Index: firmware/App/Modes/SelfTests.c
===================================================================
diff -u -r44a100f8e5210a02c23b8fcc4527d8e96d577381 -r8bd1ae47aa13a843aa8abd6321ddc050deacb4a6
--- firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision 44a100f8e5210a02c23b8fcc4527d8e96d577381)
+++ firmware/App/Modes/SelfTests.c	(.../SelfTests.c)	(revision 8bd1ae47aa13a843aa8abd6321ddc050deacb4a6)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2021 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 SelfTests.c
+* @file    SelfTests.c
 *
-* @author (last) Quang Nguyen
-* @date (last) 28-Jan-2021
+* @author  (last)      Quang Nguyen
+* @date    (last)      09-Aug-2021
 *
-* @author (original) Quang Nguyen
-* @date (original) 28-Jan-2021
+* @author  (original)  Quang Nguyen
+* @date    (original)  28-Jan-2021
 *
 ***************************************************************************/
 
@@ -202,6 +202,10 @@
     signalDialInPumpHardStop();
     signalDialOutPumpHardStop();
     stopSyringePump();
+    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 );
 }
 
 /*********************************************************************//**
@@ -312,7 +316,11 @@
 
         if ( elapsedSelfTestTimeInSecs <= MAX_NO_CARTRIDGE_SELF_TEST_TIME )
         {
-            broadcastNoCartSelfTestTime( MAX_NO_CARTRIDGE_SELF_TEST_TIME, ( MAX_NO_CARTRIDGE_SELF_TEST_TIME - elapsedSelfTestTimeInSecs ) );
+            SELF_TEST_NO_CARTRIDGE_PAYLOAD_T data;
+
+            data.timeout   = MAX_NO_CARTRIDGE_SELF_TEST_TIME;
+            data.countdown = ( MAX_NO_CARTRIDGE_SELF_TEST_TIME - elapsedSelfTestTimeInSecs );
+            broadcastData( MSG_ID_HD_NO_CART_SELF_TEST_PROGRESS, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&data, sizeof( SELF_TEST_NO_CARTRIDGE_PAYLOAD_T ) );
         }
         else
         {
@@ -443,7 +451,11 @@
 
         if ( elapsedSelfTestTimeInSecs <= MAX_DRY_SELF_TEST_TIME )
         {
-            broadcastDrySelfTestTime( MAX_DRY_SELF_TEST_TIME, ( MAX_DRY_SELF_TEST_TIME - elapsedSelfTestTimeInSecs ) );
+            SELF_TEST_DRY_PAYLOAD_T data;
+
+            data.timeout   = MAX_DRY_SELF_TEST_TIME;
+            data.countdown = ( MAX_DRY_SELF_TEST_TIME - elapsedSelfTestTimeInSecs );
+            broadcastData( MSG_ID_HD_DRY_SELF_TEST_PROGRESS, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&data, sizeof( SELF_TEST_DRY_PAYLOAD_T ) );
         }
         else
         {
@@ -593,6 +605,7 @@
     signalBloodPumpHardStop();
     signalDialInPumpHardStop();
     signalDialOutPumpHardStop();
+    selfTestStartTime = getMSTimerCount();
 
     // TODO: Use appropriate sensor driver
     if ( STATE_CLOSED == getFPGADoorState() )
@@ -750,6 +763,9 @@
 {
     NO_CART_SELF_TESTS_STATE_T state = NO_CART_SELF_TESTS_STOPPED_STATE;
 
+    // Restart self-test start time
+    selfTestStartTime = getMSTimerCount();
+
     if ( TRUE == selfTestsResumeRequested )
     {
         selfTestsResumeRequested = FALSE;
@@ -772,10 +788,17 @@
 {
     DRY_SELF_TESTS_STATE_T state = DRY_SELF_TESTS_WAIT_FOR_DOOR_CLOSE_STATE;
 
+    // Restart self-test start time
+    selfTestStartTime = getMSTimerCount();
+
     // TODO: Use appropriate sensor driver
     if ( STATE_CLOSED == getFPGADoorState() )
     {
         state = DRY_SELF_TESTS_USED_CARTRIDGE_CHECK_STATE;
+        setValvePosition( VDI, VALVE_POSITION_C_CLOSE );
+        setValvePosition( VDO, VALVE_POSITION_C_CLOSE );
+        setValvePosition( VBA, VALVE_POSITION_C_CLOSE );
+        setValvePosition( VBV, VALVE_POSITION_C_CLOSE );
     }
 
     if ( TRUE == doesAlarmStatusIndicateStop() )
@@ -841,8 +864,8 @@
     }
     else
     {
-        previousNormalArterialPressure = getMeasuredArterialPressure();
-        previousNormalVenousPressure = getMeasuredVenousPressure();
+        previousNormalArterialPressure = getFilteredArterialPressure();
+        previousNormalVenousPressure = getFilteredVenousPressure();
 
         setValvePosition( VDI, VALVE_POSITION_C_CLOSE );
         setValvePosition( VDO, VALVE_POSITION_C_CLOSE );
@@ -868,8 +891,8 @@
 static DRY_SELF_TESTS_STATE_T handleDrySelfTestPressureSensorsState( SELF_TEST_STATUS_T *result )
 {
     DRY_SELF_TESTS_STATE_T state = DRY_SELF_TESTS_PRESSURE_SENSORS_STATE;
-    F32 const arterialPressure = getMeasuredArterialPressure();
-    F32 const venousPressure = getMeasuredVenousPressure();
+    F32 const arterialPressure = getFilteredArterialPressure();
+    F32 const venousPressure = getFilteredVenousPressure();
 
     // End the test when reaching target pressure or time out
     if ( ( TRUE == didTimeout( pressureSelfTestBloodPumpRunStartTime, BLOOD_PUMP_RUN_TIME_PRESSURE_SELF_TEST ) ) ||
@@ -912,8 +935,8 @@
 {
     DRY_SELF_TESTS_STATE_T state = DRY_SELF_TESTS_PRESSURE_SENSORS_NORMAL_STATE;
 
-    F32 const arterialPressureDiff = fabs( getMeasuredArterialPressure() - previousNormalArterialPressure );
-    F32 const venousPressureDiff = fabs( getMeasuredVenousPressure() - previousNormalVenousPressure );
+    F32 const arterialPressureDiff = fabs( getFilteredArterialPressure() - previousNormalArterialPressure );
+    F32 const venousPressureDiff = fabs( getFilteredVenousPressure() - previousNormalVenousPressure );
 
     if ( TRUE == didTimeout( pressureSelfTestNormalizedStartTime, NORMALIZED_PRESSURE_SELF_TEST_TIME ) )
     {
@@ -992,6 +1015,9 @@
 {
     DRY_SELF_TESTS_STATE_T state = DRY_SELF_TESTS_STOPPED_STATE;
 
+    // Restart self-test start time
+    selfTestStartTime = getMSTimerCount();
+
     if ( TRUE == selfTestsResumeRequested )
     {
         selfTestsResumeRequested = FALSE;