Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r379f78f1fad668d741b3ccf1e78c69f3fccc45b5 -r7ae6d3a29de6f544da89b10ce8041861a310f2a5
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 379f78f1fad668d741b3ccf1e78c69f3fccc45b5)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 7ae6d3a29de6f544da89b10ce8041861a310f2a5)
@@ -39,7 +39,9 @@
 
 static U32 valvesStatesPublicationTimerCounter    = 0;                                                              ///< Timer counter used to schedule valve state publication to CAN bus.
 static U16 commandedValvesStates                  = ALL_VALVES_DEENERGIZED;                                         ///< Initialize commanded valves states bit field.
-static U32 valveStateMismatchCounter              = 0;                                                              ///< Initialize valve state mismatch counter.
+static U32 valveStateMismatchCounter              = 0;                                                              ///< Initialize valve state mismatch counter.
+static U32 pendingValveStateChanges[ NUM_OF_VALVES ];                                                               ///< Delayed (pending) valve state changes.
+static U32 pendingValveStateChangeCountDowns[ NUM_OF_VALVES ];                                                      ///< Delayed (pending) valve state change count down timers (in task intervals).
 
 static OVERRIDE_U32_T valveStates[ NUM_OF_VALVES ];                                                                 ///< Currently commanded valves states.
 static OVERRIDE_U32_T valvesStatesPublishInterval = { VALVES_STATE_PUB_INTERVAL, VALVES_STATE_PUB_INTERVAL, 0, 0 }; ///< Interval (in ms/task interval) at which to publish valves state to CAN bus.
@@ -69,7 +71,10 @@
         valveStates[ i ].data = DEENERGIZED;
         valveStates[ i ].ovInitData = DEENERGIZED;
         valveStates[ i ].ovData = DEENERGIZED;
-        valveStates[ i ].override = OVERRIDE_RESET;
+        valveStates[ i ].override = OVERRIDE_RESET;
+
+        pendingValveStateChanges[ i ] = DEENERGIZED;
+        pendingValveStateChangeCountDowns[ i ] = 0;
     }
     commandedValvesStates = fromU32ArrayToU16();
     setFPGAValveStates( commandedValvesStates ); // initially set all valves to de-energized state via FPGA
@@ -85,10 +90,11 @@
  * @return none
  *************************************************************************/
 void execValves( void )
-{
+{
+    U32 i;
     U16 readValvesStates = getFPGAValveStates(); // get valves states from FPGA
 
-    // verify read back FPGA valve states match last commanded valve states
+    // Verify read back FPGA valve states match last commanded valve states
     if ( readValvesStates != commandedValvesStates )
     {
         valveStateMismatchCounter++; // increment valve state mismatch counter by 1
@@ -100,13 +106,27 @@
     else
     {
         valveStateMismatchCounter = 0;
+    }
+
+    // Handle pending delayed valve state changes
+    for ( i = 0; i < NUM_OF_VALVES; i++ )
+    {
+        if ( pendingValveStateChangeCountDowns[ i ] > 0 )
+        {
+            pendingValveStateChangeCountDowns[ i ]--;
+            if ( 0 == pendingValveStateChangeCountDowns[ i ] )
+            {
+                valveStates[ i ].data = pendingValveStateChanges[ i ];
+                pendingValveStateChanges[ i ] = DEENERGIZED;
+            }
+        }
     }
 
-    // set valves states (via FPGA) to currently commanded states
+    // Set valves states (via FPGA) to currently commanded states
     commandedValvesStates = fromU32ArrayToU16();
     setFPGAValveStates( commandedValvesStates );
 
-    // publish valve states on interval
+    // Publish valve states on interval
     publishValvesStates();
 }
 
@@ -367,7 +387,7 @@
  * @brief
  * The setValveState function sets the valve state for given valve.
  * @details Inputs: none
- * @details Outputs: none
+ * @details Outputs: valveStates[], pendingValveStateChanges[], pendingValveStateChangeCountDowns[]
  * @param valveID ID of valve to set state for
  * @param valveStateName name of valve state to set given valve to
  * @return TRUE if new valve state is set for given valve ID, FALSE if not.
@@ -382,14 +402,55 @@
         {
             valveStates[ valveID ].data = convertValveStateNameToValveState( valveStateName );
             result = TRUE;
+            // If a delayed state change is pending for this valve, cancel it
+            pendingValveStateChanges[ valveID ] = DEENERGIZED;
+            pendingValveStateChangeCountDowns[ valveID ] = 0;
         }
     }
     else
     {
-        // TODO - s/w fault
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ID, valveID )
     }
 
     return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setValveStateDelayed function sets the valve state for given valve
+ * after a given delay.
+ * @details Inputs: pendingValveStateChangeCountDowns[]
+ * @details Outputs: pendingValveStateChangeCountDowns[], pendingValveStateChangeCountDowns[]
+ * @param valveID ID of valve to set state for
+ * @param valveStateName name of valve state to set given valve to
+ * @param delayMs delay duration (in ms) before actuation
+ * @return TRUE if new valve state is set for given valve ID, FALSE if not.
+ *************************************************************************/
+BOOL setValveStateDelayed( VALVES_T valveID, VALVE_STATE_NAMES_T valveStateName, U32 delayMs )
+{
+    BOOL result = FALSE; // initialize result flag to FALSE
+
+    if ( valveID < NUM_OF_VALVES )
+    {
+        if ( checkValveStateName( valveID, valveStateName ) )
+        {
+            // If a delayed state change is already pending for this valve, execute it now before setting a new delayed state change
+            if ( pendingValveStateChangeCountDowns[ valveID ] > 0 )
+            {
+                valveStates[ valveID ].data = pendingValveStateChanges[ valveID ];
+            }
+            // Set delayed valve state change
+            pendingValveStateChanges[ valveID ] = convertValveStateNameToValveState( valveStateName );
+            pendingValveStateChangeCountDowns[ valveID ] = delayMs / TASK_PRIORITY_INTERVAL;
+            result = TRUE;
+        }
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ID, valveID )
+    }
+
+    return result;
 }
 
 /*********************************************************************//**