Index: firmware/App/Common.h
===================================================================
diff -u -rd9cc76524777a12ba77b58ce95416dddfb032997 -r620104f4a9e3148575703981a3063b9605b6e9b8
--- firmware/App/Common.h	(.../Common.h)	(revision d9cc76524777a12ba77b58ce95416dddfb032997)
+++ firmware/App/Common.h	(.../Common.h)	(revision 620104f4a9e3148575703981a3063b9605b6e9b8)
@@ -138,6 +138,7 @@
         #pragma WEAK(can1HighLevelInterrupt)
             void can1HighLevelInterrupt(void) {}
     #endif
+    #define fabs(v)     ((v) < 0.0 ? ((v) * -1.0) : (v))
 
 #endif
 
Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r244ab856d139a328b8cd3f070266b9a170446ab7 -r620104f4a9e3148575703981a3063b9605b6e9b8
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 244ab856d139a328b8cd3f070266b9a170446ab7)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 620104f4a9e3148575703981a3063b9605b6e9b8)
@@ -14,7 +14,9 @@
  *
  **************************************************************************/
 
-#include <math.h>
+#ifndef _VECTORCAST_
+    #include <math.h>
+#endif
 
 #include "can.h"
 #include "etpwm.h"
@@ -217,9 +219,9 @@
             }
             result = TRUE;
         }
-        else
+        else  // requested flow rate too high
         {
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, bloodPumpState )
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_BLOOD_FLOW_SET_TOO_HIGH, flowRate )
         }
     }
 
@@ -630,7 +632,26 @@
  *************************************************************************/
 DATA_GET( F32, getMeasuredBloodPumpCurrent, adcBloodPumpCurrentmA )
 
+/*************************************************************************
+ * @brief execBloodFlowTest
+ * The execBloodFlowTest function executes the state machine for the \n
+ * BloodFlow self test.
+ * @details
+ * Inputs : none
+ * Outputs : none
+ * @param none
+ * @return the current state of the BloodFlow self test.
+ *************************************************************************/
+SELF_TEST_STATUS_T execBloodFlowTest( void )
+{
+    SELF_TEST_STATUS_T result = SELF_TEST_STATUS_FAILED;
 
+    // TODO - implement self test(s)
+
+    return result;
+}
+
+
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/
Index: firmware/App/Drivers/Comm.c
===================================================================
diff -u -rd9cc76524777a12ba77b58ce95416dddfb032997 -r620104f4a9e3148575703981a3063b9605b6e9b8
--- firmware/App/Drivers/Comm.c	(.../Comm.c)	(revision d9cc76524777a12ba77b58ce95416dddfb032997)
+++ firmware/App/Drivers/Comm.c	(.../Comm.c)	(revision 620104f4a9e3148575703981a3063b9605b6e9b8)
@@ -26,8 +26,8 @@
 
 // ********** private data **********
 
-static canXmitsInProgress = FALSE;
-static uartXmitsInProgress = FALSE;
+static BOOL canXmitsInProgress = FALSE;
+static BOOL uartXmitsInProgress = FALSE;
 
 /*************************************************************************
  * @brief signalCANXmitsInitiated
Index: firmware/App/Services/AlarmMgmt.c
===================================================================
diff -u -rd9cc76524777a12ba77b58ce95416dddfb032997 -r620104f4a9e3148575703981a3063b9605b6e9b8
--- firmware/App/Services/AlarmMgmt.c	(.../AlarmMgmt.c)	(revision d9cc76524777a12ba77b58ce95416dddfb032997)
+++ firmware/App/Services/AlarmMgmt.c	(.../AlarmMgmt.c)	(revision 620104f4a9e3148575703981a3063b9605b6e9b8)
@@ -58,7 +58,7 @@
     { ALARM_PRIORITY_HIGH,   0, ALARM_ID_NO_ALARM, FALSE, TRUE , FALSE, FALSE, FALSE, FALSE, FALSE, FALSE }  // ALARM_ID_BLOOD_PUMP_ROTOR_SPEED_CHECK
 };
 
-const ALARM_DATA_T blankAlarmData = { ALARM_DATA_TYPE_U32, 0 };
+const ALARM_DATA_T blankAlarmData = { ALARM_DATA_TYPE_NONE, 0 };
 
 // ********** private data **********
 
@@ -177,14 +177,18 @@
     // verify given alarm
     if ( ( alarm > ALARM_ID_NO_ALARM ) && ( alarm < NUM_OF_ALARM_IDS ) )
     {
-        // if alarm is a fault and not already triggered, request transition to fault mode
-        if ( ( FALSE == getAlarmActive(alarm) ) && ( TRUE == alarmTable[alarm].alarmIsFault ) )
+        // no need to do anything if alarm is already active
+        if ( FALSE == getAlarmActive( alarm ) )
         {
-            requestNewOperationMode( MODE_FAUL );
+            // if alarm is a fault, request transition to fault mode
+            if ( TRUE == alarmTable[alarm].alarmIsFault )
+            {
+                requestNewOperationMode( MODE_FAUL );
+            }
+            // activate alarm
+            alarmIsActive[alarm].data = TRUE;
+            alarmStartedAt[alarm].data = getMSTimerCount();
         }
-        // activate alarm
-        alarmIsActive[alarm].data = TRUE;
-        alarmStartedAt[alarm].data = getMSTimerCount();
     }
     else
     {
@@ -277,18 +281,18 @@
         // verify alarm can be cleared
         if ( FALSE == alarmTable[alarm].alarmNoClear )
         {
-            // broadcast alarm clear if not already cleared
+            // clear alarm and broadcast alarm clear if not already cleared
             if ( TRUE == alarmIsActive[alarm].data )
             {
                 broadcastAlarmCleared( alarm );
+                alarmIsActive[alarm].data = FALSE;
+                alarmStartedAt[alarm].data = 0;
+                // clear FIFO if this alarm was in it
+                if ( alarmPriorityFIFO[alarmTable[alarm].alarmPriority] == alarm )
+                {
+                    resetAlarmPriorityFIFO( alarmTable[alarm].alarmPriority );
+                }
             }
-            alarmIsActive[alarm].data = FALSE;
-            alarmStartedAt[alarm].data = 0;
-            // clear FIFO if this alarm was in it
-            if ( alarmPriorityFIFO[alarmTable[alarm].alarmPriority] == alarm )
-            {
-                resetAlarmPriorityFIFO( alarmTable[alarm].alarmPriority );
-            }
         }
     }
     else
@@ -348,25 +352,32 @@
  *************************************************************************/
 static void updateAlarmsState( void )
 {
-    ALARM_PRIORITY_T tempState = ALARM_PRIORITY_NONE;
+    ALARM_PRIORITY_T highestPriority = ALARM_PRIORITY_NONE;
     ALARM_ID_T a;
+    BOOL faultsActive = FALSE;
 
