Index: firmware/App/Modes/OperationModes.c
===================================================================
diff -u -rf308cc4c35eab630ebbbde405cfe47d049afeafb -re52973e08c03d6c9b10604e6e97259bcde076ebb
--- firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision f308cc4c35eab630ebbbde405cfe47d049afeafb)
+++ firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision e52973e08c03d6c9b10604e6e97259bcde076ebb)
@@ -8,7 +8,7 @@
 * @file OperationModes.c
 *
 * @author (last) Quang Nguyen
-* @date (last) 21-Jul-2020
+* @date (last) 24-Aug-2020
 *
 * @author (original) Dara Navaei
 * @date (original) 05-Nov-2019
@@ -17,9 +17,6 @@
 
 #include "gio.h"
 
-#include "SystemCommMessages.h"
-#include "TaskGeneral.h"
-#include "OperationModes.h"
 #include "ModeChemicalDisinfect.h"
 #include "ModeDrain.h"
 #include "ModeFault.h"
@@ -31,6 +28,9 @@
 #include "ModeService.h"
 #include "ModeSolo.h"
 #include "ModeStandby.h"
+#include "OperationModes.h"
+#include "SystemCommMessages.h"
+#include "TaskGeneral.h"
 
 /**
  *  @addtogroup DGOperationModes
@@ -39,17 +39,17 @@
 
 // ********** 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   ( 250 / TASK_GENERAL_INTERVAL )             ///< interval (ms/task time) at which the operation 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.
 
 /// 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] =
+static const DG_OP_MODE_T MODE_TRANSITION_TABLE[ NUM_OF_DG_MODES - 1 ][ NUM_OF_DG_MODES - 1 ] =
 {
 // from     to->           FAULT        SERVICE         INIT         STANBY       STBY-SOLO      RE-CIRC       FILL          DRAIN         FLUSH         HEAT DIS     CHEM DIS
         /* 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 },
@@ -65,7 +65,6 @@
         /* 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 +73,10 @@
 static void broadcastOperationMode( void );
 
 /*********************************************************************//**
- * @brief execOperationModes
- * The execOperationModes function initializes the Operation Modes module.
- * @details
- * Inputs : none
- * Outputs : Operation Modes module initialized.
+ * @brief
+ * The initOperationModes function initializes the operation modes module.
+ * @details Inputs: none
+ * @details Outputs: Operation modes module initialized
  * @return none
  *************************************************************************/
 void initOperationModes( void )
@@ -108,17 +106,13 @@
     initFlushMode();
     initHeatDisinfectMode();
     initChemicalDisinfectMode();
-
-    // initialize broadcast timer counter
-    dgOpModePublicationTimerCounter = 0;
 }
 
 /*********************************************************************//**
- * @brief execOperationModes
- * The execOperationModes function executes the Operation Modes state machine.
- * @details
- * Inputs : none
- * Outputs : currentMode is set by state machine.
+ * @brief
+ * The execOperationModes function executes the operation modes state machine.
+ * @details Inputs: currentMode
+ * @details Outputs: Operation modes' state machine executed
  * @return none
  *************************************************************************/
 void execOperationModes( void )
@@ -127,12 +121,12 @@
 
     // any new mode requests?
     newMode = arbitrateModeRequest();   // will return current mode if no pending requests
-    newMode = MODE_TRANSITION_TABLE[currentMode][newMode];
+    newMode = MODE_TRANSITION_TABLE[ currentMode ][ newMode ];
 
     // is requested new mode valid and legal at this time?
     if ( newMode >= DG_MODE_NLEG )
     {
-        // TODO - s/w fault
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_ILLEGAL_MODE_TRANSITION_REQUESTED, (U32)newMode )
         newMode = currentMode;
     }
 
@@ -192,22 +186,21 @@
             break;
 
         default:
-            // TODO - trigger s/w fault
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, (U32)currentMode )
             currentMode = DG_MODE_FAUL;
             currentSubMode = 0;
             break;
-    }   // end switch
+    }
 
     // publish op mode on interval
     broadcastOperationMode();
 }
 
 /*********************************************************************//**
- * @brief requestNewOperationMode
+ * @brief
  * The requestNewOperationMode function requests a new operation mode.
- * @details
- * Inputs : none
- * Outputs : makes the requested mode "pending".
+ * @details Inputs: none
+ * @details Outputs: makes the requested mode "pending"
  * @param newMode requested mode
  * @return none
  *************************************************************************/
@@ -221,30 +214,29 @@
     }
     else
     {  // invalid mode requested
-       // TODO - trigger s/w fault
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_REQUESTED, (U32)newMode )
     }
 }
 
 /*********************************************************************//**
- * @brief getCurrentOperationMode
- * The getCurrentOperationMode function initializes the Operation Modes module.
- * @details
- * Inputs : none
- * Outputs : Initializes the Operation Modes module.
- * @return none
+ * @brief
+ * The getCurrentOperationMode function returns the current operation mode.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @return current mode
  *************************************************************************/
 DG_OP_MODE_T getCurrentOperationMode( void )
 {
     return currentMode;
 }
 
 /*********************************************************************//**
- * @brief arbitrateModeRequest
- * The arbitrateModeRequest function initializes the Operation Modes module.
- * @details
- * Inputs : none
- * Outputs : Initializes the Operation Modes module.
- * @return none
+ * @brief
+ * The arbitrateModeRequest function selects highest priority mode request
+ * and clear all requests.
+ * @details Inputs: none
+ * @details Outputs: Arbitrated mode requests
+ * @return highest priority requested mode
  *************************************************************************/
 static DG_OP_MODE_T arbitrateModeRequest( void )
 {
@@ -277,11 +269,11 @@
 }
 
 /*********************************************************************//**
- * @brief transitionToNewOperationMode
- * The transitionToNewOperationMode function initializes the Operation Modes module.
- * @details
- * Inputs : none
- * Outputs : Initializes the Operation Modes module.
+ * @brief
+ * The transitionToNewOperationMode function undergo the process of transition
+ * to new operation mode.
+ * @details Inputs: none
+ * @details Outputs: Transition to new mode
  * @param newMode new op mode to transition to
  * @return none
  *************************************************************************/
@@ -324,18 +316,17 @@
             transitionToChemicalDisinfectMode();
             break;
         default:
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_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, SW_FAULT_ID_OP_MODES_INVALID_MODE_TO_TRANSITION_TO, (U32)newMode )
             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.
+ * @details Inputs: broadcastModeIntervalCtr
+ * @details Outputs: DG operation mode broadcast message sent
  * @return none
  *************************************************************************/
 static void broadcastOperationMode( void )