Index: firmware/App/Services/SystemCommMessages.c
===================================================================
diff -u -r16dfbeeca1bcf1d2115c2f7549999fdaae0700e9 -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 16dfbeeca1bcf1d2115c2f7549999fdaae0700e9)
+++ firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -18,13 +18,17 @@
 
 #include <string.h>     // for memcpy()
 
+#include "DrainPump.h"
+#include "LoadCell.h"
 #include "MsgQueues.h"
+#include "OperationModes.h"
+#include "Reservoirs.h"
+#include "ROPump.h"
+#include "RTC.h"
+#include "SystemComm.h"
+#include "Utilities.h"
 #include "WatchdogMgmt.h"
 #include "SystemCommMessages.h"
-#include "Utilities.h"
-#include "SystemComm.h"
-#include "RTC.h"
-#include "LoadCell.h"
 
 // ********** private definitions **********
 
@@ -66,6 +70,12 @@
 
 typedef struct
 {
+    U32 setDrainPumpSpeed;
+    F32 drainPumpPWM;
+} DRAIN_PUMP_DATA_T;
+
+typedef struct
+{
     F32 roPumpInletPressure;
     F32 roPumpOutletPressure;
     F32 drainPumpInletPressure;
@@ -83,6 +93,7 @@
 
 static U32 serializeMessage( MESSAGE_T msg, COMM_BUFFER_T buffer, BOOL ackReq );
 static BOOL sendTestAckResponseMsg( MSG_ID_T msgID, BOOL ack );
+static BOOL sendAckResponseMsg( MSG_ID_T msgID, COMM_BUFFER_T buffer, BOOL ack );
 
 /*************************************************************************
  * @brief serializeMessage
@@ -197,6 +208,36 @@
     return result;
 }
 
+/*************************************************************************
+ * @brief sendTestAckResponseMsg
+ * The sendTestAckResponseMsg function constructs a simple response \n
+ * message for a handled test message and queues it for transmit on the \n
+ * appropriate UART channel.
+ * @details
+ * Inputs : none
+ * Outputs : response message constructed and queued for transmit.
+ * @param msgID : ID of handled message that we are responding to
+ * @param buffer : outgoing buffer that message should be queued in
+ * @param ack : TRUE if test message was handled successfully, FALSE if not
+ * @return TRUE if response message successfully queued for transmit, FALSE if not
+ *************************************************************************/
+static BOOL sendAckResponseMsg( MSG_ID_T msgID, COMM_BUFFER_T buffer, BOOL ack )
+{
+    BOOL result;
+    MESSAGE_T msg;
+
+    // create a message record
+    blankMessage( &msg );
+    msg.hdr.msgID = msgID;
+    msg.hdr.payloadLen = sizeof( U08 );
+    msg.payload[ 0 ] = (U08)ack;
+
+    // serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    result = serializeMessage( msg, buffer, ACK_NOT_REQUIRED );
+
+    return result;
+}
+
 // ***********************************************************************
 // ********************* MSG_ID_OFF_BUTTON_PRESS *************************
 // ***********************************************************************
@@ -368,6 +409,39 @@
 
 /*************************************************************************
  * @brief
+ * The broadcastDrainPumpData function sends out RO pump data.
+ * @details
+ * Inputs : none
+ * Outputs : Drain pump data msg constructed and queued
+ * @param tgtSpeed : target speed for drain pump in RPM.
+ * @param setPWM : set PWM duty cycle in %.
+ * @return TRUE if msg successfully queued for transmit, FALSE if not
+ *************************************************************************/
+BOOL broadcastDrainPumpData( U32 tgtSpeed, F32 setPWM )
+{
+    BOOL result;
+    MESSAGE_T msg;
+    U08 *payloadPtr = msg.payload;
+    DRAIN_PUMP_DATA_T payload;
+
+    // create a message record
+    blankMessage( &msg );
+    msg.hdr.msgID = MSG_ID_DRAIN_PUMP_DATA;
+    msg.hdr.payloadLen = sizeof( DRAIN_PUMP_DATA_T );
+
+    payload.setDrainPumpSpeed = tgtSpeed;
+    payload.drainPumpPWM = setPWM;
+
+    memcpy( payloadPtr, &payload, sizeof( DRAIN_PUMP_DATA_T ) );
+
+    // serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    result = serializeMessage( msg, COMM_BUFFER_OUT_CAN_DG_BROADCAST, ACK_NOT_REQUIRED );
+
+    return result;
+}
+
+/*************************************************************************
+ * @brief
  * The broadcastPressureSensorsData function sends out DG pressure data.
  * @details
  * Inputs : none
@@ -404,6 +478,177 @@
 }
 
