Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r3417933e6edf61a914c428e2fa944b3b349272a4 -rfabb2cc72b3b94c1e02e84894ccb52d05a12d7cd
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 3417933e6edf61a914c428e2fa944b3b349272a4)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision fabb2cc72b3b94c1e02e84894ccb52d05a12d7cd)
@@ -35,6 +35,10 @@
 #define ENERGIZED                                       1                                                           ///< 1 for energized valve.
 #define ALL_VALVES_DEENERGIZED                          0x0000                                                      ///< 0 in U16 bit field for all valves.
 
+#define VALVE_PWM_PERIOD                                50                                                          ///< Valve PWM Period in 0.1 us res ( 20kHz )
+#define VALVE_PWM_LOW                                   ( VALVE_PWM_PERIOD * 0.2 )                                  ///< Valve low PWM percentage
+#define VALVE_PWM_PULL_IN                               100                                                         ///< Valve 'strike' period at 100% PWM in ms
+
 #define MAX_VALVE_STATE_MISMATCH_TIMER_COUNT            (100 / TASK_PRIORITY_INTERVAL )                             ///< Maximum time commanded valves state can fail to match read back valve states in a row.
 #define VALVES_STATE_PUB_INTERVAL                       ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )                  ///< Interval ( ms / task time) at which valves states are published on CAN bus.
 #define DATA_PUBLISH_COUNTER_START_COUNT                50                                                          ///< Data publish counter start count.
@@ -71,6 +75,7 @@
 static BOOL checkValveStateName( DD_VALVES_T valveID, VALVE_STATE_NAMES_T valveStateName );
 static U32 convertValveStateNameToValveState( VALVE_STATE_NAMES_T valveStateName );
 static U32 getValveState( U32 valveID );
+static void setFPGAPWMConfigurations( void );
 
 /*********************************************************************//**
  * @brief
@@ -118,16 +123,79 @@
     valvesStatesPublicationTimerCounter     = DATA_PUBLISH_COUNTER_START_COUNT;  // reset valves states publication timer
     fpValveStatesPublicationTimerCounter    = DATA_PUBLISH_COUNTER_START_COUNT;  // reset valves states publication timer
     readCommandedValveStates();
+
+    // initially set valve PWM configuration and enable
+    setFPGAPWMConfigurations();
+
     // initially set all valves to de-energized state via FPGA
     setFPGADDValveStates( commandedValvesStates );
     setFPGABCValveStates( commandedBCValveStates );
     setFPGASpareValveStates( commandedSpareValveStates );
-    setFPGAIOValveStates( commandedIOValveStates );
     setFPGAFPValveStates( commandedFPValveStates );
+    setFPGAIOValveStates( commandedIOValveStates );
+
 }
 
 /*********************************************************************//**
  * @brief
+ * The setFPGAPWMConfigurations function sets the FPGA for Valve PWM control.
+ * @details \b Inputs: none
+ * @details \b Outputs: Valves PWM timing set and enabled.
+ * @return none
+ *************************************************************************/
+static void setFPGAPWMConfigurations( void )
+{
+    // Balancing Chamber valves are not PWM configured.
+    U32 i;
+    U16 valveDDBits = 0;
+    U08 valveSPBits = 0;
+    U08 valveIOBits = 0;
+    U08 valveFPBits = 0;
+
+    // set timing values
+    setFPGAValveDDPWMPullIn( VALVE_PWM_PULL_IN );
+    setFPGAValveDDPWMLow( VALVE_PWM_LOW );
+    setFPGAValveDDPWMPeriod( VALVE_PWM_PERIOD );
+
+    setFPGAValveSPPWMPullIn( VALVE_PWM_PULL_IN );
+    setFPGAValveSPPWMLow( VALVE_PWM_LOW );
+    setFPGAValveSPPWMPeriod( VALVE_PWM_PERIOD );
+
+    setFPGAValveIOFPPWMPullIn( VALVE_PWM_PULL_IN );
+    setFPGAValveIOFPPWMLow( VALVE_PWM_LOW );
+    setFPGAValveIOFPPWMPeriod( VALVE_PWM_PERIOD );
+
+    for ( i = FIRST_HYD_VALVE; i <= LAST_HYD_VALVE; i++ )
+    {
+        valveDDBits |= 0x01 << i;
+    }
+
+    for ( i = FIRST_SP_VALVE; i <= LAST_SP_VALVE; i++ )
+    {
+        valveSPBits |= 0x01 << ( i - FIRST_SP_VALVE );
+    }
+
+    for ( i = FIRST_IO_VALVE; i <= LAST_IO_VALVE; i++ )
+    {
+        valveIOBits |= 0x01 << ( i - FIRST_IO_VALVE );
+    }
+
+    for ( i = FIRST_FP_VALVE; i <= LAST_FP_VALVE; i++ )
+    {
+        valveFPBits |= 0x01 << ( i - FIRST_FP_VALVE );
+    }
+
+    // set enable
+    setFPGAValveDDPWMEnable( valveDDBits );
+    setFPGAValveSPPWMEnable( valveSPBits );
+    setFPGAValveIOPWMEnable( valveIOBits );
+    setFPGAValveFPPWMEnable( valveFPBits );
+
+
+}
+
+/*********************************************************************//**
+ * @brief
  * The execValves function executes the valves driver.
  * @details \b Inputs: valvesStates, valveStateMismatchCounter
  * pendingValveStateChangeCountDowns, commandedValvesStates,
@@ -141,11 +209,11 @@
 void execValves( void )
 {
     U32 i;
-    U16 readValvesStates    = getFPGADDValveStates();
-    U08 readValveBCStates   = getFPGAValveBCStates();
-    U08 readValveSpStates   = getFPGAValveSpStates();
-    U08 readValveIOStates   = getFPGAIOValveStates();
-    U08 readValveFPStates   = getFPGAFPValveStates();
+    U16 readValvesStates  = getFPGADDValveStates();
+    U08 readValveBCStates = getFPGAValveBCStates();
+    U08 readValveSpStates = getFPGAValveSpStates();
+    U08 readValveIOStates = getFPGAIOValveStates();
+    U08 readValveFPStates = getFPGAFPValveStates();
 
     // Verify read back FPGA valve states match last commanded valve states
     if ( ( readValvesStates != commandedValvesStates ) ||
@@ -184,8 +252,8 @@
     setFPGADDValveStates( commandedValvesStates );
     setFPGABCValveStates( commandedBCValveStates );
     setFPGASpareValveStates( commandedSpareValveStates );
-    setFPGAIOValveStates( commandedIOValveStates );
     setFPGAFPValveStates( commandedFPValveStates );
+    setFPGAIOValveStates( commandedIOValveStates );
 
     // Publish valve states on interval
     publishValvesStates();