Index: firmware/.cproject
===================================================================
diff -u -rdd3356035996866e5db7678d352f933fc22ad789 -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/.cproject	(.../.cproject)	(revision dd3356035996866e5db7678d352f933fc22ad789)
+++ firmware/.cproject	(.../.cproject)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -153,6 +153,7 @@
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.LITTLE_ENDIAN.611198143" name="Little endian code [See 'General' page to edit] (--little_endian, -me)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.LITTLE_ENDIAN" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE.989925860" name="Pre-define NAME (--define, -D)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_18.12.compilerID.DEFINE" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="_INLINE"/>
+									<listOptionValue builtIn="false" value="_RELEASE_"/>
 									<listOptionValue builtIn="false" value="_DG_"/>
 									<listOptionValue builtIn="false" value="__TI_VFPV3D16_SUPPORT__"/>
 									<listOptionValue builtIn="false" value="__TI_VIM_128CH__"/>
Index: firmware/App/Controllers/DrainPump.c
===================================================================
diff -u -r416a8fba5774e6cd64c69513e082afbd79f75ccf -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 416a8fba5774e6cd64c69513e082afbd79f75ccf)
+++ firmware/App/Controllers/DrainPump.c	(.../DrainPump.c)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -350,7 +350,7 @@
     {
         U32 spdStPt = getTargetDrainPumpSpeed();
 
-//        broadcastDrainPumpData( spdStPt, drainPumpDACSet );
+        broadcastDrainPumpData( spdStPt, drainPumpDACSet );
         drainPumpDataPublicationTimerCounter = 0;
     }
 }
Index: firmware/App/DGCommon.h
===================================================================
diff -u -r8638b207699a3a48e3657e838e24ae838369c867 -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/App/DGCommon.h	(.../DGCommon.h)	(revision 8638b207699a3a48e3657e838e24ae838369c867)
+++ firmware/App/DGCommon.h	(.../DGCommon.h)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -7,7 +7,7 @@
 *
 *  @file DGCommon.h
 *
-*  @date 27-Feb-2019
+*  @date 27-Feb-2020
 *  @author S. Nash
 *
 *  @brief Header file for common definitions, types and macros for DG firmware.
@@ -27,6 +27,7 @@
 
 // ********** build switches **********
 
+#ifndef _RELEASE_
 #ifndef _VECTORCAST_
 //    #define RM46_EVAL_BOARD_TARGET          1
 //    #define SIMULATE_UI                     1
@@ -36,6 +37,7 @@
         #include <strings.h>
     #endif
 #endif
+#endif
 
 #include "Common.h"
 
Index: firmware/App/Services/Reservoirs.c
===================================================================
diff -u -rf43eb1e9e0803776ec7420b16e1db8760b020bd9 -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision f43eb1e9e0803776ec7420b16e1db8760b020bd9)
+++ firmware/App/Services/Reservoirs.c	(.../Reservoirs.c)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -61,31 +61,39 @@
     drainVolumeTargetMl.data = DEFAULT_DRAIN_VOLUME_ML;
 }
 
+BOOL setActiveReservoir( RESERVOIR_ID_T resID )
+{
+    // switch reservoir command only valid in re-circulate mode
+    if ( MODE_CIRC == getCurrentOperationMode() )
+    {
+        // validate parameters
+        if ( resID < NUM_OF_RESERVOIRS )
+        {
+            activeReservoir.data = (U32)resID;
+        }
+    }
+}
+
 /*********************************************************************//**
  * @brief
  * The startFill function handles a fill command from the HD.
  * @details
  * Inputs : none
  * Outputs : move to fill mode
- * @param resID : Reservoir to drain.
  * @param fillToVolMl : Target volume (in mL) to fill reservoir to.
- * @param targetPrimeTemp : Target temperature of dialysate to fill reservoir with.
- * @param targetTrimTemp : Target temperature of dialysate coming out of reservoir.
  * @return TRUE if fill command successful, FALSE if not.
  *************************************************************************/
-BOOL startFill( RESERVOIR_ID_T resID, U32 fillToVolMl, F32 targetPrimeTemp, F32 targetTrimTemp )
+BOOL startFill( U32 fillToVolMl )
 {
     BOOL result = FALSE;
 