 /*************************************************************************
+ * @brief
+ * The handlePowerOffWarning function handles a power off warning message \n
+ * from the HD.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handlePowerOffWarning( MESSAGE_T *message )
+{
+    // TODO - signal modules that require a warning
+}
+
+/*************************************************************************
+ * @brief
+ * The handleSetDialysateTemperatureCmd function handles a dialysate temperature \n
+ * set points message from the HD.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleSetDialysateTemperatureCmd( MESSAGE_T *message )
+{
+    // TODO - parse and send temp targets to heaters module
+}
+
+/*************************************************************************
+ * @brief
+ * The handleFWVersionCmd function handles a FW version request message.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleFWVersionCmd( MESSAGE_T *message )
+{
+    MESSAGE_T msg;
+    U08 *payloadPtr = msg.payload;
+    U16 buildNum = (U16)DG_VERSION_BUILD;
+
+    // create a message record
+    blankMessage( &msg );
+    msg.hdr.msgID = MSG_ID_DG_VERSION;
+    msg.hdr.payloadLen = sizeof( U08 ) + sizeof( U08 ) + sizeof( U16 );
+
+    *payloadPtr = (U08)DG_VERSION_MAJOR;
+    payloadPtr++;
+    *payloadPtr = (U08)DG_VERSION_MINOR;
+    payloadPtr++;
+    memcpy( payloadPtr, &buildNum, sizeof( U16 ) );
+
+    // serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    serializeMessage( msg, COMM_BUFFER_OUT_CAN_DG_BROADCAST, ACK_NOT_REQUIRED );
+}
+
+/*************************************************************************
+ * @brief
+ * The handleSwitchReservoirCmd function handles a switch reservoirs command \n
+ * from the HD.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleSwitchReservoirCmd( MESSAGE_T *message )
+{
+    BOOL result = FALSE;
+
+    if ( message->hdr.payloadLen == sizeof(U32) )
+    {
+        U32 reservoirID;
+
+        result = TRUE;
+        memcpy( &reservoirID, message->payload, sizeof(U32) );
+        setActiveReservoir( (RESERVOIR_ID_T)reservoirID );
+    }
+    sendAckResponseMsg( (MSG_ID_T)message->hdr.msgID, COMM_BUFFER_OUT_CAN_DG_2_HD, result );
+}
+
+/*************************************************************************
+ * @brief
+ * The handleFillCmd function handles a fill command from the HD.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleFillCmd( MESSAGE_T *message )
+{
+    BOOL result = FALSE;
+
+    if ( message->hdr.payloadLen == sizeof(U32) )
+    {
+        U32 fillToVolumeMl;
+
+        result = TRUE;
+        memcpy( &fillToVolumeMl, message->payload, sizeof(U32) );
+        startFill( fillToVolumeMl );
+    }
+    sendAckResponseMsg( (MSG_ID_T)message->hdr.msgID, COMM_BUFFER_OUT_CAN_DG_2_HD, result );
+}
+
+/*************************************************************************
+ * @brief
+ * The handleDrainCmd function handles a drain command from the HD.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleDrainCmd( MESSAGE_T *message )
+{
+    BOOL result = FALSE;
+
+    if ( message->hdr.payloadLen == sizeof(U32) )
+    {
+        U32 drainToVolMl;
+
+        result = TRUE;
+        memcpy( &drainToVolMl, message->payload, sizeof(U32) );
+
+        startDrain( drainToVolMl );
+    }
+    sendAckResponseMsg( (MSG_ID_T)message->hdr.msgID, COMM_BUFFER_OUT_CAN_DG_2_HD, result );
+}
+
+/*************************************************************************
+ * @brief
+ * The handleStartStopTreatmentMsg function handles a treatment start/stop \n
+ * message from the HD.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+void handleStartStopTreatmentMsg( MESSAGE_T *message )
+{
+    BOOL result = FALSE;
+
+    if ( message->hdr.payloadLen == sizeof(U32) )
+    {
+        BOOL startingTreatment;
+
+        result = TRUE;
+        memcpy( &startingTreatment, message->payload, sizeof(U32) );
+
+        if ( MODE_STAN == getCurrentOperationMode() && TRUE == startingTreatment )
+        {
+            requestNewOperationMode( MODE_CIRC );
+        }
+        else if ( MODE_CIRC == getCurrentOperationMode() && FALSE == startingTreatment )
+        {
+            requestNewOperationMode( MODE_STAN );
+        }
+        else
+        {
+            result = FALSE;
+        }
+    }
+    sendAckResponseMsg( (MSG_ID_T)message->hdr.msgID, COMM_BUFFER_OUT_CAN_DG_2_HD, result );
+}
+
+/*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/