Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -r30f049651877229042e3f8700c8596e5b9a1e0f4 -r24b2fe72608344e67ef37234085d15ad5e4fcc37
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 30f049651877229042e3f8700c8596e5b9a1e0f4)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 24b2fe72608344e67ef37234085d15ad5e4fcc37)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2022 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 Interrupts.c
+* @file    Interrupts.c
 *
-* @author (last) Sean Nash
-* @date (last) 24-Sep-2020
+* @author  (last)      Sean Nash
+* @date    (last)      13-Aug-2021
 *
-* @author (original) Dara Navaei
-* @date (original) 05-Nov-2019
+* @author  (original)  Dara Navaei
+* @date    (original)  05-Nov-2019
 *
 ***************************************************************************/
 
@@ -34,9 +34,6 @@
 #include "TaskPriority.h"
 #include "TaskTimer.h"
 #include "Utilities.h"
-#ifdef DEBUG_ENABLED
-    #include "SystemCommMessages.h"
-#endif
 
 /**
  *  @addtogroup Interrupts
@@ -54,14 +51,9 @@
 
 // ********** private data **********
 
-#ifdef DEBUG_ENABLED
-    static U32 sci1FrameErrorCnt = 0;
-    static U32 sci1OverrunErrorCnt = 0;
-#endif
 static U32 sci2FrameErrorCnt = 0;                                       ///< FPGA serial frame error counter.
 static U32 sci2OverrunErrorCnt = 0;                                     ///< FPGA serial overrun error counter.
 
-static U32 can1PassiveCnt = 0;                                          ///< CAN passive mode counter.
 static U32 can1WarningCnt = 0;                                          ///< CAN warning mode counter.
 static U32 can1BusOffCnt = 0;                                           ///< CAN buss off mode counter.
 static U32 can1ParityCnt = 0;                                           ///< CAN parity error counter.
@@ -78,7 +70,6 @@
 void initInterrupts( void )
 {
     // Initialize various time windowed counts for monitoring CAN & UART errors and warnings
-    initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PASSIVE, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS );
     initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_OFF, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS );
     initTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PARITY, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS );
     initTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_UART_FRAME_ERROR, MAX_COMM_ERRORS, COMM_ERROR_TIME_WINDOW_MS );
@@ -94,16 +85,7 @@
  *************************************************************************/
 void phantomInterrupt(void)
 {
-    // TODO - what to do with phantom interrupts?
-#ifdef DEBUG_ENABLED
-    {
-        char debugStr[ 256 ];
-
-        sprintf( debugStr, "HD-phantom interrupt\n" );
-        sendDebugData( (U08*)debugStr, strlen(debugStr) );
-        sendDebugDataToUI( (U08*)debugStr );
-    }
-#endif
+    SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PHANTOM_INTERRUPT )
 }
 
 /*********************************************************************//**
@@ -135,7 +117,7 @@
             break;
 
         default:
-            // TODO - s/w fault?
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_RTI_NOTIFICATION, notification )
             break;
     }
 }
@@ -171,63 +153,34 @@
  *************************************************************************/
 void canErrorNotification(canBASE_t *node, uint32 notification)
 {
-#ifdef DEBUG_ENABLED
-    char debugStr[ 256 ];
-#endif
-
     if ( node == canREG1 )
-    {
+    {
+        // Parity error - message RAM is corrupted
         if ( notification & canLEVEL_PARITY_ERR )
         {
             can1ParityCnt++;
             if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PARITY ) )
             {
                 SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_CAN_PARITY_ERROR )
             }
-#ifdef DEBUG_ENABLED
-            sprintf( debugStr, "CAN parity error:%5d \n", can1ParityCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-#endif
-        }
+        }
+        // Bus off - our transmitter has counted 255+ errors
         else if ( notification & canLEVEL_BUS_OFF )
         {
             can1BusOffCnt++;
             if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_OFF ) )
             {
                 SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_CAN_OFF_ERROR )
             }
-#ifdef DEBUG_ENABLED
-            sprintf( debugStr, "CAN bus off error:%5d \n", can1BusOffCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-#endif
-        }
+        }
+        // Warning - our transmitter has counted 96+ errors
         else if ( notification & canLEVEL_WARNING )
         {
             can1WarningCnt++;
-#ifdef DEBUG_ENABLED
-            sprintf( debugStr, "CAN bus warning:%5d \n", can1WarningCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-#endif
         }
-        else if ( notification & canLEVEL_PASSIVE )
-        {
-            can1PassiveCnt++;
-            if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_CAN_PASSIVE ) )
-            {
-                SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_CAN_PASSIVE_WARNING )
-            }
-#ifdef DEBUG_ENABLED
-            sprintf( debugStr, "CAN passive warning:%5d \n", can1PassiveCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-#endif
-        }
         else
         {
-            // Ignore - other notifications undefined
+            // Ignore other notifications - unhandled
         }
     }
 }
@@ -244,63 +197,27 @@
  *************************************************************************/
 void sciNotification(sciBASE_t *sci, uint32 flags)
 {
-#ifdef DEBUG_ENABLED
-    // TODO - temporary debug code - remove later
-    char debugStr[ 256 ];
-#endif
-
     if ( sci == scilinREG )
     {
         if ( ( flags & SCI_FE_INT ) != 0 )
         {
             sci2FrameErrorCnt++;
-            clearSCI2CommErrors();
+            clearSCI2CommErrors();
             if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_UART_FRAME_ERROR ) )
             {
                 SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_UART_FRAME_ERROR )
             }
-#ifdef DEBUG_ENABLED
-            sprintf( debugStr, "FPGA UART FR err:%5d \n", sci2FrameErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-#endif
         }
         if ( ( flags & SCI_OE_INT ) != 0 )
         {
             sci2OverrunErrorCnt++;
-            clearSCI2CommErrors();
+            clearSCI2CommErrors();
             if ( TRUE == incTimeWindowedCount( TIME_WINDOWED_COUNT_FPGA_UART_OVERRUN ) )
             {
                 SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_FPGA_UART_OVERRUN_ERROR )
             }
-#ifdef DEBUG_ENABLED
-            sprintf( debugStr, "FPGA UART OR err:%5d \n", sci2OverrunErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-#endif
         }
     }
-#ifdef DEBUG_ENABLED
-    if ( sci == sciREG )
-    {
-        if ( ( flags & SCI_FE_INT ) != 0 )
-        {
-            sci1FrameErrorCnt++;
-            clearSCI1CommErrors();
-            sprintf( debugStr, "Debug UART FR err:%5d\n", sci1FrameErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-        }
-        if ( ( flags & SCI_OE_INT ) != 0 )
-        {
-            sci1OverrunErrorCnt++;
-            clearSCI1CommErrors();
-            sprintf( debugStr, "Debug UART OR err:%5d\n", sci1OverrunErrorCnt );
-            sendDebugData( (U08*)debugStr, strlen(debugStr) );
-            sendDebugDataToUI( (U08*)debugStr );
-        }
-    }
-#endif
 }
 
 /*********************************************************************//**
@@ -343,7 +260,7 @@
                 break;
 #endif
             default:
-                // TODO - ignore?
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_UNEXPECTED_DMA_INTERRUPT, channel )
                 break;
         }
     }