Index: firmware/App/Services/Reservoirs.c
===================================================================
diff -u -rebbb1f85550a1f9b8f946655f7b2b63f76fbf67d -r99b0c8f1ff9f9319f68e5043cd8c007e317a05c0
--- firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision ebbb1f85550a1f9b8f946655f7b2b63f76fbf67d)
+++ firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision 99b0c8f1ff9f9319f68e5043cd8c007e317a05c0)
@@ -14,14 +14,14 @@
 * @date (original) 18-Mar-2020
 *
 ***************************************************************************/
-
-#include <string.h>     // for memcpy()
 
-#include "LoadCell.h"
-#include "ModeRecirculate.h"
-#include "OperationModes.h"
-#include "Reservoirs.h"
-#include "SystemCommMessages.h"
+#include <string.h>     // for memcpy()
+
+#include "LoadCell.h"
+#include "ModeRecirculate.h"
+#include "OperationModes.h"
+#include "Reservoirs.h"
+#include "SystemCommMessages.h"
 #include "TaskGeneral.h"
 #include "Timers.h"
 #include "Valves.h"
@@ -51,6 +51,7 @@
 
 static OVERRIDE_U32_T activeReservoir = { 0, 0, 0, 0 };                                 ///< The active reservoir that the DG is filling/draining/etc.
 static OVERRIDE_U32_T fillVolumeTargetMl = { 0, 0, 0, 0 };                              ///< The target reservoir fill volume (in mL).
+
 static OVERRIDE_U32_T drainVolumeTargetMl = { 0, 0, 0, 0 };                             ///< The target reservoir drain volume (in mL).
 
 /// The reservoirs' associate load cell.
@@ -62,11 +63,12 @@
 static F32 reservoirLowestWeight[ NUM_OF_DG_RESERVOIRS ] = { MAX_RESERVOIR_WEIGHT, MAX_RESERVOIR_WEIGHT };
 static U32 reservoirWeightUnchangeStartTime[ NUM_OF_DG_RESERVOIRS ] = { 0, 0 };         ///< The reservoirs' weight start time when weight stop decreasing.
 static BOOL tareLoadCellRequest;                                                        ///< Flag indicates if load cell tare has been requested by HD.
-
+
 // ********** private function prototypes **********
 
 static DG_RESERVOIR_ID_T getActiveReservoir( void );
 static U32 getReservoirFillVolumeTargetMl( void );
+
 static U32 getReservoirDrainVolumeTargetMl( void );
 
 /*********************************************************************//**
@@ -119,17 +121,21 @@
     cmdResponse.commandID = DG_CMD_SWITCH_RESERVOIR;
     cmdResponse.rejected = TRUE;
     cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
-
-    // switch reservoir command only valid in re-circulate mode
-    if ( DG_MODE_CIRC == getCurrentOperationMode() )
-    {
-        switch ( resID )
-        {
-            case DG_RESERVOIR_1:
+
+    // switch reservoir command only valid in re-circulate mode
+    if ( DG_MODE_CIRC == getCurrentOperationMode() )
+    {
+        switch ( resID )
+        {
+            case DG_RESERVOIR_1:
                 activeReservoir.data = (U32)resID;
                 cmdResponse.rejected = FALSE;
                 setValveState( VRF, VALVE_STATE_R2_C_TO_NO );
-                setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#ifndef V_2_SYSTEM
+                setValveState( VRD1, VALVE_STATE_OPEN );
+#else
+                setValveState( VRD, VALVE_STATE_R2_C_TO_NO );
+#endif
                 setValveState( VRO, VALVE_STATE_R1_C_TO_NO );
                 setValveState( VRI, VALVE_STATE_R1_C_TO_NO );
                 break;
@@ -138,24 +144,28 @@
                 activeReservoir.data = (U32)resID;
                 cmdResponse.rejected = FALSE;
                 setValveState( VRF, VALVE_STATE_R1_C_TO_NC );
-                setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#ifndef V_2_SYSTEM
+                setValveState( VRD2, VALVE_STATE_OPEN );
+#else
+                setValveState( VRD, VALVE_STATE_R1_C_TO_NC );
+#endif
                 setValveState( VRO, VALVE_STATE_R2_C_TO_NC );
                 setValveState( VRI, VALVE_STATE_R2_C_TO_NC );
                 break;
 