-    // fill command only valid in standby mode
-    if ( MODE_STAN == getCurrentOperationMode() )
+    // fill command only valid in re-circulate mode
+    if ( MODE_CIRC == getCurrentOperationMode() )
     {
         // validate parameters
-        if ( ( resID < NUM_OF_RESERVOIRS ) && ( fillToVolMl < MAX_FILL_VOLUME_ML ) )
+        if ( fillToVolMl < MAX_FILL_VOLUME_ML )
         {
-            activeReservoir.data = (U32)resID;
             fillVolumeTargetMl.data = fillToVolMl;
-            // TODO - relay temperature targets to the heater controller module
             requestNewOperationMode( MODE_FILL );
         }
     }
@@ -108,7 +116,7 @@
     // stop fill command only valid in fill mode
     if ( MODE_FILL == getCurrentOperationMode() )
     {
-        requestNewOperationMode( MODE_STAN );
+        requestNewOperationMode( MODE_CIRC );
     }
 
     return result;
@@ -120,22 +128,19 @@
  * @details
  * Inputs : none
  * Outputs :
- * @param resID : Reservoir to drain.
  * @param drainToVolMl : Target volume (in mL) to drain reservoir to.
  * @return TRUE if drain command successful, FALSE if not.
  *************************************************************************/
-BOOL startDrain( RESERVOIR_ID_T resID, U32 drainToVolMl )
+BOOL startDrain( U32 drainToVolMl )
 {
     BOOL result = FALSE;
 
-    // drain command only valid in standby mode
-    if ( MODE_STAN == getCurrentOperationMode() )
+    // drain command only valid in re-circulate mode
+    if ( MODE_CIRC == getCurrentOperationMode() )
     {
         // validate parameters
-        if ( ( resID < NUM_OF_RESERVOIRS ) &&
-             ( drainToVolMl > MIN_DRAIN_VOLUME_ML ) && ( drainToVolMl < MAX_DRAIN_VOLUME_ML ) )
+        if ( ( drainToVolMl > MIN_DRAIN_VOLUME_ML ) && ( drainToVolMl < MAX_DRAIN_VOLUME_ML ) )
         {
-            activeReservoir.data = (U32)resID;
             drainVolumeTargetMl.data = drainToVolMl;
             requestNewOperationMode( MODE_DRAI );
         }
@@ -159,7 +164,7 @@
     // stop drain command only valid in drain mode
     if ( MODE_DRAI == getCurrentOperationMode() )
     {
-        requestNewOperationMode( MODE_STAN );
+        requestNewOperationMode( MODE_CIRC );
     }
 
     return result;
Index: firmware/App/Services/Reservoirs.h
===================================================================
diff -u -r8b56b0c617ac49536b8d53852b9621be873bade6 -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/App/Services/Reservoirs.h	(.../Reservoirs.h)	(revision 8b56b0c617ac49536b8d53852b9621be873bade6)
+++ firmware/App/Services/Reservoirs.h	(.../Reservoirs.h)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -42,10 +42,11 @@
 
 void initReservoirs( void );
 
-BOOL startFill( RESERVOIR_ID_T resID, U32 fillToVolMl, F32 targetPrimeTemp, F32 targetTrimTemp );   // handle fill command from HD
-BOOL stopFill( void );                                                                              // handle stop fill command from HD
-BOOL startDrain( RESERVOIR_ID_T resID, U32 drainToVolMl );                                          // handle drain command from HD
-BOOL stopDrain( void );                                                                             // handle stop drain command from HD
+BOOL setActiveReservoir( RESERVOIR_ID_T resID );    // handle switch reservoirs command from HD
+BOOL startFill( U32 fillToVolMl );                  // handle fill command from HD
+BOOL stopFill( void );                              // handle stop fill command from HD
+BOOL startDrain( U32 drainToVolMl );                // handle drain command from HD
+BOOL stopDrain( void );                             // handle stop drain command from HD
 
