Index: firmware/App/Modes/ModeInitPOST.c
===================================================================
diff -u -r30f049651877229042e3f8700c8596e5b9a1e0f4 -r98e24f0db83de34e3d44c4bd72df9f506f8ceddc
--- firmware/App/Modes/ModeInitPOST.c	(.../ModeInitPOST.c)	(revision 30f049651877229042e3f8700c8596e5b9a1e0f4)
+++ firmware/App/Modes/ModeInitPOST.c	(.../ModeInitPOST.c)	(revision 98e24f0db83de34e3d44c4bd72df9f506f8ceddc)
@@ -19,15 +19,20 @@
 #include "AlarmLamp.h"
 #include "BloodFlow.h"
 #include "Buttons.h"
+#include "Compatible.h"
 #include "CPLD.h"
 #include "DialInFlow.h"
 #include "FPGA.h"
-#include "OperationModes.h"
-#include "RTC.h"
-#include "WatchdogMgmt.h"
+#include "Integrity.h"
 #include "ModeInitPOST.h"
 #include "NVDataMgmt.h"
+#include "OperationModes.h"
+#include "RTC.h"
+#include "SyringePump.h"
+#include "SystemCommMessages.h"
+#include "TaskGeneral.h"
 #include "Valves.h"
+#include "WatchdogMgmt.h"
 
     /**
      *  @addtogroup HDInitAndPOSTMode
@@ -36,16 +41,26 @@
 
 // ********** private definitions **********
 
+/// Delay (in task intervals) after POST completes.
+#define POST_COMPLETED_DELAY        ( 2 * MS_PER_SECOND / TASK_GENERAL_INTERVAL )
+
+
 // ********** private data **********
 
-static HD_POST_STATE_T postState = POST_STATE_START;        ///< Current state of initialize and POST mode.
-static BOOL postCompleted = FALSE;                          ///< Flag indicates whether POST is completed.
-static BOOL postPassed = FALSE;                             ///< Flag indicates all POST tests passed.
-static BOOL tempPOSTPassed = TRUE;                          ///< Flag indicates all POST tests have passed so far.
+static HD_POST_STATE_T postState;                           ///< Current state of initialize and POST mode.
+static BOOL postCompleted;                                  ///< Flag indicates whether POST is completed.
+static BOOL postPassed;                                     ///< Flag indicates all POST tests passed.
+static BOOL tempPOSTPassed;                                 ///< Flag indicates all POST tests have passed so far.
 
+static BOOL uiPOSTPassed;                                   ///< Final result for UI POST tests (TRUE = passed, FALSE = failed).
+static BOOL dgPOSTPassed;                                   ///< Final result for DG POST tests (TRUE = passed, FALSE = failed).
+
+static U32  postCompleteDelayTimerCtr;                      ///< Timer counter for 2 second delay after POST completes and before transitioning to Standbymode.
+
 // ********** private function prototypes **********
 
 static HD_POST_STATE_T handlePOSTStatus( SELF_TEST_STATUS_T testStatus );
+static SELF_TEST_STATUS_T execFWCompatibilityTest( void );
 
 /*********************************************************************//**
  * @brief
@@ -60,6 +75,9 @@
     postCompleted = FALSE;
     postPassed = FALSE;
     tempPOSTPassed = TRUE;
+    uiPOSTPassed = FALSE;
+    dgPOSTPassed = FALSE;
+    postCompleteDelayTimerCtr = 0;
 }
 
 /*********************************************************************//**
@@ -80,37 +98,43 @@
 
 /*********************************************************************//**
  * @brief
- * The execInitAndPOSTMode function executes the Initialize & POST Mode state machine.
+ * The execInitAndPOSTMode function executes the Initialize & POST Mode
+ * state machine.
  * @details Inputs: postState
  * @details Outputs: postState, postPassed, postCompleted
  * @return current state (sub-mode)
  *************************************************************************/
 U32 execInitAndPOSTMode( void )
 {
     SELF_TEST_STATUS_T testStatus = SELF_TEST_STATUS_IN_PROGRESS;
+    BOOL stop = isStopButtonPressed();
 
