Index: firmware/App/Modes/ModeFault.c
===================================================================
diff -u -rfe91ec494378a7df34e3c14853a797f9f8f044e9 -rfb1673d2282822995ed233f3e9ea5dfb0567780d
--- firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision fe91ec494378a7df34e3c14853a797f9f8f044e9)
+++ firmware/App/Modes/ModeFault.c	(.../ModeFault.c)	(revision fb1673d2282822995ed233f3e9ea5dfb0567780d)
@@ -8,7 +8,7 @@
 * @file    ModeFault.c
 *
 * @author  (last)      Sean Nash
-* @date    (last)      05-Apr-2022
+* @date    (last)      13-Jul-2022
 *
 * @author  (original)  Dara Navaei
 * @date    (original)  05-Nov-2019
@@ -35,11 +35,14 @@
 
 // ********** private data **********
 
-// TODO expand this later
-static HD_FAULT_STATE_T faultState = HD_FAULT_STATE_START;          ///< Currently active fault state.
+static HD_FAULT_STATE_T faultState;                         ///< Currently active fault state.
+static SELF_TEST_STATUS_T faultPOSTSelfTestResult;          ///< Fault POST self test result.
 
 // ********** private function prototypes **********
 
+static HD_FAULT_STATE_T handleFaultStartState( void );
+static HD_FAULT_STATE_T handleFaultRunNVPOSTsState( void );
+
 /*********************************************************************//**
  * @brief
  * The initFaultMode function initializes the Fault Mode module.
@@ -49,21 +52,23 @@
  *************************************************************************/
 void initFaultMode( void )
 {
-    // Nothing to do here
+    faultState              = HD_FAULT_STATE_START;
+    faultPOSTSelfTestResult = SELF_TEST_STATUS_IN_PROGRESS;
 }
 
 /*********************************************************************//**
  * @brief
  * The transitionToFaultMode function prepares for transition to fault mode.
  * @details Inputs: none
- * @details Outputs:
- * @return initial state
+ * @details Outputs: none
+ * @return initial state of the fault mode state machine
  *************************************************************************/
 U32 transitionToFaultMode( void )
 {
     HD_OP_MODE_T previousOpMode = getPreviousOperationMode();
     DG_OP_MODE_T dgOperationMode = getDGOpMode();
 
+    initFaultMode();
     doorClosedRequired( FALSE, FALSE );
     syringeDetectionRequired( FALSE );
 
@@ -97,15 +102,14 @@
  * @brief
  * The execFaultMode function executes the Fault Mode state machine.
  * @details Inputs: none
- * @details Outputs:
- * @return current state (sub-mode)
+ * @details Outputs: none
+ * @return current state of the fault mode
  *************************************************************************/
 U32 execFaultMode( void )
 {
-    BOOL stop = isStopButtonPressed();
+    BOOL stop                    = isStopButtonPressed();
     DG_OP_MODE_T dgOperationMode = getDGOpMode();
 
-#ifndef EMC_TEST_BUILD
     // Ensure all pumps are stopped
     signalBloodPumpHardStop();
     signalDialInPumpHardStop();
@@ -124,58 +128,27 @@
     {
         cmdStopDG();
     }
-#else
-    // TODO - EMC test code - remove later
-    static U32 toggle = 0;
-    static BOOL button_state = FALSE;
 
-    if ( TRUE == stop )
+    switch( faultState )
     {
-        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 HD_FAULT_STATE_START:
+            faultState = handleFaultStartState();
+            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 HD_FAULT_STATE_RUN_NV_POSTS:
+            faultState = handleFaultRunNVPOSTsState();
+            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;
+        case HD_FAULT_STATE_COMPLETE:
+            // Do nothing. Done with the NV operations
+            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;
-            }
-        }
+        default:
+            faultState = HD_FAULT_STATE_COMPLETE;
+            break;
     }
-    button_state = stop;
-#endif
 
-    return faultState;  // TODO expand the states later
+    return faultState;
 }
 
 /*********************************************************************//**
@@ -192,4 +165,55 @@
     // Fault mode is terminal and already in safe state - no alarm actions handled in this mode.
 }
 
+/*********************************************************************//**
+ * @brief
+ * The handleFaultStartState function handles the start state of the fault mode.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @return next state
+ *************************************************************************/
+static HD_FAULT_STATE_T handleFaultStartState( void )
+{
+    HD_FAULT_STATE_T state                = HD_FAULT_STATE_START;
+    NVDATAMGMT_RECORDS_READ_STATUS status = getNVRecordsReadStatus();
+
+    switch ( status )
+    {
+        // If the records are queued or already read, go directly to NV POST to process
+        // their CRCs.
+        case NVDATAMGMT_RECORDS_QUEUED:
+        case NVDATAMGMT_RECORDS_READ:
+            state = HD_FAULT_STATE_RUN_NV_POSTS;
+            break;
+
+        // If the NV post was completed prior to transitioning to fault mode, do nothing
+        case NVDATAMGMT_RECORDS_CRC_CHECKED:
+            state = HD_FAULT_STATE_COMPLETE;
+            break;
+    }
+
+    return state;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The handleFaultRunNVPOSTsState function handles running non-volatile POSTs.
+ * @details Inputs: faultPOSTSelfTestResult
+ * @details Outputs: faultPOSTSelfTestResult
+ * @return next state
+ *************************************************************************/
+static HD_FAULT_STATE_T handleFaultRunNVPOSTsState( void )
+{
+    HD_FAULT_STATE_T state  = HD_FAULT_STATE_RUN_NV_POSTS;
+    faultPOSTSelfTestResult = execNVDataMgmtSelfTest();
+
+    // Regardless of the status of the NV POST transition to the complete state.
+    if ( ( SELF_TEST_STATUS_PASSED == faultPOSTSelfTestResult ) || ( SELF_TEST_STATUS_FAILED == faultPOSTSelfTestResult ) )
+    {
+        state = HD_FAULT_STATE_COMPLETE;
+    }
+
+    return state;
+}
+
 /**@}*/