             default:
                 // invalid reservoir given - cmd will be NAK'd w/ false result.
-                cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_PARAMETER;
-                break;
-        }
+                cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_PARAMETER;
+                break;
+        }
     }
     else
     {
         cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_MODE;
-    }
+    }
 
     sendCommandResponseMsg( &cmdResponse );
-}
+}
 
 /*********************************************************************//**
  * @brief
@@ -204,145 +214,145 @@
 
     sendCommandResponseMsg( &cmdResponse );
 }
-
-/*********************************************************************//**
- * @brief
- * The startFillCmd function handles a fill command from the HD.
- * @details Inputs: none
- * @details Outputs: move to fill mode
- * @param fillToVolMl Target volume (in mL) to fill reservoir to
- * @return none
- *************************************************************************/
-void startFillCmd( U32 fillToVolMl )
-{
+
+/*********************************************************************//**
+ * @brief
+ * The startFillCmd function handles a fill command from the HD.
+ * @details Inputs: none
+ * @details Outputs: move to fill mode
+ * @param fillToVolMl Target volume (in mL) to fill reservoir to
+ * @return none
+ *************************************************************************/
+void startFillCmd( U32 fillToVolMl )
+{
     DG_CMD_RESPONSE_T cmdResponse;
 
     cmdResponse.commandID = DG_CMD_START_FILL;
     cmdResponse.rejected = TRUE;
-    cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
-
-    // fill command only valid in re-circulate mode
-    if ( ( DG_MODE_CIRC == getCurrentOperationMode() ) &&
-         ( DG_RECIRCULATE_MODE_STATE_RECIRC_WATER == getCurrentRecirculateState() ) )
-    {
-        // validate parameters
-        if ( fillToVolMl < MAX_FILL_VOLUME_ML )
-        {
-            fillVolumeTargetMl.data = fillToVolMl;
-            requestNewOperationMode( DG_MODE_FILL );
-            cmdResponse.rejected = FALSE;
+    cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
+
+    // fill command only valid in re-circulate mode
+    if ( ( DG_MODE_CIRC == getCurrentOperationMode() ) &&
+         ( DG_RECIRCULATE_MODE_STATE_RECIRC_WATER == getCurrentRecirculateState() ) )
+    {
+        // validate parameters
+        if ( fillToVolMl < MAX_FILL_VOLUME_ML )
+        {
+            fillVolumeTargetMl.data = fillToVolMl;
+            requestNewOperationMode( DG_MODE_FILL );
+            cmdResponse.rejected = FALSE;
         }
         else
         {
             cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_PARAMETER;
-        }
+        }
     }
     else
     {
         cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_MODE;
-    }
+    }
 
-    sendCommandResponseMsg( &cmdResponse );
-}
-
-/*********************************************************************//**
- * @brief
- * The stopFillCmd function handles a stop fill command from the HD.
- * @details Inputs: none
- * @details Outputs: move to re-circulate mode
- * @return none
- *************************************************************************/
-void stopFillCmd( void )
-{
+    sendCommandResponseMsg( &cmdResponse );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The stopFillCmd function handles a stop fill command from the HD.
+ * @details Inputs: none
+ * @details Outputs: move to re-circulate mode
+ * @return none
+ *************************************************************************/
+void stopFillCmd( void )
+{
     DG_CMD_RESPONSE_T cmdResponse;
 
