Index: firmware/App/Modes/ModeFlush.c
===================================================================
diff -u -r45f4646609e6dd39691102e109d0b5c14f97e054 -r3f7419dca9422a1e65ca166c250ae599634a2a90
--- firmware/App/Modes/ModeFlush.c	(.../ModeFlush.c)	(revision 45f4646609e6dd39691102e109d0b5c14f97e054)
+++ firmware/App/Modes/ModeFlush.c	(.../ModeFlush.c)	(revision 3f7419dca9422a1e65ca166c250ae599634a2a90)
@@ -48,7 +48,6 @@
 
 
 // Drain R1 & R2 states defines
-#define RSRVRS_DRAIN_TIME_OUT_MS      ( 2 * 60 * MS_PER_SECOND )                           ///< Reservoirs 1 & 2 drain time out in milliseconds.
 #define DRAIN_WEIGHT_UNCHANGE_TIMEOUT    ( 6 * MS_PER_SECOND )                             ///< Time period of unchanged weight during draining before timeout.
 
 // Flush drain path state defines
@@ -87,6 +86,7 @@
 static DG_RESERVOIR_STATUS_T rsrvr2Status = NUM_OF_DG_RESERVOIR_STATUS;                    ///< Reservoir 2 status.
 static BOOL isThisInitialDrain = TRUE;                                                     ///< Initial drain boolean flag.
 static U32 dataPublishCounter = 0;                                                         ///< Flush data publish counter.
+static BOOL hasWaterCancellationBeenSet = FALSE;                                           ///< Water cancellation set/not set boolean flag.
 
 // ********** private function prototypes **********
 
@@ -114,23 +114,24 @@
  * The initFlushMode function initializes flush mode module.
  * @details Inputs: flushState, prevFlushState, rsrvrFillStableTimeCounter,
  * overallFlushElapsedTime, isThisInitialDrain, dataPublishCounter,
- * rsrvr1Status, rsrvr2Status
+ * rsrvr1Status, rsrvr2Status, hasWaterCancellationBeenSet
  * @details Outputs: flushState, prevFlushState, rsrvrFillStableTimeCounter,
  * overallFlushElapsedTime, isThisInitialDrain, dataPublishCounter,
- * rsrvr1Status, rsrvr2Status
+ * rsrvr1Status, rsrvr2Status, hasWaterCancellationBeenSet
  * @return none
 *************************************************************************/
 void initFlushMode( void )
 {
     // Initialize the variables
-    flushState                 = DG_FLUSH_STATE_START;
-    prevFlushState             = DG_FLUSH_STATE_START;
-    rsrvrFillStableTimeCounter = 0;
-    overallFlushElapsedTime    = 0;
-    isThisInitialDrain         = TRUE;
-    dataPublishCounter         = 0;
-    rsrvr1Status               = NUM_OF_DG_RESERVOIR_STATUS;
-    rsrvr2Status               = NUM_OF_DG_RESERVOIR_STATUS;
+    flushState                  = DG_FLUSH_STATE_START;
+    prevFlushState              = DG_FLUSH_STATE_START;
+    rsrvrFillStableTimeCounter  = 0;
+    overallFlushElapsedTime     = 0;
+    isThisInitialDrain          = TRUE;
+    dataPublishCounter          = 0;
+    rsrvr1Status                = NUM_OF_DG_RESERVOIR_STATUS;
+    rsrvr2Status                = NUM_OF_DG_RESERVOIR_STATUS;
+    hasWaterCancellationBeenSet = FALSE;
 }
 
 /*********************************************************************//**
@@ -243,7 +244,7 @@
     resetActuators();
 
     // Transition to mode standby
-    //requestNewOperationMode( DG_MODE_STAN );
+    //requestNewOperationMode( DG_MODE_STAN ); TODO which one should it transition to?
 
     requestNewOperationMode( DG_MODE_SOLO );
 }
@@ -313,7 +314,7 @@
 
     if ( rsrvr1Status == DG_RESERVOIR_ABOVE_TARGET )
     {
-        rsrvr1Status = getRsrvrDrainStatus( DG_RESERVOIR_1, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIME_OUT_MS );
+        rsrvr1Status = getRsrvrDrainStatus( DG_RESERVOIR_1, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIMEOUT_MS );
     }
     else if ( rsrvr1Status == DG_RESERVOIR_REACHED_TARGET )
     {
@@ -354,7 +355,7 @@
 
