Index: firmware/App/Modes/OperationModes.c
===================================================================
diff -u -ra7bf3ca23ea37a61000379facae628a31b3ecc59 -re30951f62cdc9c52f20e9218df947d3860b3c7a7
--- firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision a7bf3ca23ea37a61000379facae628a31b3ecc59)
+++ firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision e30951f62cdc9c52f20e9218df947d3860b3c7a7)
@@ -7,8 +7,8 @@
 *
 * @file OperationModes.c
 *
-* @author (last) Sean Nash
-* @date (last) 29-May-2020
+* @author (last) Quang Nguyen
+* @date (last) 24-Aug-2020
 *
 * @author (original) Dara Navaei
 * @date (original) 05-Nov-2019
@@ -39,14 +39,15 @@
 
 // ********** private definitions **********
 
-#define BROADCAST_DG_OP_MODE_INTERVAL       ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )  ///< interval (ms/task time) at which the op mode is published on the CAN bus.
+#define BROADCAST_DG_OP_MODE_INTERVAL   ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )   ///< interval (ms/task time) at which the op mode is published on the CAN bus.
 
 // ********** private data **********
 
-static volatile BOOL modeRequest[NUM_OF_DG_MODES - 1];      ///< Array of mode request flags.
-static DG_OP_MODE_T currentMode = DG_MODE_INIT;             ///< The currently active mode.
-static U32 currentSubMode = 0;                              ///< The currently active state of the active mode.
-static U32 broadcastModeIntervalCtr = 11;                   ///< Interval counter used to determine when to broadcase operation mode.  Initialize to 11 to stagger broadcast.
+static volatile BOOL modeRequest[NUM_OF_DG_MODES - 1];                              ///< Array of mode request flags.
+static DG_OP_MODE_T currentMode = DG_MODE_INIT;                                     ///< The currently active mode.
+static U32 currentSubMode = 0;                                                      ///< The currently active state of the active mode.
+static U32 broadcastModeIntervalCtr = 11;                                           ///< Interval counter used to determine when to broadcast operation mode.  Initialize to 11 to stagger broadcast.
+static U32 dgOpModePublicationTimerCounter = 0;                                    ///< Timer counter for DG operation mode publication
 
 /// This matrix determines legal transitions from one mode to another.
 static const DG_OP_MODE_T MODE_TRANSITION_TABLE[NUM_OF_DG_MODES - 1][NUM_OF_DG_MODES - 1] =
@@ -55,17 +56,16 @@
         /* FAUL     */{ DG_MODE_FAUL, DG_MODE_SERV, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG },
         /* SERV     */{ DG_MODE_FAUL, DG_MODE_SERV, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG },
         /* INIT     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_INIT, DG_MODE_STAN, DG_MODE_SOLO, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG },
-        /* STAN     */{ DG_MODE_FAUL, DG_MODE_SERV, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_SOLO, DG_MODE_CIRC, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_FLUS, DG_MODE_NLEG, DG_MODE_CHEM },
+        /* STAN     */{ DG_MODE_FAUL, DG_MODE_SERV, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_SOLO, DG_MODE_CIRC, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_FLUS, DG_MODE_HEAT, DG_MODE_CHEM },
         /* SOLO     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_SOLO, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_FLUS, DG_MODE_HEAT, DG_MODE_NLEG },
         /* CIRC     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_NLEG, DG_MODE_CIRC, DG_MODE_FILL, DG_MODE_DRAI, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG },
         /* FILL     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_NLEG, DG_MODE_CIRC, DG_MODE_FILL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG },
         /* DRAI     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_NLEG, DG_MODE_CIRC, DG_MODE_NLEG, DG_MODE_DRAI, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG },
         /* FLUS     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_SOLO, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_FLUS, DG_MODE_NLEG, DG_MODE_NLEG },
-        /* HEAT     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_SOLO, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_HEAT, DG_MODE_NLEG },
+        /* HEAT     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_SOLO, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_HEAT, DG_MODE_NLEG },
         /* CHEM     */{ DG_MODE_FAUL, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_STAN, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_NLEG, DG_MODE_CHEM }
 };
 
-static U32 dgOpModePublicationTimerCounter = 0;
 
 // ********** private function prototypes **********
 
@@ -74,11 +74,11 @@
 static void broadcastOperationMode( void );
 
