Index: App/Services/FPGA.c
===================================================================
diff -u -rf97f667f6147c200e47e46d50306a89ee57c19f3 -rc8c2c1b2a5b2d4836d19fa3c719446c3089c4a36
--- App/Services/FPGA.c	(.../FPGA.c)	(revision f97f667f6147c200e47e46d50306a89ee57c19f3)
+++ App/Services/FPGA.c	(.../FPGA.c)	(revision c8c2c1b2a5b2d4836d19fa3c719446c3089c4a36)
@@ -63,6 +63,8 @@
 #define SCI2_RECEIVE_DMA_REQUEST        28
 #define SCI2_TRANSMIT_DMA_REQUEST       29
 
+#define MAX_COMM_ERROR_RETRIES          5
+
 // FPGA Sensors Record
 #pragma pack(push,1)
 typedef struct
@@ -98,6 +100,7 @@
 // FPGA state
 static FPGA_STATE_T fpgaState = FPGA_STATE_START;
 
+static U32 fpgaCommRetryCount = 0;
 static U32 fpgaReceiptCounter = 0;
 static U32 fpgaTransmitCounter = 0;
 static BOOL fpgaWriteCommandInProgress = FALSE;
@@ -302,13 +305,11 @@
     // see if we want to follow up with a bulk read command
     if ( TRUE == fpgaBulkWriteAndReadInProgress )
     {
-        // first receipt?
-        if ( 1 == fpgaReceiptCounter )
-        {
-            fpgaBulkWriteAndReadInProgress = FALSE;
-            fpgaReadCommandInProgress = TRUE;
-            // TODO - initiate bulk read command
-        }
+        fpgaBulkWriteAndReadInProgress = FALSE;
+        fpgaReadCommandInProgress = TRUE;
+        // initiate bulk read command
+        startDMAReceiptOfReadResp();
+        startDMAReadCmd();
     }
 }
 
@@ -349,8 +350,8 @@
             fpgaState = handleFPGAReceiveHeaderState();
             break;
 
+        // TODO - sensor/ADC init/configuration states
 
-
         case FPGA_STATE_RCV_ALL_SENSORS:
             fpgaState = handleFPGAReceiveAllSensorsState();
             break;
@@ -371,6 +372,12 @@
             break;
     }
 
+    // if retries for commands exceeds limit, fault
+    if ( fpgaCommRetryCount > MAX_COMM_ERROR_RETRIES )
+    {
+        // TODO - FPGA comm fault
+    }
+
     // reset comm flags after processing incoming responses
     resetFPGACommFlags();
 }
@@ -393,8 +400,8 @@
             fpgaState = handleFPGAReadHeaderState();
             break;
 
+        // TODO - sensor/ADC init/configuration states
 
-
         case FPGA_STATE_WRITE_ALL_ACTUATORS:
             fpgaState = handleFPGAWriteAllActuatorsState();
             break;
@@ -471,15 +478,25 @@
         {
             // does the FPGA response CRC check out?
             if ( 1 ) // TODO - check response CRC
-            {   // capture the read values
+            {
+                fpgaCommRetryCount = 0;
+                // capture the read values
                 memcpy( &fpgaHeader, &fpgaReadResponseBuffer[1], sizeof(FPGA_HEADER_T) );
                 result = FPGA_STATE_WRITE_ALL_ACTUATORS;
             }
+            else
+            {
+                fpgaCommRetryCount++;
+            }
         }
+        else  // header read was NAK'd
+        {
+            fpgaCommRetryCount++;
+        }
     }
-    else //
+    else // no response to read command
     {
-
+        fpgaCommRetryCount++;
     }
 
     // shouldn't be any data received at this time
@@ -505,7 +522,7 @@
 
     // construct bulk write command to write actuator data registers starting at address 3  (TODO - change address later)
     fpgaWriteCmdBuffer[0] = FPGA_WRITE_CMD_CODE;
-    fpgaWriteCmdBuffer[1] = 0x02;    // start at FPGA address 8
+    fpgaWriteCmdBuffer[1] = 0x08;    // start at FPGA address 8
     fpgaWriteCmdBuffer[2] = 0x00;
     fpgaWriteCmdBuffer[3] = 1;  // TODO - replace 1 with sizeof(FPGA_ACTUATORS_T)
 //    memcpy( &(fpgaWriteCmdBuffer[FPGA_WRITE_CMD_HDR_LEN]), &fpgaActuatorSetPoints, sizeof(FPGA_ACTUATORS_T) );
@@ -565,15 +582,25 @@
         {
             // does the FPGA response CRC check out?
             if ( 1 ) // TODO - check response CRC
-            {   // capture the read values
+            {
+                fpgaCommRetryCount = 0;
+                // capture the read values
                 memcpy( &fpgaSensorReadings, &fpgaReadResponseBuffer[1], sizeof(FPGA_SENSORS_T) );
                 result = FPGA_STATE_WRITE_ALL_ACTUATORS;
             }
+            else // bad CRC
+            {
+                fpgaCommRetryCount++;
+            }
         }
+        else // read command was NAK'd
+        {
+            fpgaCommRetryCount++;
+        }
     }
-    else
+    else // no response to read command
     {
-        // TODO - ???
+        fpgaCommRetryCount++;
     }
 
     // shouldn't be any data received at this time