      if ( rsrvr2Status == DG_RESERVOIR_ABOVE_TARGET )
      {
-         rsrvr2Status = getRsrvrDrainStatus( DG_RESERVOIR_2, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIME_OUT_MS );
+         rsrvr2Status = getRsrvrDrainStatus( DG_RESERVOIR_2, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIMEOUT_MS );
      }
      else if ( rsrvr2Status == DG_RESERVOIR_REACHED_TARGET )
      {
@@ -370,6 +371,7 @@
          }
          else
          {
+             // Set the actuators to transition to flush circulation
              signalDrainPumpHardStop();
              setValveState( VPI, VALVE_STATE_OPEN );
              setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
@@ -544,7 +546,7 @@
     // If reservoir 1 is empty, turn off the drain pump
     if ( rsrvr1Status == DG_RESERVOIR_ABOVE_TARGET )
     {
-        rsrvr1Status = getRsrvrDrainStatus( DG_RESERVOIR_1, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIME_OUT_MS );
+        rsrvr1Status = getRsrvrDrainStatus( DG_RESERVOIR_1, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIMEOUT_MS );
     }
     else if ( rsrvr1Status == DG_RESERVOIR_REACHED_TARGET )
     {
@@ -607,17 +609,95 @@
     return state;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The handleFlushModeCancelBasicPathState function handles the flush
+ * cancel mode basic path state. The state sets the state
+ * to complete and raises an alarm.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @return next state of the flush state machine
+ *************************************************************************/
 static DG_FLUSH_STATE_T handleFlushModeCancelBasicPathState( void )
 {
     DG_FLUSH_STATE_T state = DG_FLUSH_STATE_CANCEL_BASIC_PATH;
 
+    // Once the fault alarm is raised, the DG Software will de-energize all the actuators
+    setModeToFailed();
+
     return state;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The handleFlushModeCancelWaterPathState function handles the flush mode
+ * cancel water path state. The state drains the 2 reservoirs. If the drain
+ * times out, it transitions to basic cancellation path.
+ * @details Inputs: rsrvr1Status, rsrvr2Status, stateTimer
+ * @details Outputs: rsrvr1Status, rsrvr2Status, stateTimer
+ * @return next state of the flush state machine
+ *************************************************************************/
 static DG_FLUSH_STATE_T handleFlushModeCancelWaterPathState( void )
 {
     DG_FLUSH_STATE_T state = DG_FLUSH_STATE_CANCEL_WATER_PATH;
 
+    if ( FALSE == hasWaterCancellationBeenSet )
+    {
+        // Stop all the actuators first then decide who should run next
+        resetActuators();
+
+        // The fluid is hot so this is a mix drain. Set the VPd to direct the cold inlet fluid to drain
+        setValveState( VPI, VALVE_STATE_OPEN );
+        setValveState( VPD, VALVE_STATE_DRAIN_C_TO_NC );
+
+        // Set both reservoirs to be considered as full
+        rsrvr1Status = DG_RESERVOIR_ABOVE_TARGET;
+        rsrvr2Status = DG_RESERVOIR_ABOVE_TARGET;
+
+        // Water cancellation path was set
+        hasWaterCancellationBeenSet = TRUE;
+
+        // The drain is set to start from reservoir 2 since all the actuators have been de-energized
+        // Start the drain pump
+        setDrainPumpTargetRPM( DRAIN_PUMP_TARGET_RPM );
+
+        // Start the timer for drain timeout
+        stateTimer = getMSTimerCount();
+    }
+
+    // If reservoir 2 is empty, set to drain reservoir 1
+    if ( rsrvr2Status == DG_RESERVOIR_ABOVE_TARGET )
+    {
+        // If the cancellation water path cannot be done, got to basic cancellation path
+        rsrvr2Status = getRsrvrDrainStatus( DG_RESERVOIR_2, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIMEOUT_MS );
+
+        if ( rsrvr2Status == DG_RESERVOIR_REACHED_TARGET )
+        {
+            // Set the drain valve to reservoir 1
+            setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+        }
+    }
+    else if ( rsrvr2Status == DG_RESERVOIR_NOT_REACHED_TARGET )
+    {
+        state = DG_FLUSH_STATE_CANCEL_BASIC_PATH;
+    }
+
+    // If reservoir 2 has already been drained and reservoir 1 is empty, reset and switch to complete
+    if ( ( rsrvr2Status == DG_RESERVOIR_REACHED_TARGET ) && ( rsrvr1Status == DG_RESERVOIR_ABOVE_TARGET ) )
+    {
+        // If the cancellation water path cannot be done, got to basic cancellation path
+        rsrvr1Status = getRsrvrDrainStatus( DG_RESERVOIR_1, DRAIN_WEIGHT_UNCHANGE_TIMEOUT, RSRVRS_DRAIN_TIMEOUT_MS );
+
+        if ( rsrvr1Status == DG_RESERVOIR_REACHED_TARGET )
+        {
+            setModeToFailed();
+        }
+    }
+    else if ( rsrvr1Status == DG_RESERVOIR_NOT_REACHED_TARGET )
+    {
+        state = DG_FLUSH_STATE_CANCEL_BASIC_PATH;
+    }
+
     return state;
 }