Index: firmware/App/Drivers/SafetyShutdown.c
===================================================================
diff -u -ref5ef16518466c92687b869cabfa16eaf3365dc0 -ra504d6899e709d7432af9c055db1bd1fe340d032
--- firmware/App/Drivers/SafetyShutdown.c	(.../SafetyShutdown.c)	(revision ef5ef16518466c92687b869cabfa16eaf3365dc0)
+++ firmware/App/Drivers/SafetyShutdown.c	(.../SafetyShutdown.c)	(revision a504d6899e709d7432af9c055db1bd1fe340d032)
@@ -1,54 +1,145 @@
-/**************************************************************************
- *
- *  Copyright (c) 2019-2020 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 SafetyShutdown.c
- *
- *  @date 20-Sep-2019
- *  @author S. Nash
- *
- *  @brief Controller for the safety shutdown signal.
- *
- **************************************************************************/
-
-#include "mibspi.h"
-
-#include "SafetyShutdown.h"
-
-// ********** private definitions **********
-
-// pin I/O macros
-#define SAFETY_SPI1_PORT_MASK       0x00000010  // (CS[4] - re-purposed as output GPIO)
-#define SET_SAFETY_SHUTDOWN()       {mibspiREG1->PC3 |= SAFETY_SPI1_PORT_MASK;}
-#define CLR_SAFETY_SHUTDOWN()       {mibspiREG1->PC3 &= ~SAFETY_SPI1_PORT_MASK;}
-
-/*************************************************************************
- * @brief initSafetyShutdown
- * The initSafetyShutdown function initializes the Buttons module.
- * @details
- * Inputs : none
- * Outputs : Safety Shutdown module signal output set to initial state.
- * @param none
- * @return none
- *************************************************************************/
-void initSafetyShutdown( void )
-{
-    CLR_SAFETY_SHUTDOWN();
-}
-
-/*************************************************************************
- * @brief activateSafetyShutdown
- * The activateSafetyShutdown function activates the safety shutdown signal.
- * @details
- * Inputs : none
- * Outputs : Safety Shutdown signal output set to active state.
- * @param none
- * @return none
- *************************************************************************/
-void activateSafetyShutdown( void )
-{
-    SET_SAFETY_SHUTDOWN();
-}
+/**********************************************************************//**
+ *
+ *  Copyright (c) 2019-2020 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 SafetyShutdown.c
+ *
+ *  @date 20-Sep-2019
+ *  @author S. Nash
+ *
+ *  @brief Controller for the safety shutdown signal.
+ *
+ **************************************************************************/
+
+#include "mibspi.h"
+
+#include "SystemCommMessages.h"
+#include "SafetyShutdown.h"
+
+/**
+ *  @addtogroup SafetyShutdown
+ *  @{
+ */
+
+// ********** private definitions **********
+
+// pin I/O macros
+#define SAFETY_SPI1_PORT_MASK       0x00000010  // (CS[4] - re-purposed as output GPIO)
+#define SET_SAFETY_SHUTDOWN()       {mibspiREG1->PC3 |= SAFETY_SPI1_PORT_MASK;}
+#define CLR_SAFETY_SHUTDOWN()       {mibspiREG1->PC3 &= ~SAFETY_SPI1_PORT_MASK;}
+
+// ********** private definitions **********
+
+static BOOL safetyShutdownActivated = FALSE;            ///< Status of safety shutdown signal.
+static BOOL safetyShutdownOverrideResetState = FALSE;   ///< Natural status of safety shutdown signal.  Used to restore state on override reset.
+
+/*************************************************************************
+ * @brief
+ * The initSafetyShutdown function initializes the Buttons module.
+ * @details
+ * Inputs : none
+ * Outputs : Safety Shutdown module signal output set to initial state.
+ * @return none
+ *************************************************************************/
+void initSafetyShutdown( void )
+{
+    CLR_SAFETY_SHUTDOWN();
+}
+
+/*************************************************************************
+ * @brief
+ * The activateSafetyShutdown function activates the safety shutdown signal.
+ * @details
+ * Inputs : none
+ * Outputs : Safety Shutdown signal output set to active state.
+ * @return none
+ *************************************************************************/
+void activateSafetyShutdown( void )
+{
+    SET_SAFETY_SHUTDOWN();
+}
+
+/*********************************************************************//**
+ * @brief
+ * The isSafetyShutdownActivated function returns whether the safety shutdown \n
+ * signal has been activated.
+ * @details
+ * Inputs : none
+ * Outputs : none
+ * @return safetyShutdownActivated
+ *************************************************************************/
+BOOL isSafetyShutdownActivated( void )
+{
+    return safetyShutdownActivated;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The testSetSafetyShutdownOverride function overrides the HD safety \n
+ * shutdown.
+ * @details
+ * Inputs : none
+ * Outputs : HD safety shutdown overridden
+ * @param value : TRUE to activate safety shutdown, FALSE to de-activate it.
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testSetSafetyShutdownOverride( U32 value )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        MOTOR_DIR_T dir;
+
+        // remember natural state before override so we can reset
+        safetyShutdownOverrideResetState = safetyShutdownActivated;
+        // override safety shutdown signal
+        if ( value > 0 )
+        {
+            activateSafetyShutdown();
+        }
+        else
+        {
+            safetyShutdownActivated = FALSE;
+            CLR_SAFETY_SHUTDOWN();
+        }
+        result = TRUE;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The testResetSafetyShutdownOverride function resets the override of the \n
+ * HD safety shutdown.
+ * @details
+ * Inputs : none
+ * Outputs : shutdown override reset
+ * @return TRUE if override reset successful, FALSE if not
+ *************************************************************************/
+BOOL testResetSafetyShutdownOverride( void )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        if ( TRUE == safetyShutdownOverrideResetState )
+        {
+            activateSafetyShutdown();
+        }
+        else
+        {
+            safetyShutdownActivated = FALSE;
+            CLR_SAFETY_SHUTDOWN();
+        }
+        result = TRUE;
+    }
+
+    return result;
+}
+
+/**@}*/