     cmdResponse.commandID = DG_CMD_STOP_FILL;
     cmdResponse.rejected = TRUE;
     cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
-
-    // stop fill command only valid in fill mode
-    if ( DG_MODE_FILL == getCurrentOperationMode() )
-    {
-        fillVolumeTargetMl.data = 0;
-        requestNewOperationMode( DG_MODE_CIRC );
-        cmdResponse.rejected = FALSE;
+
+    // stop fill command only valid in fill mode
+    if ( DG_MODE_FILL == getCurrentOperationMode() )
+    {
+        fillVolumeTargetMl.data = 0;
+        requestNewOperationMode( DG_MODE_CIRC );
+        cmdResponse.rejected = FALSE;
     }
     else
     {
         cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_MODE;
-    }
-
-    sendCommandResponseMsg( &cmdResponse );
-}
-
-/*********************************************************************//**
- * @brief
- * The startDrainCmd function handles a drain command from the HD.
- * @details Inputs: none
- * @details Outputs: Start draining in re-circulate mode
- * @param drainCmd drain command data record
- * @return none
- *************************************************************************/
-void startDrainCmd( DRAIN_CMD_T drainCmd )
-{
+    }
+
+    sendCommandResponseMsg( &cmdResponse );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The startDrainCmd function handles a drain command from the HD.
+ * @details Inputs: none
+ * @details Outputs: Start draining in re-circulate mode
+ * @param drainCmd drain command data record
+ * @return none
+ *************************************************************************/
+void startDrainCmd( DRAIN_CMD_T drainCmd )
+{
     DG_CMD_RESPONSE_T cmdResponse;
 
     cmdResponse.commandID = DG_CMD_START_DRAIN;
     cmdResponse.rejected = TRUE;
-    cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
-
-    // drain command only valid in re-circulate mode
-    if ( DG_MODE_CIRC == getCurrentOperationMode() )
-    {
-        // validate parameters
-        if ( drainCmd.targetVolume <= MAX_DRAIN_VOLUME_ML )
-        {
+    cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
+
+    // drain command only valid in re-circulate mode
+    if ( DG_MODE_CIRC == getCurrentOperationMode() )
+    {
+        // validate parameters
+        if ( drainCmd.targetVolume <= MAX_DRAIN_VOLUME_ML )
+        {
             drainVolumeTargetMl.data = drainCmd.targetVolume;
-            tareLoadCellRequest = drainCmd.tareLoadCell;
-            requestNewOperationMode( DG_MODE_DRAI );
-            cmdResponse.rejected = FALSE;
+            tareLoadCellRequest = drainCmd.tareLoadCell;
+            requestNewOperationMode( DG_MODE_DRAI );
+            cmdResponse.rejected = FALSE;
         }
         else
         {
             cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_PARAMETER;
-        }
+        }
     }
     else
     {
         cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_MODE;
-    }
-
-    sendCommandResponseMsg( &cmdResponse );
-}
-
-/*********************************************************************//**
- * @brief
- * The stopDrainCmd function handles a stop drain command from the HD.
- * @details Inputs: none
- * @details Outputs: move to re-circulate mode
- * @return none
- *************************************************************************/
-void stopDrainCmd( void )
-{
+    }
+
+    sendCommandResponseMsg( &cmdResponse );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The stopDrainCmd function handles a stop drain command from the HD.
+ * @details Inputs: none
+ * @details Outputs: move to re-circulate mode
+ * @return none
+ *************************************************************************/
+void stopDrainCmd( void )
+{
     DG_CMD_RESPONSE_T cmdResponse;
 
     cmdResponse.commandID = DG_CMD_STOP_DRAIN;
     cmdResponse.rejected = TRUE;
-    cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
-
-    // stop drain command only valid in drain mode
-    if ( DG_MODE_DRAI == getCurrentOperationMode() )
-    {
-        drainVolumeTargetMl.data = 0;
-        requestNewOperationMode( DG_MODE_CIRC );
-        cmdResponse.rejected = FALSE;
-    }
+    cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_NONE;
+
+    // stop drain command only valid in drain mode
+    if ( DG_MODE_DRAI == getCurrentOperationMode() )
+    {
+        drainVolumeTargetMl.data = 0;
+        requestNewOperationMode( DG_MODE_CIRC );
+        cmdResponse.rejected = FALSE;
+    }
     else
     {
         cmdResponse.rejectCode = DG_CMD_REQUEST_REJECT_REASON_INVALID_MODE;
     }
-
-    sendCommandResponseMsg( &cmdResponse );
+
+    sendCommandResponseMsg( &cmdResponse );
 }
 