 /*********************************************************************//**
- * @brief execOperationModes
- * The execOperationModes function initializes the Operation Modes module.
+ * @brief
+ * The initOperationModes function initializes the operation modes module.
  * @details
  * Inputs : none
- * Outputs : Operation Modes module initialized.
+ * Outputs : Operation modes module initialized
  * @return none
  *************************************************************************/
 void initOperationModes( void )
@@ -92,11 +92,7 @@
     }
 
     // start in init mode
-#ifndef CAN_TEST
     currentMode = DG_MODE_INIT;
-#else
-    currentMode = DG_MODE_FAUL;
-#endif
     currentSubMode = 0;
     transitionToNewOperationMode( DG_MODE_INIT );
 
@@ -118,11 +114,11 @@
 }
 
 /*********************************************************************//**
- * @brief execOperationModes
- * The execOperationModes function executes the Operation Modes state machine.
+ * @brief
+ * The execOperationModes function executes the operation modes state machine.
  * @details
- * Inputs : none
- * Outputs : currentMode is set by state machine.
+ * Inputs : currentMode
+ * Outputs : Operation modes' state machine executed
  * @return none
  *************************************************************************/
 void execOperationModes( void )
@@ -202,19 +198,17 @@
             break;
     }   // end switch
 
-#ifndef CAN_TEST
     // publish op mode on interval
     broadcastOperationMode();
-#endif
 }
 
 /*********************************************************************//**
- * @brief requestNewOperationMode
+ * @brief
  * The requestNewOperationMode function requests a new operation mode.
  * @details
  * Inputs : none
- * Outputs : makes the requested mode "pending".
- * @param newMode : requested mode
+ * Outputs : makes the requested mode "pending"
+ * @param newMode requested mode
  * @return none
  *************************************************************************/
 void requestNewOperationMode( DG_OP_MODE_T newMode )
@@ -232,25 +226,26 @@
 }
 
 /*********************************************************************//**
- * @brief getCurrentOperationMode
- * The getCurrentOperationMode function initializes the Operation Modes module.
+ * @brief
+ * The getCurrentOperationMode function returns the current operation mode.
  * @details
  * Inputs : none
- * Outputs : Initializes the Operation Modes module.
- * @return none
+ * Outputs : none
+ * @return current mode
  *************************************************************************/
 DG_OP_MODE_T getCurrentOperationMode( void )
 {
     return currentMode;
 }
 
 /*********************************************************************//**
- * @brief arbitrateModeRequest
- * The arbitrateModeRequest function initializes the Operation Modes module.
+ * @brief
+ * The arbitrateModeRequest function selects highest priority mode request
+ * and clear all requests.
  * @details
  * Inputs : none
- * Outputs : Initializes the Operation Modes module.
- * @return none
+ * Outputs : Arbitrated mode requests
+ * @return highest priority requested mode
  *************************************************************************/
 static DG_OP_MODE_T arbitrateModeRequest( void )
 {
@@ -283,12 +278,13 @@
 }
 
 /*********************************************************************//**
- * @brief transitionToNewOperationMode
- * The transitionToNewOperationMode function initializes the Operation Modes module.
+ * @brief
+ * The transitionToNewOperationMode function undergo the process of transition
+ * to new operation mode.
  * @details
  * Inputs : none
- * Outputs : Initializes the Operation Modes module.
- * @param newMode : new op mode to transition to
+ * Outputs : Transition to new mode
+ * @param newMode new op mode to transition to
  * @return none
  *************************************************************************/
 static void transitionToNewOperationMode( DG_OP_MODE_T newMode )
@@ -330,18 +326,18 @@
             transitionToChemicalDisinfectMode();
             break;
         default:
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, 0, (U32)newMode )     // TODO - add s/w fault enum to 1st data param
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, 0, (U32)newMode )     // TODO - add s/w fault enum to 1st data param
             break;
     }
 }
 
 /*********************************************************************//**
  * @brief
- * The broadcastOperationMode function sends the current operation mode at \n
+ * The broadcastOperationMode function broadcasts the current operation mode at
  * the prescribed interval.
  * @details
  * Inputs : broadcastModeIntervalCtr
- * Outputs : DG operation mode broadcast message sent.
+ * Outputs : DG operation mode broadcast message sent
  * @return none
  *************************************************************************/
 static void broadcastOperationMode( void )