBiCart.c)	(revision 081b2525e3a650671d770513eb841057d88ea505)
@@ -7,8 +7,8 @@
 *
 * @file    DryBiCart.c
 *
-* @author  (last)      Sameer Kalliadan Poyil
-* @date    (last)      25-Jun-2026
+* @author  (last)      Santhosh Reddy
+* @date    (last)      01-Jul-2026
 *
 * @author  (original)  Vinayakam Mani
 * @date    (original)  19-Nov-2025
@@ -24,6 +24,7 @@
 #include "DryBiCart.h"
 #include "Level.h"
 #include "Messaging.h"
+#include "MessageSupport.h"
 #include "MixingControl.h"
 #include "ModeGenDialysate.h"
 #include "OperationModes.h"
@@ -142,6 +143,8 @@
 static BOOL dryBiCartPressureDecayStartTimeFlag;                                                ///< Dry bicart d66 pressure decay start timer.
 static DRY_BICART_OPERATION_T dryBicartStartRequest;                                            ///< Dry bicart operation, fill or supply or drain request
 
+static DRY_BICART_OPERATION_T prevDryBicartState;                                               ///< Dry BiCart State Change Tracker
+
 // ********** private function prototypes **********
 
 static void updateDrybicartOperation(void);
@@ -250,6 +253,7 @@
     dryBiCartDrainTimePeriod                            = 0;
     dryBiCartPersistenceStartTime                       = 0;
     drybicartPersistenceOnLowercartPressureStartTime    = 0;
+    prevDryBicartState                                  = DRY_BICART_IDLE;
 }
 
 /*********************************************************************//**
@@ -269,8 +273,8 @@
  * @brief
  * The execDryBicart function executes the set of dry bicarbonate cartridge fill,
  * bicarbonate chamber fill and bicarbonate cartridge drain related state machines one at time
- * @details \b Inputs: dryBicartStartRequest
- * @details \b Outputs: none
+ * @details \b Inputs: dryBicartStartRequest, prevDryBicartState
+ * @details \b Outputs: prevDryBicartState
  * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT when wrong dry bicart state machine is
  * invoked.
  * @return none.
@@ -314,6 +318,12 @@
             break;
     }
 
+    if ( prevDryBicartState != dryBicartStartRequest )
+    {
+        SEND_EVENT_WITH_2_U32_DATA( DD_EVENT_DRY_BICART_STATE_CHANGE, prevDryBicartState, dryBicartStartRequest );
+        prevDryBicartState = dryBicartStartRequest;
+    }
+
     // Publish dry bicart data
     publishDryBicartData();
 }
Index: firmware/App/DDCommon.h
===================================================================
diff -u -rebc66999208b337d8cdef22c07f73d47bb0720a4 -r081b2525e3a650671d770513eb841057d88ea505
--- firmware/App/DDCommon.h	(.../DDCommon.h)	(revision ebc66999208b337d8cdef22c07f73d47bb0720a4)
+++ firmware/App/DDCommon.h	(.../DDCommon.h)	(revision 081b2525e3a650671d770513eb841057d88ea505)
@@ -25,7 +25,7 @@
 #define DD_VERSION_MAJOR    0
 #define DD_VERSION_MINOR    0
 #define DD_VERSION_MICRO    0
-#define DD_VERSION_BUILD    93
+#define DD_VERSION_BUILD    95
 
 // ********** development build switches **********