     // update FIFOs per alarm status table
     for ( a = ALARM_ID_NO_ALARM; a < NUM_OF_ALARM_IDS; a++ )
     {
         if ( TRUE == getAlarmActive(a) )
         {
-            tempState = alarmTable[a].alarmPriority;
-            if ( ALARM_ID_NO_ALARM == alarmPriorityFIFO[tempState] )
+            ALARM_PRIORITY_T almPriority = alarmTable[a].alarmPriority;
+            if ( ALARM_ID_NO_ALARM == alarmPriorityFIFO[almPriority] )
             {
-                alarmPriorityFIFO[tempState] = a;
+                alarmPriorityFIFO[almPriority] = a;
             }
+            highestPriority = MAX( almPriority, highestPriority );
+            if ( TRUE == alarmTable[a].alarmIsFault )
+            {
+                faultsActive = TRUE;
+            }
         }
     }
 
     // update alarm to display per highest priority FIFO
-    alarmStatus.alarmsState = tempState;
-    alarmStatus.alarmTop = alarmPriorityFIFO[tempState];
+    alarmStatus.alarmsState = highestPriority;
+    alarmStatus.alarmTop = alarmPriorityFIFO[highestPriority];
+    alarmStatus.systemFault = faultsActive;
 }
 
 /*************************************************************************
@@ -476,6 +487,10 @@
     {
         alarmPriorityFIFO[priority] = ALARM_ID_NO_ALARM;
     }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_ALARM_MGMT_INVALID_FIFO_TO_RESET, priority )
+    }
 }
 
 /*************************************************************************
Index: firmware/App/Services/AlarmMgmt.h
===================================================================
diff -u -r8e53754325653805a454de6d82c0c8ca90e068a0 -r620104f4a9e3148575703981a3063b9605b6e9b8
--- firmware/App/Services/AlarmMgmt.h	(.../AlarmMgmt.h)	(revision 8e53754325653805a454de6d82c0c8ca90e068a0)
+++ firmware/App/Services/AlarmMgmt.h	(.../AlarmMgmt.h)	(revision 620104f4a9e3148575703981a3063b9605b6e9b8)
@@ -146,6 +146,7 @@
     SW_FAULT_ID_MSG_QUEUES_IS_EMPTY_INVALID_QUEUE,
     SW_FAULT_ID_MSG_QUEUES_IS_FULL_INVALID_QUEUE,                       // 35
     SW_FAULT_ID_WATCHDOG_INVALID_SELF_TEST_STATE,
+    SW_FAULT_ID_ALARM_MGMT_INVALID_FIFO_TO_RESET,
     NUM_OF_SW_FAULT_IDS
 } SW_FAULT_ID_T;
 
Index: firmware/App/Services/FPGA.c
===================================================================
diff -u -rd9cc76524777a12ba77b58ce95416dddfb032997 -r620104f4a9e3148575703981a3063b9605b6e9b8
--- firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision d9cc76524777a12ba77b58ce95416dddfb032997)
+++ firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 620104f4a9e3148575703981a3063b9605b6e9b8)
@@ -537,10 +537,9 @@
 
     // construct bulk write command to write actuator data registers starting at address 3  (TODO - change address later)
     fpgaWriteCmdBuffer[0] = FPGA_WRITE_CMD_CODE;
-    fpgaWriteCmdBuffer[1] = 0x03;    // start at FPGA address 8
+    fpgaWriteCmdBuffer[1] = 0x08;    // start at FPGA address 8
     fpgaWriteCmdBuffer[2] = 0x00;
     fpgaWriteCmdBuffer[3] = sizeof(FPGA_ACTUATORS_T);
-    //fpgaActuatorSetPoints.bloodValveSetState = 0x03; // TODO - remove
     memcpy( &(fpgaWriteCmdBuffer[FPGA_WRITE_CMD_HDR_LEN]), &fpgaActuatorSetPoints, sizeof(FPGA_ACTUATORS_T) );
     crc = crc16( fpgaWriteCmdBuffer, FPGA_WRITE_CMD_HDR_LEN+sizeof(FPGA_ACTUATORS_T) );
     fpgaWriteCmdBuffer[FPGA_WRITE_CMD_HDR_LEN+sizeof(FPGA_ACTUATORS_T)] = GET_MSB_OF_WORD( crc );