Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -rc137d3c7cb17b0364d745e10ff6dbd1901eb1baa -rd28280f1054fc9ddf9304a11373dc9ee963425e3
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision c137d3c7cb17b0364d745e10ff6dbd1901eb1baa)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision d28280f1054fc9ddf9304a11373dc9ee963425e3)
@@ -1,14 +1,14 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2021 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
 *
-* @author  (last)      Quang Nguyen
-* @date    (last)      29-Jun-2021
+* @author  (last)      Sean Nash
+* @date    (last)      13-Jul-2022
 *
 * @author  (original)  Dara Navaei
 * @date    (original)  05-Nov-2019
@@ -62,13 +62,22 @@
 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 )
     {
@@ -94,6 +103,7 @@
 U32 execFaultMode( void )
 {
     BOOL stop = isStopButtonPressed();
+    DG_OP_MODE_T dgOperationMode = getDGOpMode();
 
 #ifndef EMC_TEST_BUILD
     // Ensure all pumps are stopped
@@ -108,6 +118,12 @@
     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;
@@ -122,7 +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 );
@@ -139,14 +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 );