Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -ra60ec05d359c0d3f014015e9080b6dbcef0fea28 -r8e7158d8231435496fcf1d5649e51babf859ccc7
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision a60ec05d359c0d3f014015e9080b6dbcef0fea28)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision 8e7158d8231435496fcf1d5649e51babf859ccc7)
@@ -1,97 +1,134 @@
 /**************************************************************************
- *
- *  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.
- *
- *  @file ModeFault.c
- *
- *  @date 19-Sep-2019
- *  @author S. Nash
- *
- *  @brief Top-level state machine for the fault mode.
- *
- **************************************************************************/
+*
+* Copyright (c) 2019-2021 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
+*
+* @author (last) Sean Nash
+* @date (last) 24-Sep-2020
+*
+* @author (original) Dara Navaei
+* @date (original) 05-Nov-2019
+*
+***************************************************************************/
 
 #include "AlarmLamp.h"
-#ifdef EMC_TEST_BUILD     // TODO - test code
 #include "BloodFlow.h"
+#ifdef EMC_TEST_BUILD     // TODO - test code
 #include "Buttons.h"
+#endif
 #include "DialInFlow.h"
 #include "DialOutFlow.h"
-#endif
-#include "OperationModes.h"
 #include "ModeFault.h"
+#include "OperationModes.h"
+#include "Valves.h"
 
-    /**
-     *  @addtogroup HDFaultMode
-     *  @{
-     */
+/**
+ *  @addtogroup HDFaultMode
+ *  @{
+ */
 
 // ********** private data **********
 
 // ********** private function prototypes **********
 
-/*************************************************************************
- * @brief initFaultMode
+/*********************************************************************//**
+ * @brief
  * The initFaultMode function initializes the Fault Mode module.
- * @details
- * Inputs : none
- * Outputs : Fault Mode module initialized.
- * @param none
+ * @details Inputs: none
+ * @details Outputs: Fault Mode module initialized.
  * @return none
  *************************************************************************/
 void initFaultMode( void )
 {
+    // TODO - anything to do here?
 }
 
-/*************************************************************************
- * @brief transitionToFaultMode
+/*********************************************************************//**
+ * @brief
  * The transitionToFaultMode function prepares for transition to fault mode.
- * @details
- * Inputs : none
- * Outputs :
- * @param none
+ * @details Inputs: none
+ * @details Outputs:
  * @return none
  *************************************************************************/
 void transitionToFaultMode( void )
 {
+    // TODO - anything to do here?
 }
 
-/*************************************************************************
- * @brief execFaultMode
+/*********************************************************************//**
+ * @brief
  * The execFaultMode function executes the Fault Mode state machine.
- * @details
- * Inputs : none
- * Outputs :
- * @param none
+ * @details Inputs: none
+ * @details Outputs:
  * @return current state (sub-mode)
  *************************************************************************/
 U32 execFaultMode( void )
 {
-#ifdef EMC_TEST_BUILD     // TODO - test code
-    static BOOL toggle = FALSE;
+#ifndef EMC_TEST_BUILD
+    // ensure all pumps are stopped
+    signalBloodPumpHardStop();
+    signalDialInPumpHardStop();
+    signalDialOutPumpHardStop();
+    // 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 );
+#else
+    // TODO - EMC test code - remove later
+    static U32 toggle = 0;
     static BOOL button_state = FALSE;
     BOOL stop = isStopButtonPressed();
 
     if ( TRUE == stop )
     {
         if ( stop != button_state )
         {
-            toggle = ( toggle == TRUE ? FALSE : TRUE );
-            if ( TRUE == toggle )
+            toggle = INC_WRAP( toggle, 0, 3 );
+            switch ( toggle )
             {
-                setBloodPumpTargetFlowRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                setDialInPumpTargetFlowRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                setDialOutPumpTargetRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                case 0: // pumps and valves off
+                    setValvePosition( VDI, VALVE_POSITION_C_CLOSE );
+                    setValvePosition( VDO, VALVE_POSITION_C_CLOSE );
+                    setValvePosition( VBA, VALVE_POSITION_C_CLOSE );
+                    setValvePosition( VBV, VALVE_POSITION_C_CLOSE );
+                    break;
+
+                case 1: // pumps on, valves off
+                    setBloodPumpTargetFlowRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setDialInPumpTargetFlowRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setDialOutPumpTargetRate( 500, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    break;
+
+                case 2: // pumps on, valves on
+                    setValvePosition( VDI, VALVE_POSITION_B_OPEN );
+                    setValvePosition( VDO, VALVE_POSITION_B_OPEN );
+                    setValvePosition( VBA, VALVE_POSITION_B_OPEN );
+                    setValvePosition( VBV, VALVE_POSITION_B_OPEN );
+                    break;
+
+                case 3: // pumps off, valves on
+                    setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    break;
+
+                default: // shouldn't 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 );
+                    setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
+                    setValvePosition( VDI, VALVE_POSITION_C_CLOSE );
+                    setValvePosition( VDO, VALVE_POSITION_C_CLOSE );
+                    setValvePosition( VBA, VALVE_POSITION_C_CLOSE );
+                    setValvePosition( VBV, VALVE_POSITION_C_CLOSE );
+                    break;
             }
-            else
-            {
-                setBloodPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                setDialInPumpTargetFlowRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-                setDialOutPumpTargetRate( 0, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
-            }
         }
     }
     button_state = stop;