Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -ra31707ccbf01a1b40f8500bc491dc9c616e7a163 -rd28280f1054fc9ddf9304a11373dc9ee963425e3
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision a31707ccbf01a1b40f8500bc491dc9c616e7a163)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision d28280f1054fc9ddf9304a11373dc9ee963425e3)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2022 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 ModeFault.c
+* @file    ModeFault.c
 *
-* @author (last) Sean Nash
-* @date (last) 24-Sep-2020
+* @author  (last)      Sean Nash
+* @date    (last)      13-Jul-2022
 *
-* @author (original) Dara Navaei
-* @date (original) 05-Nov-2019
+* @author  (original)  Dara Navaei
+* @date    (original)  05-Nov-2019
 *
 ***************************************************************************/
 
@@ -35,6 +35,9 @@
 
 // ********** private data **********
 
+// TODO expand this later
+static HD_FAULT_STATE_T faultState = HD_FAULT_STATE_START;          ///< Currently active fault state.
+
 // ********** private function prototypes **********
 
 /*********************************************************************//**
@@ -54,18 +57,27 @@
  * The transitionToFaultMode function prepares for transition to fault mode.
  * @details Inputs: none
  * @details Outputs:
- * @return none
+ * @return initial state
  *************************************************************************/
-void transitionToFaultMode( void )
+U32 transitionToFaultMode( void )
 {
     HD_OP_MODE_T previousOpMode = getPreviousOperationMode();
+    DG_OP_MODE_T dgOperationMode = getDGOpMode();
 
+    doorClosedRequired( FALSE, FALSE );
+    syringeDetectionRequired( FALSE );
+
     // Set user alarm recovery actions allowed in this mode
     setAlarmUserActionEnabled( ALARM_USER_ACTION_RESUME, FALSE );
     setAlarmUserActionEnabled( ALARM_USER_ACTION_RINSEBACK, FALSE );
     setAlarmUserActionEnabled( ALARM_USER_ACTION_END_TREATMENT, FALSE );
     // Stop trimmer heater
     cmdStopDGTrimmerHeater();
+    // If DG filling, abort it
+    if ( DG_MODE_FILL == dgOperationMode )
+    {
+        cmdStopDGFill();
+    }
     // Publish POST failure status to UI if fault triggered in Init/POST mode
     if ( MODE_INIT == previousOpMode )
     {
@@ -78,7 +90,7 @@
         sendTreatmentLogDataToUI();
     }
 
-    SEND_EVENT_WITH_2_U32_DATA( HD_EVENT_SUB_MODE_CHANGE, 0, 0 )
+    return faultState;
 }
 
 /*********************************************************************//**
@@ -91,21 +103,27 @@
 U32 execFaultMode( void )
 {
     BOOL stop = isStopButtonPressed();
+    DG_OP_MODE_T dgOperationMode = getDGOpMode();
 
 #ifndef EMC_TEST_BUILD
     // Ensure all pumps are stopped
     signalBloodPumpHardStop();
     signalDialInPumpHardStop();
     signalDialOutPumpHardStop();
     stopSyringePump();
-    // Request trimmer heater turned off
-    cmdStopDGTrimmerHeater();
+
     // Ensure all valves are in safe position
     setValveAirTrap( STATE_CLOSED );
     setValvePosition( VDI, VALVE_POSITION_C_CLOSE );
     setValvePosition( VDO, VALVE_POSITION_C_CLOSE );
     setValvePosition( VBA, VALVE_POSITION_C_CLOSE );
     setValvePosition( VBV, VALVE_POSITION_C_CLOSE );
+
+    // If DG not stopped, stop it
+    if ( DG_MODE_GENE == dgOperationMode )
+    {
+        cmdStopDG();
+    }
 #else
     // TODO - EMC test code - remove later
     static U32 toggle = 0;
@@ -120,7 +138,7 @@
             {
                 case 0: // Pumps and valves off
                     setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                    setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F );
                     setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
                     setValvePosition( VDI, VALVE_POSITION_C_CLOSE );
                     setValvePosition( VDO, VALVE_POSITION_C_CLOSE );
@@ -137,14 +155,14 @@
 
                 case 2: // Pumps on, valves in pos A
                     setBloodPumpTargetFlowRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                    setDialInPumpTargetFlowRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setDialInPumpTargetFlowRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F );
                     setDialOutPumpTargetRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
                     break;
 
                 default: // Should not get here, reset if we do
                     toggle = 0;
                     setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                    setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP, 0.0F );
                     setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
                     setValvePosition( VDI, VALVE_POSITION_C_CLOSE );
                     setValvePosition( VDO, VALVE_POSITION_C_CLOSE );
@@ -157,7 +175,7 @@
     button_state = stop;
 #endif
 
-    return 0;  // Fault mode has no sub-modes
+    return faultState;  // TODO expand the states later
 }
 
 /*********************************************************************//**