+    if ( TRUE == stop )
+    {
+        // Ignore stop button in this mode.
+    }
+
     // TODO - send POST status on CAN
 
     // Execute current POST state     *Note - these switch cases must be in same order as enum HD_POST_States
     switch ( postState )
     {
         case POST_STATE_START:
-            postState = POST_STATE_WATCHDOG;
-#ifdef SKIP_POST
-            postState = POST_STATE_VALVES;
-#endif
+            postState = POST_STATE_FW_INTEGRITY;
             break;
 
-        case POST_STATE_WATCHDOG:
-            testStatus = execWatchdogTest();
+        case POST_STATE_FW_INTEGRITY:
+            testStatus = execIntegrityTest();
+            testStatus = SELF_TEST_STATUS_PASSED;
             postState = handlePOSTStatus( testStatus );
             break;
 
-        case POST_STATE_FPGA:
-            testStatus = execFPGATest();
+        case POST_STATE_WATCHDOG:
+            testStatus = execWatchdogTest();
             postState = handlePOSTStatus( testStatus );
             break;
 
+        // NOTE: RTC's POST must go before NVDataMgmt
         case POST_STATE_RTC:
             testStatus = execRTCSelfTest();
             postState = handlePOSTStatus( testStatus );
@@ -121,6 +145,9 @@
             postState = handlePOSTStatus( testStatus );
             break;
 
+        // NOTE: all the actuators and sensors must execute their POST after NVDataMgmt
+        // NVDataMgmt must load all the calibration data into RAM so the actuators
+        // can query their corresponding calibration values successfully
         case POST_STATE_BLOOD_FLOW:
             testStatus = execBloodFlowTest();
             postState = handlePOSTStatus( testStatus );
@@ -131,6 +158,34 @@
             postState = handlePOSTStatus( testStatus );
             break;
 
+        case POST_STATE_VALVES:
+            testStatus = execValvesSelfTest();
+            postState = handlePOSTStatus( testStatus );
+            break;
+
+        case POST_STATE_SYRINGE_PUMP:
+            testStatus = execSyringePumpSelfTest();
+            postState = handlePOSTStatus( testStatus );
+            break;
+
+        case POST_STATE_ALARM_AUDIO:
+#ifdef SKIP_POST
+            testStatus = SELF_TEST_STATUS_PASSED;
+#else
+            testStatus = execAlarmAudioSelfTest();
+#endif
+            postState = handlePOSTStatus( testStatus );
+            break;
+
+        case POST_STATE_ALARM_LAMP:
+#ifdef SKIP_POST
+            testStatus = SELF_TEST_STATUS_PASSED;
+#else
+            testStatus = execAlarmLampTest();
+#endif
+            postState = handlePOSTStatus( testStatus );
+            break;
+
         case POST_STATE_ACCELEROMETER:
 #ifndef DISABLE_ACCELS
             testStatus = execAccelTest();
@@ -140,19 +195,25 @@
             postState = handlePOSTStatus( testStatus );
             break;
 
-        case POST_STATE_VALVES:
-            testStatus = execValvesSelfTest();
+        case POST_STATE_STUCK_BUTTON:
+            testStatus = execStuckButtonTest();
             postState = handlePOSTStatus( testStatus );
             break;
 
-        case POST_STATE_ALARM_LAMP:
-            testStatus = execAlarmLampTest();
+        case POST_STATE_UI_POST:
+            // TODO implement the UI POST self test
+            testStatus = SELF_TEST_STATUS_PASSED;
             postState = handlePOSTStatus( testStatus );
             break;
 
-        // Should be last POST
-        case POST_STATE_STUCK_BUTTON:
-            testStatus = execStuckButtonTest();
+        case POST_STATE_FW_COMPATIBILITY:
+            testStatus = execFWCompatibilityTest();
+            postState = handlePOSTStatus( testStatus );
+            break;
+
+            // Should be last POST (and last POST test must be a test that completes in a single call)
+        case POST_STATE_FPGA:
+            testStatus = execFPGATest();
             handlePOSTStatus( testStatus );  // Ignoring return value because last test
 
             if ( TRUE == tempPOSTPassed )
@@ -165,21 +226,26 @@
             }
             break;
 