 /*********************************************************************//**
@@ -464,21 +474,47 @@
     if ( hasTimeOut || hasTargetReached )
     {
         result = TRUE;
+        // Reset for next drain
         reservoirLowestWeight[ reservoirId ] = MAX_RESERVOIR_WEIGHT;
-
-        if ( tareLoadCellRequest )
-        {
-            tareLoadCellRequest = FALSE;
-            tareLoadCell( associatedLoadCell[ reservoirId ] );
-            tareLoadCell( redundantLoadCell[ reservoirId ] );
-        }
     }
 
     return result;
 }
 
 /*********************************************************************//**
  * @brief
+ * The tareLoadCellsAtEmpty function tares the load cells for the given
+ * reservoir when empty and tare request is pending.
+ * @details Inputs: tareLoadCellRequest
+ * @details Outputs: tareLoadCellRequest
+ * @param reservoirId ID of reservoir to tare
+ * @return none
+ *************************************************************************/
+void tareLoadCellsAtEmpty( DG_RESERVOIR_ID_T reservoirId )
+{
+    if ( TRUE == tareLoadCellRequest )
+    {
+        tareLoadCellRequest = FALSE;
+        tareLoadCell( associatedLoadCell[ reservoirId ] );
+        tareLoadCell( redundantLoadCell[ reservoirId ] );
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The isReservoirTarePending function determines whether a reservoir tare
+ * request is currently pending.
+ * @details Inputs: tareLoadCellRequest
+ * @details Outputs: none
+ * @return tareLoadCellRequest
+ *************************************************************************/
+BOOL isReservoirTarePending( void )
+{
+    return tareLoadCellRequest;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getActiveReservoir function gets the active reservoir.
  * @details Inputs: activeReservoir
  * @details Outputs: none
@@ -535,142 +571,142 @@
 }
 
 
-/*************************************************************************
- *                       TEST SUPPORT FUNCTIONS
- *************************************************************************/
+/*************************************************************************
+ *                       TEST SUPPORT FUNCTIONS
+ *************************************************************************/
 
