Index: firmware/App/Modes/OperationModes.c
===================================================================
diff -u -r9b262ba08e3180f121c3cf19d8d25e565183f87d -rc2b71cdf84febca251700488647c001604ba2e7b
--- firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision 9b262ba08e3180f121c3cf19d8d25e565183f87d)
+++ firmware/App/Modes/OperationModes.c	(.../OperationModes.c)	(revision c2b71cdf84febca251700488647c001604ba2e7b)
@@ -16,6 +16,8 @@
 
 #include "gio.h"
 
+#include "TaskGeneral.h"
+#include "SystemCommMessages.h"
 #include "OperationModes.h"
 
 #include "ModeInitPOST.h"
@@ -30,35 +32,32 @@
 
 // ********** private data **********
 
-static volatile BOOL modeRequest[ NUM_OF_MODES - 1 ];
-static OP_MODE currentMode = MODE_INIT;
+#define BROADCAST_HD_OP_MODE_INTERVAL       ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )      ///< HD operation mode broadcast interval (in task interval/sec).
 
-// this matrix determines legal transitions from one mode to another
+// ********** private data **********
+
+static volatile BOOL modeRequest[ NUM_OF_MODES - 1 ];   ///< Pending operation mode change requests.
+static OP_MODE currentMode = MODE_INIT;                 ///< Current operation mode.
+static U32 broadcastModeIntervalCtr = 11;               ///< Interval counter used to determine when to broadcase operation mode.  Initialize to 11 to stagger broadcast.
+
+/// This matrix determines legal transitions from one mode to another
 static const OP_MODE MODE_TRANSITION_TABLE[ NUM_OF_MODES - 1 ][ NUM_OF_MODES - 1 ] = {
-// from     to->    FAULT    SERVICE      INIT      STANBY   PRESCRIP.  OP.PARAMS  PRE-TREAT  TREATMENT  POST_TREA
-        /* FAUL     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG,
-                        MODE_NLEG, },
-        /* SERV     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG,
-                        MODE_NLEG, },
-        /* INIT     */{ MODE_FAUL, MODE_NLEG, MODE_INIT, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG,
-                        MODE_NLEG, },
-        /* STAN     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_STAN, MODE_PRES, MODE_NLEG, MODE_NLEG, MODE_NLEG,
-                        MODE_NLEG, },
-        /* PRES     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRES, MODE_OPAR, MODE_NLEG, MODE_NLEG,
-                        MODE_NLEG, },
-        /* OPAR     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRES, MODE_OPAR, MODE_PRET, MODE_NLEG,
-                        MODE_NLEG, },
-        /* PRET     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRET, MODE_TREA,
-                        MODE_NLEG, },
-        /* TREA     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_TREA,
-                        MODE_POST, },
-        /* POST     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG,
-                        MODE_POST, }, };
+// from    to->    FAULT    SERVICE      INIT      STANBY   PRESCRIP.  OP.PARAMS  PRE-TREAT  TREATMENT  POST_TREA
+/* FAUL     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, },
+/* SERV     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, },
+/* INIT     */{ MODE_FAUL, MODE_NLEG, MODE_INIT, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, },
+/* STAN     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_STAN, MODE_PRES, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, },
+/* PRES     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRES, MODE_OPAR, MODE_NLEG, MODE_NLEG, MODE_NLEG, },
+/* OPAR     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRES, MODE_OPAR, MODE_PRET, MODE_NLEG, MODE_NLEG, },
+/* PRET     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_PRET, MODE_TREA, MODE_NLEG, },
+/* TREA     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_TREA, MODE_POST, },
+/* POST     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_POST, }, };
 
 // ********** private function prototypes **********
 
 static OP_MODE arbitrateModeRequest( void );
 static void transitionToNewOperationMode( OP_MODE newMode );
+static void broadcastOperationMode( void );
 
 /*************************************************************************
  * @brief execOperationModes
@@ -171,6 +170,9 @@
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, currentMode )
             break;
     }   // end switch
+
+    // broadcast current operation mode on interval
+    broadcastOperationMode();
 }
 
 /*************************************************************************
@@ -296,3 +298,20 @@
     }
 }
 
+/*************************************************************************
+ * @brief
+ * The broadcastOperationMode function sends the current operation mode at \n
+ * the prescribed interval.
+ * @details
+ * Inputs : broadcastModeIntervalCtr
+ * Outputs : HD operation mode broadcast message sent.
+ * @return none
+ *************************************************************************/
+static void broadcastOperationMode( void )
+{
+    if ( ++broadcastModeIntervalCtr >= BROADCAST_HD_OP_MODE_INTERVAL )
+    {
+        broadcastModeIntervalCtr = 0;
+        broadcastHDOperationMode( currentMode );
+    }
+}