Index: firmware/App/Services/Interrupts.c
===================================================================
diff -u -rf688e0f8bded1f0a687437e3136cfba8b14f87b6 -r3518e8a088c32e75c0c8960d5e629a7401095feb
--- firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision f688e0f8bded1f0a687437e3136cfba8b14f87b6)
+++ firmware/App/Services/Interrupts.c	(.../Interrupts.c)	(revision 3518e8a088c32e75c0c8960d5e629a7401095feb)
@@ -15,18 +15,16 @@
 *
 ***************************************************************************/
 
-#include <App/TDCommon.h>
 #include "can.h"
 #include "het.h"
 #include "rti.h"
 #include "sci.h"
 #include "sys_dma.h"
 
-#include "TDCommon.h"
 //#include "BloodFlow.h"
 #include "Comm.h"
 #include "Interrupts.h"
-//#include "FPGA.h"
+#include "FPGA.h"
 #include "SystemComm.h"
 #include "TaskGeneral.h"
 #include "TaskPriority.h"
@@ -59,9 +57,9 @@
 
 /*********************************************************************//**
  * @brief
- * The initInterrupts function initializes the Interrupts module.
- * @details Inputs: none
- * @details Outputs: Interrupts module initialized.
+ * The initInterrupts function initializes the Interrupts unit.
+ * @details \b Inputs: none
+ * @details \b Outputs: Interrupts unit initialized.
  * @return none
  *************************************************************************/
 void initInterrupts( void )
@@ -74,8 +72,9 @@
 /*********************************************************************//**
  * @brief
  * The phantomInterrupt function handles phantom interrupts.
- * @details Inputs: none
- * @details Outputs: phantom interrupt handled.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT
+ * @details \b Inputs: none
+ * @details \b Outputs: phantom interrupt handled.
  * @return none
  *************************************************************************/
 void phantomInterrupt(void)
@@ -86,9 +85,10 @@
 /*********************************************************************//**
  * @brief
  * The rtiNotification function handles real-time interrupt notifications.
- * @details Inputs: none
- * @details Outputs: RTI notification handled.
- * @param notification Which RTI timer caused this interrupt
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given notification is invalid/unexpected.
+ * @details \b Inputs: none
+ * @details \b Outputs: Task associated with given notification is executed.
+ * @param notification ID of RTI timer that caused this interrupt
  * @return none
  *************************************************************************/
 void rtiNotification(uint32 notification)
@@ -120,10 +120,10 @@
 /*********************************************************************//**
  * @brief
  * The canMessageNotification function handles CAN message notifications.
- * @details Inputs: none
- * @details Outputs: CAN message notification handled.
- * @param node which CAN controller
- * @param messageBox which message box triggered the message notification
+ * @details \b Inputs: none
+ * @details \b Outputs: CAN message notification handled.
+ * @param node ID of CAN controller that given notification came from.
+ * @param messageBox ID of CAN mailbox that triggered the message notification
  * @return none
  *************************************************************************/
 void canMessageNotification(canBASE_t *node, uint32 messageBox)
@@ -137,8 +137,9 @@
 /*********************************************************************//**
  * @brief
  * The canErrorNotification function handles CAN error notifications.
- * @details Inputs: none
- * @details Outputs: CAN error notification handled.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if CAN parity or off error detected.
+ * @details \b Inputs: none
+ * @details \b Outputs: CAN error notification handled.
  * @param node which CAN controller
  * @param notification canLEVEL_PASSIVE    (0x20) : When RX- or TX error counter are between 32 and 63
  *                     canLEVEL_WARNING    (0x40) : When RX- or TX error counter are between 64 and 127
@@ -183,11 +184,11 @@
 /*********************************************************************//**
  * @brief
  * The sciNotification function handles UART communication error interrupts.
- * Frame and Over-run errors are handled.
- * @details Inputs: none
- * @details Outputs: UART error interrupts handled.
+ * Frame and Over-run errors are recorded and cleared.
+ * @details \b Inputs: none
+ * @details \b Outputs: sci2FEOEError, sci2FEOEError
  * @param sci Pointer to the SCI peripheral that detected the error
- * @param flags error flag(s)
+ * @param flags 32 bits of error flags
  * @return none
  *************************************************************************/
 void sciNotification(sciBASE_t *sci, uint32 flags)
@@ -214,8 +215,9 @@
 /*********************************************************************//**
  * @brief
  * The dmaGroupANotification function handles communication DMA interrupts.
- * @details Inputs: none
- * @details Outputs: DMA interrupt is handled.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given DMA channel is invalid/unexpected.
+ * @details \b Inputs: none
+ * @details \b Outputs: DMA interrupt is handled.
  * @param inttype type of DMA interrupt
  * @param channel DMA channel that caused the interrupt
  * @return none
@@ -228,12 +230,12 @@
         {
             case DMA_CH0:  // FPGA receive channel
                 clearSCI2DMAReceiveInterrupt();
-//                signalFPGAReceiptCompleted();
+                signalFPGAReceiptCompleted();
                 break;
 
             case DMA_CH2:  // FPGA transmit channel
                 clearSCI2DMATransmitInterrupt();
-//                signalFPGATransmitCompleted();
+                signalFPGATransmitCompleted();
                 break;
 
             default:
@@ -245,11 +247,12 @@
 
 /*********************************************************************//**
  * @brief
- * The edgeNotification function handles rotor hall sensor interrupts.
- * @details Inputs: none
- * @details Outputs: Rotor hall sensor interrupt is handled according to pin associated with given edge.
+ * The edgeNotification function handles hall sensor interrupts.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given edge is invalid/unexpected.
+ * @details \b Inputs: none
+ * @details \b Outputs: Hall sensor interrupt is handled according given pulse edge.
  * @param hetREG HET controller associated with the edge
- * @param edge Which edge was detected
+ * @param edge ID of pulse edge that triggered this interrupt
  * @return none
  *************************************************************************/
 void edgeNotification(hetBASE_t * hetREG, uint32 edge)
@@ -273,8 +276,8 @@
  * @brief
  * The getSci2FEOEError function returns the sci2FEOEError (OE - Overrun,
  * FE - Framing Error) status and resets the status if TRUE
- * @details Inputs: sci2FEOEError
- * @details Outputs: none
+ * @details \b Inputs: sci2FEOEError
+ * @details \b Outputs: none
  * @return sci2 FE / OE error
  *************************************************************************/
 BOOL getSci2FEOEError( void )