Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -reb877ae36c28eb83553ee11ccccf42e2c4a5b4d2 -ra31707ccbf01a1b40f8500bc491dc9c616e7a163
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision eb877ae36c28eb83553ee11ccccf42e2c4a5b4d2)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision a31707ccbf01a1b40f8500bc491dc9c616e7a163)
@@ -1,66 +1,177 @@
 /**************************************************************************
- *
- *  Copyright (c) 2019-2019 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) 2019-2020 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
+*
+* @author (last) Sean Nash
+* @date (last) 24-Sep-2020
+*
+* @author (original) Dara Navaei
+* @date (original) 05-Nov-2019
+*
+***************************************************************************/
 
-#include <Controllers/AlarmLamp.h>
-#include "Common.h"
-#include "OperationModes.h"
+#include "AlarmLamp.h"
+#include "BloodFlow.h"
+#include "Buttons.h"
+#include "DGInterface.h"
+#include "DialInFlow.h"
+#include "DialOutFlow.h"
 #include "ModeFault.h"
+#include "ModePostTreat.h"
+#include "OperationModes.h"
+#include "SyringePump.h"
+#include "SystemCommMessages.h"
+#include "Valves.h"
 
+/**
+ *  @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 )
 {
+    // Nothing 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 )
 {
-    // temporary test code - solid red alarm lamp
-    requestAlarmLampPattern( LAMP_PATTERN_FAULT );
+    HD_OP_MODE_T previousOpMode = getPreviousOperationMode();
+
+    // 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();
+    // Publish POST failure status to UI if fault triggered in Init/POST mode
+    if ( MODE_INIT == previousOpMode )
+    {
+        sendPOSTFinalResult( FALSE );
+    }
+
+    if ( ( MODE_PRET == previousOpMode ) || ( MODE_TREA == previousOpMode ) )
+    {
+        collectTreatmentLogData();
+        sendTreatmentLogDataToUI();
+    }
+
+    SEND_EVENT_WITH_2_U32_DATA( HD_EVENT_SUB_MODE_CHANGE, 0, 0 )
 }
 
-/*************************************************************************
- * @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 )
+{
+    BOOL stop = isStopButtonPressed();
+
+#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 );
+#else
+    // TODO - EMC test code - remove later
+    static U32 toggle = 0;
+    static BOOL button_state = FALSE;
+
+    if ( TRUE == stop )
+    {
+        if ( stop != button_state )
+        {
+            toggle = INC_WRAP( toggle, 0, 2 );
+            switch ( toggle )
+            {
+                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 );
+                    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;
+
+                case 1: // Pumps off, valves in pos A
+                    setValvePosition( VDI, VALVE_POSITION_A_INSERT_EJECT );
+                    setValvePosition( VDO, VALVE_POSITION_A_INSERT_EJECT );
+                    setValvePosition( VBA, VALVE_POSITION_A_INSERT_EJECT );
+                    setValvePosition( VBV, VALVE_POSITION_A_INSERT_EJECT );
+                    break;
+
+                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 );
+                    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 );
+                    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;
+            }
+        }
+    }
+    button_state = stop;
+#endif
+
+    return 0;  // Fault mode has no sub-modes
+}
+
+/*********************************************************************//**
+ * @brief
+ * The signalAlarmActionToFaultMode function executes the given alarm action
+ * as appropriate while in Fault Mode.
+ * @details Inputs: none
+ * @details Outputs: given alarm action executed
+ * @param action ID of alarm action to execute
  * @return none
  *************************************************************************/
-void execFaultMode( void )
+void signalAlarmActionToFaultMode( ALARM_ACTION_T action )
 {
+    // Fault mode is terminal and already in safe state - no alarm actions handled in this mode.
 }
 
+/**@}*/