 DATA_GET_PROTOTYPE( RESERVOIR_ID_T, getActiveReservoir );
 DATA_GET_PROTOTYPE( U32, getReservoirFillVolumeTargetMl );
Index: firmware/App/Services/SystemComm.c
===================================================================
diff -u -r8638b207699a3a48e3657e838e24ae838369c867 -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision 8638b207699a3a48e3657e838e24ae838369c867)
+++ firmware/App/Services/SystemComm.c	(.../SystemComm.c)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -978,6 +978,34 @@
     // handle any messages from other sub-systems
     switch ( msgID )
     {
+        case MSG_ID_POWER_OFF_WARNING:
+            handlePowerOffWarning( message );
+            break;
+
+        case MSG_ID_SET_DG_DIALYSATE_TEMP_TARGETS:
+            handleSetDialysateTemperatureCmd( message );
+            break;
+
+        case MSG_ID_REQUEST_FW_VERSIONS:
+            handleFWVersionCmd( message );
+            break;
+
+        case MSG_ID_DG_SWITCH_RESERVOIR:
+            handleSwitchReservoirCmd( message );
+            break;
+
+        case MSG_ID_DG_FILL:
+            handleFillCmd( message );
+            break;
+
+        case MSG_ID_DG_DRAIN:
+            handleDrainCmd( message );
+            break;
+
+        case MSG_ID_STARTING_STOPPING_TREATMENT:
+            handleStartStopTreatmentMsg( message );
+            break;
+
         case MSG_ID_DG_TESTER_LOGIN_REQUEST:
             handleTesterLogInRequest( message );
             break;
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
  *************************************************************************/
 
Index: firmware/App/Services/SystemCommMessages.h
===================================================================
diff -u -r16dfbeeca1bcf1d2115c2f7549999fdaae0700e9 -r5a61bccd959265c00e5276ba23391198ca82b6dd
--- firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 16dfbeeca1bcf1d2115c2f7549999fdaae0700e9)
+++ firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 5a61bccd959265c00e5276ba23391198ca82b6dd)
@@ -41,9 +41,33 @@
 // MSG_ID_RO_PUMP_DATA
 BOOL broadcastROPumpData( U32 tgtPressure, F32 measFlow, F32 setPWM );
 
+// MSG_ID_DRAIN_PUMP_DATA
+BOOL broadcastDrainPumpData( U32 tgtSpeed, F32 setPWM );
+
 // MSG_ID_DG_PRESSURES_DATA
 BOOL broadcastPressureSensorsData( F32 measROIn, F32 measROOut, F32 measDrainIn, F32 measDrainOut );
 
+// MSG_ID_POWER_OFF_WARNING
+void handlePowerOffWarning( MESSAGE_T *message );
+
+// MSG_ID_SET_DG_DIALYSATE_TEMP_TARGETS
+void handleSetDialysateTemperatureCmd( MESSAGE_T *message );
+
+// MSG_ID_REQUEST_FW_VERSIONS
+void handleFWVersionCmd( MESSAGE_T *message );
+
+// MSG_ID_DG_SWITCH_RESERVOIR
+void handleSwitchReservoirCmd( MESSAGE_T *message );
+
+// MSG_ID_DG_FILL
+void handleFillCmd( MESSAGE_T *message );
+
+// MSG_ID_DG_DRAIN
+void handleDrainCmd( MESSAGE_T *message );
+
+// MSG_ID_STARTING_STOPPING_TREATMENT
+void handleStartStopTreatmentMsg( MESSAGE_T *message );
+
 // *********** public test support message functions **********
 
 #ifdef DEBUG_ENABLED