-
-/*********************************************************************//**
- * @brief
- * The testSetDGActiveReservoirOverride function overrides the active reservoir.
- * @details Inputs: activeReservoir
- * @details Outputs: activeReservoir
- * @param value override active reservoir ID
- * @return TRUE if override successful, FALSE if not
- *************************************************************************/
-BOOL testSetDGActiveReservoirOverride( DG_RESERVOIR_ID_T value )
-{
-    BOOL result = FALSE;
-
-    if ( TRUE == isTestingActivated() )
-    {
-        result = TRUE;
-        activeReservoir.ovData = value;
-        activeReservoir.override = OVERRIDE_KEY;
-    }
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
- * The activeReservoir function resets the override of the active reservoir.
- * @details Inputs: activeReservoir
- * @details Outputs: activeReservoir
- * @return TRUE if override reset successful, FALSE if not
- *************************************************************************/
-BOOL testResetDGActiveReservoirOverride( void )
-{
-    BOOL result = FALSE;
-
-    if ( TRUE == isTestingActivated() )
-    {
-        result = TRUE;
-        activeReservoir.override = OVERRIDE_RESET;
-        activeReservoir.ovData = activeReservoir.ovInitData;
-    }
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
- * The testSetReservoirFillVolumeMlOverride function overrides the target
- * reservoir fill volume (in mL).
- * @details Inputs: fillVolumeTargetMl
- * @details Outputs: fillVolumeTargetMl
- * @param value override target reservoir fill volume (in mL)
- * @return TRUE if override successful, FALSE if not
- *************************************************************************/
-BOOL testSetReservoirFillVolumeMlOverride( U32 value )
-{
-    BOOL result = FALSE;
-
-    if ( TRUE == isTestingActivated() )
-    {
-        result = TRUE;
-        fillVolumeTargetMl.ovData = value;
-        fillVolumeTargetMl.override = OVERRIDE_KEY;
-    }
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
+
+/*********************************************************************//**
+ * @brief
+ * The testSetDGActiveReservoirOverride function overrides the active reservoir.
+ * @details Inputs: activeReservoir
+ * @details Outputs: activeReservoir
+ * @param value override active reservoir ID
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testSetDGActiveReservoirOverride( DG_RESERVOIR_ID_T value )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        activeReservoir.ovData = value;
+        activeReservoir.override = OVERRIDE_KEY;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The activeReservoir function resets the override of the active reservoir.
+ * @details Inputs: activeReservoir
+ * @details Outputs: activeReservoir
+ * @return TRUE if override reset successful, FALSE if not
+ *************************************************************************/
+BOOL testResetDGActiveReservoirOverride( void )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        activeReservoir.override = OVERRIDE_RESET;
+        activeReservoir.ovData = activeReservoir.ovInitData;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The testSetReservoirFillVolumeMlOverride function overrides the target
+ * reservoir fill volume (in mL).
+ * @details Inputs: fillVolumeTargetMl
+ * @details Outputs: fillVolumeTargetMl
+ * @param value override target reservoir fill volume (in mL)
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testSetReservoirFillVolumeMlOverride( U32 value )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        fillVolumeTargetMl.ovData = value;
+        fillVolumeTargetMl.override = OVERRIDE_KEY;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The testResetReservoirFillVolumeMlOverride function resets the override of
- * the target reservoir fill volume.
- * @details Inputs: fillVolumeTargetMl
- * @details Outputs: fillVolumeTargetMl
- * @return TRUE if override reset successful, FALSE if not
- *************************************************************************/
-BOOL testResetReservoirFillVolumeMlOverride( void )
-{
-    BOOL result = FALSE;
-
-    if ( TRUE == isTestingActivated() )
-    {
-        result = TRUE;
-        fillVolumeTargetMl.override = OVERRIDE_RESET;
-        fillVolumeTargetMl.ovData = fillVolumeTargetMl.ovInitData;
-    }
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
- * The testSetReservoirDrainVolumeMlOverride function overrides the target
- * reservoir drain volume (in mL).
- * @details Inputs: drainVolumeTargetMl
- * @details Outputs: drainVolumeTargetMl
- * @param value override target reservoir drain volume (in mL)
- * @return TRUE if override successful, FALSE if not
- *************************************************************************/
-BOOL testSetReservoirDrainVolumeMlOverride( U32 value )
-{
-    BOOL result = FALSE;
-
-    if ( TRUE == isTestingActivated() )
-    {
-        result = TRUE;
-        drainVolumeTargetMl.ovData = value;
-        drainVolumeTargetMl.override = OVERRIDE_KEY;
-    }
-
-    return result;
-}
-
-/*********************************************************************//**
- * @brief
+ * the target reservoir fill volume.
+ * @details Inputs: fillVolumeTargetMl
+ * @details Outputs: fillVolumeTargetMl
+ * @return TRUE if override reset successful, FALSE if not
+ *************************************************************************/
+BOOL testResetReservoirFillVolumeMlOverride( void )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        fillVolumeTargetMl.override = OVERRIDE_RESET;
+        fillVolumeTargetMl.ovData = fillVolumeTargetMl.ovInitData;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The testSetReservoirDrainVolumeMlOverride function overrides the target
+ * reservoir drain volume (in mL).
+ * @details Inputs: drainVolumeTargetMl
+ * @details Outputs: drainVolumeTargetMl
+ * @param value override target reservoir drain volume (in mL)
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testSetReservoirDrainVolumeMlOverride( U32 value )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        drainVolumeTargetMl.ovData = value;
+        drainVolumeTargetMl.override = OVERRIDE_KEY;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The testResetReservoirDrainVolumeMlOverride function resets the override of
- * the target reservoir drain volume.
- * @details Inputs: drainVolumeTargetMl
- * @details Outputs: drainVolumeTargetMl
- * @return TRUE if override reset successful, FALSE if not
- *************************************************************************/
-BOOL testResetReservoirDrainVolumeMlOverride( void )
-{
-    BOOL result = FALSE;
-
-    if ( TRUE == isTestingActivated() )
-    {
-        result = TRUE;
-        drainVolumeTargetMl.override = OVERRIDE_RESET;
-        drainVolumeTargetMl.ovData = drainVolumeTargetMl.ovInitData;
-    }
-
-    return result;
-}
-
-/**@}*/
+ * the target reservoir drain volume.
+ * @details Inputs: drainVolumeTargetMl
+ * @details Outputs: drainVolumeTargetMl
+ * @return TRUE if override reset successful, FALSE if not
+ *************************************************************************/
+BOOL testResetReservoirDrainVolumeMlOverride( void )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        drainVolumeTargetMl.override = OVERRIDE_RESET;
+        drainVolumeTargetMl.ovData = drainVolumeTargetMl.ovInitData;
+    }
+
+    return result;
+}
+
+/**@}*/