Index: firmware/App/Services/Reservoirs.c
===================================================================
diff -u -rcbcd41ec1ac2d5ae6446ec206ed6991a5306c249 -rdcd360fb4dc37db2dcbeb7fb14fb327fe68235f4
--- firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision cbcd41ec1ac2d5ae6446ec206ed6991a5306c249)
+++ firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision dcd360fb4dc37db2dcbeb7fb14fb327fe68235f4)
@@ -1,25 +1,28 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2021 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 Reservoirs.c
+* @file    Reservoirs.c
 *
-* @author (last) Quang Nguyen
-* @date (last) 26-Aug-2020
+* @author  (last)      Dara Navaei
+* @date    (last)      11-Nov-2021
 *
-* @author (original) Sean
-* @date (original) 18-Mar-2020
+* @author  (original)  Sean
+* @date    (original)  18-Mar-2020
 *
 ***************************************************************************/
 
 #include <string.h>     // for memcpy()
 
 #include "LoadCell.h"
+#include "MessageSupport.h"
+#include "ModeDrain.h"
 #include "ModeGenIdle.h"
 #include "OperationModes.h"
+#include "Pressures.h"
 #include "Reservoirs.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
@@ -39,10 +42,14 @@
 #define DEFAULT_DRAIN_VOLUME_ML         0                                               ///< Default drain volume in mL.
 #define MAX_DRAIN_VOLUME_ML             MAX_RESERVOIR_VOLUME_ML                         ///< Maximum drain volume in mL.
 
-#define MAX_RESERVOIR_WEIGHT            10000                                           ///< Maximum reservoir weight in grams.
+#define MAX_RESERVOIR_WEIGHT            10000                                           ///< Maximum reservoir weight in grams.
+
+#define MIN_DRAIN_INLET_PSI_EMPTY       -3.0                                            ///< Minimum drain inlet pressure (in PSI) to indicate reservoir is empty while drain pump on.
 
-#define RESERVOIR_DATA_PUB_INTERVAL     ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )       ///< interval (ms/task time) at which the reservoir data is published on the CAN bus.
+#define RESERVOIR_DATA_PUB_INTERVAL     ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )       ///< interval (ms/task time) at which the reservoir data is published on the CAN bus.
 
+#define MAX_REDUNDANT_LOAD_CELL_DIFF    50.0                                            ///< Maximum difference in redundant load cells when determing if fill completed.
+
 // ********** private data **********
 
 static U32 reservoirDataPublicationTimerCounter = 0;                                    ///< used to schedule reservoir data publication to CAN bus.
@@ -84,8 +91,8 @@
 /*********************************************************************//**
  * @brief
  * The execReservoirs function manages periodic tasks for the Reservoirs module.
- * @details Inputs: none
- * @details Outputs: Reservoir data broadcast on interval
+ * @details Inputs: reservoirDataPublicationTimerCounter
+ * @details Outputs: reservoirDataPublicationTimerCounter
  * @return none
  *************************************************************************/
 void execReservoirs( void )
@@ -99,11 +106,14 @@
 
     // publish active reservoir, fill/drain volume targets at 1 Hz.
     if ( ++reservoirDataPublicationTimerCounter >= RESERVOIR_DATA_PUB_INTERVAL )
-    {
-        U32 actRes = getU32OverrideValue( &activeReservoir );
-        U32 filVol = getU32OverrideValue( &fillVolumeTargetMl );
-        U32 drnVol = getU32OverrideValue( &drainVolumeTargetMl );
-        broadcastReservoirData( actRes, filVol, drnVol );
+    {
+        RESERVOIR_DATA_T data;
+
+        data.activeReservoir = getU32OverrideValue( &activeReservoir );
+        data.fillToVolumeMl  = getU32OverrideValue( &fillVolumeTargetMl );
+        data.drainToVolumeMl = getU32OverrideValue( &drainVolumeTargetMl );
+
+        broadcastData( MSG_ID_DG_RESERVOIR_DATA, COMM_BUFFER_OUT_CAN_DG_BROADCAST, (U08*)&data, sizeof( RESERVOIR_DATA_T ) );
         reservoirDataPublicationTimerCounter = 0;
     }
 }
@@ -327,6 +337,7 @@
         {
             drainVolumeTargetMl.data = drainCmd.targetVolume;
             tareLoadCellRequest = drainCmd.tareLoadCell;
+            signalDrainModeRinseConcentrateLines( drainCmd.rinseConcentrateLines );
             requestNewOperationMode( DG_MODE_DRAI );
             cmdResponse.rejected = FALSE;
         }
@@ -456,10 +467,17 @@
  *************************************************************************/
 BOOL hasTargetFillVolumeBeenReached( DG_RESERVOIR_ID_T reservoirId )
 {
-    F32 const loadcellWeight = getLoadCellSmallFilteredWeight( associatedLoadCell[ reservoirId ] );
+    F32 const loadcellWeight1 = getLoadCellSmallFilteredWeight( associatedLoadCell[ reservoirId ] );
+    F32 const loadcellWeight2 = getLoadCellSmallFilteredWeight( redundantLoadCell[ reservoirId ] );
     U32 const targetFillVolume = getU32OverrideValue( &fillVolumeTargetMl );
-    BOOL const hasTargetReached = ( loadcellWeight >= targetFillVolume );
+    BOOL const hasTargetReached = ( ( loadcellWeight1 >= targetFillVolume || loadcellWeight2 > ( targetFillVolume + MAX_REDUNDANT_LOAD_CELL_DIFF ) ) ? TRUE : FALSE );
 
+    // if redundant load cells too far apart at end of fill, alarm
+    if ( loadcellWeight1 < targetFillVolume )
+    {
+        // TODO - alarm
+    }
+
     return hasTargetReached;
 }
 
@@ -491,7 +509,8 @@
 
     // If the goal is to tare the load cell, then the target drain should be reached and timing out on the
     // reservoir weight is not enough
-    if ( ( TRUE == hasTimeOut ) || ( ( TRUE == hasTargetReached ) && ( FALSE == tareLoadCellRequest ) ) )
+    if ( ( ( TRUE == hasTimeOut ) && ( getMeasuredDGPressure( PRESSURE_SENSOR_DRAIN_PUMP_INLET ) > MIN_DRAIN_INLET_PSI_EMPTY ) ) ||
+         ( ( TRUE == hasTargetReached ) && ( FALSE == tareLoadCellRequest ) ) )
     {
         result = TRUE;
         // Reset for next drain