+        // TODO - add POST test requiring all DG and UI POST tests to pass
+
         case POST_STATE_COMPLETED:
             // Set overall HD POST status to "passed"
             postPassed = TRUE;
             // Set overall HD POST completed status to TRUE
             postCompleted = TRUE;
-            // TODO - send POST status on CAN
-            // Go to standby mode
-            requestNewOperationMode( MODE_STAN );
+            // Broadcast final POST passed
+            sendPOSTFinalResult( TRUE );
+            // Delay before going to standby mode
+            if ( ++postCompleteDelayTimerCtr > POST_COMPLETED_DELAY )
+            {
+                requestNewOperationMode( MODE_STAN );
+            }
             break;
 
         case POST_STATE_FAILED:
             // Should not get here - any failed post test should have already triggered a fault and taken us to fault mode
         default:
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_MODE_INIT_POST_INVALID_POST_STATE, postState )
-            postState = POST_STATE_FAILED;
             break;
     }
 
@@ -197,11 +263,39 @@
  *************************************************************************/
 void signalAlarmActionToInitAndPOSTMode( ALARM_ACTION_T action )
 {
+    // TODO - anything required here?
+}
 
+/*********************************************************************//**
+ * @brief
+ * The signalUIPOSTFinalResult function records the final POST result for
+ * the UI.
+ * @details Inputs: none
+ * @details Outputs: uiPOSTPassed
+ * @param passed TRUE if UI POST tests all passed, FALSE if any UI POST test failed
+ * @return none
+ *************************************************************************/
+void signalUIPOSTFinalResult( BOOL passed )
+{
+    uiPOSTPassed = passed;
 }
 
 /*********************************************************************//**
  * @brief
+ * The signalDGPOSTFinalResult function records the final POST result for
+ * the DG.
+ * @details Inputs: none
+ * @details Outputs: dgPOSTPassed
+ * @param passed TRUE if DG POST tests all passed, FALSE if any DG POST test failed
+ * @return none
+ *************************************************************************/
+void signalDGPOSTFinalResult( BOOL passed )
+{
+    dgPOSTPassed = passed;
+}
+
+/*********************************************************************//**
+ * @brief
  * The isPOSTCompleted function determines whether all HD POST have
  * been run and completed.  If true, call the isPOSTPassed() to see final
  * result (pass/fail).
@@ -242,12 +336,19 @@
 
     if ( testStatus == SELF_TEST_STATUS_PASSED )
     {
-        result = (HD_POST_STATE_T)((int)postState + 1);  // Move on to next POST test
+        // Broadcast passed POST result
+        sendPOSTTestResult( (HD_POST_STATE_T)((int)postState), TRUE );
+        // Move on to next POST test
+        result = (HD_POST_STATE_T)((int)postState + 1);
     }
     else if ( testStatus == SELF_TEST_STATUS_FAILED )
     {
-        requestAlarmLampPattern( LAMP_PATTERN_FAULT );
+        // At least one POST has failed
         tempPOSTPassed = FALSE;
+        // Broadcast failed POST results
+        sendPOSTTestResult( (HD_POST_STATE_T)((int)postState), FALSE );
+        sendPOSTFinalResult( FALSE );
+        // Test that failed should have triggered a fault which will request fault mode, so should POST state machine should never see FAILED state and will fault if it does
         result = POST_STATE_FAILED;
     }
     else
@@ -257,3 +358,21 @@
 
     return result;
 }
+
+/*********************************************************************//**
+ * @brief
+ * The execFWCompatibilityTest function executes the firmware compatibility test.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @return in progress, passed, or failed
+ *************************************************************************/
+static SELF_TEST_STATUS_T execFWCompatibilityTest( void )
+{
+    SELF_TEST_STATUS_T result = SELF_TEST_STATUS_PASSED;
+
+    // TODO - implement
+
+    return result;
+}
+
+/**@}*/