Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -rd91a24c730aeb5cd7e3eba9ef4eca78e442911f8 -raf2674758d7b9dbe05e348b318845975b423509f
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision d91a24c730aeb5cd7e3eba9ef4eca78e442911f8)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision af2674758d7b9dbe05e348b318845975b423509f)
@@ -16,15 +16,15 @@
 ***************************************************************************/
 
 #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"
-#include "FPGA.h"
-#endif
-#include "OperationModes.h"
 #include "ModeFault.h"
+#include "OperationModes.h"
+#include "Valves.h"
 
 /**
  *  @addtogroup HDFaultMode
@@ -38,41 +38,49 @@
 /*********************************************************************//**
  * @brief
  * The initFaultMode function initializes the Fault Mode module.
- * @details
- * Inputs : none
- * Outputs : Fault Mode module initialized.
+ * @details Inputs: none
+ * @details Outputs: Fault Mode module initialized.
  * @return none
  *************************************************************************/
 void initFaultMode( void )
 {
+    // TODO - anything to do here?
 }
 
 /*********************************************************************//**
  * @brief
  * The transitionToFaultMode function prepares for transition to fault mode.
- * @details
- * Inputs : none
- * Outputs :
+ * @details Inputs: none
+ * @details Outputs:
  * @return none
  *************************************************************************/
 void transitionToFaultMode( void )
 {
-#ifdef EMC_TEST_BUILD     // TODO - test code
-    enableValvesPIDControl(0); // enable valves
-#endif
+    // TODO - anything to do here?
 }
 
 /*********************************************************************//**
  * @brief
  * The execFaultMode function executes the Fault Mode state machine.
- * @details
- * Inputs : none
- * Outputs :
+ * @details Inputs: none
+ * @details Outputs:
  * @return current state (sub-mode)
  *************************************************************************/
 U32 execFaultMode( void )
 {
-#ifdef EMC_TEST_BUILD     // TODO - test code
+#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();
@@ -85,10 +93,10 @@
             switch ( toggle )
             {
                 case 0: // pumps and valves off
-                    setDialyzerInletValvePosition( 0 );
-                    setDialyzerOutletValvePosition( 0 );
-                    setVenousBloodValvePosition( 0 );
-                    setArterialBloodValvePosition( 0 );
+                    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
@@ -98,10 +106,10 @@
                     break;
 
                 case 2: // pumps on, valves on
-                    setDialyzerInletValvePosition( 12000 );
-                    setDialyzerOutletValvePosition( 12000 );
-                    setVenousBloodValvePosition( 12000 );
-                    setArterialBloodValvePosition( 12000 );
+                    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
@@ -115,10 +123,10 @@
                     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 );
-                    setDialyzerInletValvePosition( 0 );
-                    setDialyzerOutletValvePosition( 0 );
-                    setVenousBloodValvePosition( 0 );
-                    setArterialBloodValvePosition( 0 );
+                    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;
             }
         }