Index: firmware/App/Common.h
===================================================================
diff -u -reb877ae36c28eb83553ee11ccccf42e2c4a5b4d2 -rda054e07ed923d897e58f77a14e21d864ac4d5b8
--- firmware/App/Common.h	(.../Common.h)	(revision eb877ae36c28eb83553ee11ccccf42e2c4a5b4d2)
+++ firmware/App/Common.h	(.../Common.h)	(revision da054e07ed923d897e58f77a14e21d864ac4d5b8)
@@ -1,6 +1,6 @@
 /**************************************************************************
 *
-*  Copyright (c) 2019-2019 Diality Inc. - All Rights Reserved.
+*  Copyright (c) 2019-2020 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.
@@ -22,8 +22,15 @@
 // ********** build switches **********
 
 #ifndef _VECTORCAST_
-//    #define RM46_EVAL_BOARD_TARGET      1
+    #define RM46_EVAL_BOARD_TARGET      1
 //    #define SIMULATE_UI                 1
+//    #define DEBUG_ENABLED               1
+//    #define ACK_NOT_IMPLEMENTED         1
+
+    #ifdef DEBUG_ENABLED
+        #include <stdio.h>
+        #include <strings.h>
+    #endif
 #endif
 
 // ********** public definitions **********
@@ -62,28 +69,76 @@
     NUM_OF_OPN_CLS_STATES
 } OPN_CLS_STATE_T;
 
+typedef enum Motor_Directions
+{
+    MOTOR_DIR_FORWARD = 0,
+    MOTOR_DIR_REVERSE,
+    NUM_OF_MOTOR_DIRECTIONS
+} MOTOR_DIR_T;
+
 // **** Common Definitions ****
 
-#define NEARLY_ZERO                     0.00001
+#define NEARLY_ZERO                     0.00000001
 #define MASK_OFF_MSB                    0x00FF
 #define MASK_OFF_LSB                    0xFF00
 #define MASK_OFF_MSW                    0x0000FFFF
 #define MASK_OFF_LSW                    0xFFFF0000
 #define SHIFT_8_BITS_FOR_BYTE_SHIFT     8
 #define SHIFT_16_BITS_FOR_WORD_SHIFT    16
+#define MASK_OFF_NIBBLE_LSB             0xF0
+#define MASK_OFF_NIBBLE_MSB             0x0F
+#define MAX_DOUBLE_DIGIT_DECIMAL        99U
+#define MAX_SINGLE_DIGIT_DECIMAL        9U
+#define SHIFT_BITS_BY_4                 4U
+#define FLOAT_TO_INT_ROUNDUP_OFFSET     0.5
+#define ML_PER_LITER                    1000
+#define MS_PER_SECOND                   1000
+#define SEC_PER_MIN                     60
+#define FRACTION_TO_PERCENT_FACTOR      100.0
 
-#define CAP(v,u)                        ((v) > (u) ? (u) : (v))
-#define RANGE(v,l,u)                    ((v) > (u) ? (u) : ((v) < (l) ? (l) : (v)))
-#define INC_WRAP(v,l,u)                 ((v) == (u) ? (l) : ((v)+1))
-#define MAX(a,b)                        ((a) < (b) ? (b) : (a))
-#define MIN(a,b)                        ((a) > (b) ? (b) : (a))
+
+// **** Common Macros ****
+
+#define FLOAT_TO_INT_WITH_ROUND(f)      ((f) < 0.0 ? (S32)((f) - FLOAT_TO_INT_ROUNDUP_OFFSET) : (S32)((f) + FLOAT_TO_INT_ROUNDUP_OFFSET))
+#define CAP(v, u)                       ((v) > (u) ? (u) : (v))
+#define RANGE(v, l, u)                  ((v) > (u) ? (u) : ((v) < (l) ? (l) : (v)))
+#define INC_WRAP(v, l, u)               ((v) >= (u) ? (l) : ((v) + 1))
+#define INC_CAP(v, u)                   ((v) >= (u) ? (u) : ((v) + 1))
+#define MAX(a, b)                       ((a) < (b) ? (b) : (a))
+#define MIN(a, b)                       ((a) > (b) ? (b) : (a))
 #define GET_LSB_OF_WORD(w)              ((U08)((w) & MASK_OFF_MSB))
 #define GET_MSB_OF_WORD(w)              ((U08)(((w) >> SHIFT_8_BITS_FOR_BYTE_SHIFT) & MASK_OFF_MSB))
 #define GET_LSW_OF_LONG(l)              ((U16)((l) & MASK_OFF_MSW))
 #define GET_MSW_OF_LONG(l)              ((U16)(((l) >> SHIFT_16_BITS_FOR_WORD_SHIFT) & MASK_OFF_MSW))
-#define MAKE_WORD_OF_BYTES(h,l)         ((((U16)(h) << SHIFT_8_BITS_FOR_BYTE_SHIFT) & MASK_OFF_LSB) | ((U16)(l) & MASK_OFF_MSB))
-#define MAKE_LONG_OF_WORDS(h,l)         ((((U32)(h) << SHIFT_16_BITS_FOR_WORD_SHIFT) & MASK_OFF_LSW) | ((U32)(l) & MASK_OFF_MSW))
+#define MAKE_WORD_OF_BYTES(h, l)        ((((U16)(h) << SHIFT_8_BITS_FOR_BYTE_SHIFT) & MASK_OFF_LSB) | ((U16)(l) & MASK_OFF_MSB))
+#define MAKE_LONG_OF_WORDS(h, l)        ((((U32)(h) << SHIFT_16_BITS_FOR_WORD_SHIFT) & MASK_OFF_LSW) | ((U32)(l) & MASK_OFF_MSW))
+#define GET_TOGGLE(v, l, h)             ((v) == (l) ? (h) : (l))
+#define BIT_BY_POS(p)                   (1U << (p))
 
+#define SET_ALARM_WITH_1_U32_DATA(a,d1)   { \
+    ALARM_DATA_T dat1; \
+    dat1.dataType = ALARM_DATA_TYPE_U32; \
+    dat1.data.uInt.data = (U32)(d1); \
+    activateAlarm1Data( a, dat1 ); \
+}
+
+#define SET_ALARM_WITH_1_F32_DATA(a,d1)   { \
+    ALARM_DATA_T dat1; \
+    dat1.dataType = ALARM_DATA_TYPE_F32; \
+    dat1.data.flt.data = (F32)(d1); \
+    activateAlarm1Data( a, dat1 ); \
+}
+
+#define SET_ALARM_WITH_2_U32_DATA(a,d1,d2)   { \
+    ALARM_DATA_T dat1; \
+    ALARM_DATA_T dat2; \
+    dat1.dataType = ALARM_DATA_TYPE_U32; \
+    dat1.data.uInt.data = (U32)(d1); \
+    dat2.dataType = ALARM_DATA_TYPE_U32; \
+    dat2.data.uInt.data = (U32)(d2); \
+    activateAlarm2Data( a, dat1, dat2 ); \
+}
+
 // **** VectorCAST Definitions ****
 
 #ifdef _VECTORCAST_
@@ -97,9 +152,13 @@
         #pragma WEAK(can1HighLevelInterrupt)
             void can1HighLevelInterrupt(void) {}
     #endif
+    #define fabs(v)     ((v) < 0.0 ? ((v) * -1.0) : (v))
 
 #endif
 
+// include alarm mgmt header
+#include "AlarmMgmt.h"
+
 // include test support definitions and macros
 #include "TestSupport.h"