Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -rde5a0d43bdef611d963d11855bc958a8d8899a09 -ra1daba982e3117ce45437384e770b50cfda7b7a7
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision de5a0d43bdef611d963d11855bc958a8d8899a09)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision a1daba982e3117ce45437384e770b50cfda7b7a7)
@@ -21,78 +21,106 @@
 #include "Buttons.h"
 #include "DialInFlow.h"
 #include "DialOutFlow.h"
+#include "FPGA.h"
 #endif
 #include "OperationModes.h"
 #include "ModeFault.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
  * @return none
  *************************************************************************/
 void initFaultMode( void )
 {
 }
 
-/*************************************************************************
- * @brief transitionToFaultMode
+/*********************************************************************//**
+ * @brief
  * The transitionToFaultMode function prepares for transition to fault mode.
  * @details
  * Inputs : none
  * Outputs :
- * @param none
  * @return none
  *************************************************************************/
 void transitionToFaultMode( void )
 {
+#ifdef EMC_TEST_BUILD     // TODO - test code
+    enableValvesPIDControl(0); // enable valves
+#endif
 }
 
-/*************************************************************************
- * @brief execFaultMode
+/*********************************************************************//**
+ * @brief
  * The execFaultMode function executes the Fault Mode state machine.
  * @details
  * Inputs : none
  * Outputs :
- * @param none
  * @return current state (sub-mode)
  *************************************************************************/
 U32 execFaultMode( void )
 {
 #ifdef EMC_TEST_BUILD     // TODO - test code
-    static BOOL toggle = FALSE;
+    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
+                    setDialyzerInletValvePosition( 0 );
+                    setDialyzerOutletValvePosition( 0 );
+                    setVenousBloodValvePosition( 0 );
+                    setArterialBloodValvePosition( 0 );
+                    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
+                    setDialyzerInletValvePosition( 12000 );
+                    setDialyzerOutletValvePosition( 12000 );
+                    setVenousBloodValvePosition( 12000 );
+                    setArterialBloodValvePosition( 12000 );
+                    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 );
+                    setDialyzerInletValvePosition( 0 );
+                    setDialyzerOutletValvePosition( 0 );
+                    setVenousBloodValvePosition( 0 );
+                    setArterialBloodValvePosition( 0 );
+                    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;