Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r0f9838d6b8606a6a9853ccb6157e4c25d70ddd02 -r0e6c78b7815234ff1ef1fa8f9d083376aa634583
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 0f9838d6b8606a6a9853ccb6157e4c25d70ddd02)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 0e6c78b7815234ff1ef1fa8f9d083376aa634583)
@@ -251,6 +251,7 @@
 static void publishValvesData( VALVE_T valve );
 static void setValveNextStep( VALVE_T valve, U32 stepChange );
 static S16 getValvePositionCounts( VALVE_T valve );
+static BOOL isValveCloseToCommandedPosition( VALVE_T valve, VALVE_POSITION_T positionToCheck );
 
 // These functions will be used in debug only mode
 #ifdef DEBUG_ENABLED
@@ -821,7 +822,8 @@
     }
     else if ( ( TRUE == valvesStatus[ valve ].hasValveBeenHomed ) && ( TRUE == valvesStatus[ valve ].hasTransitionBeenRequested ) )
     {
-        if ( valvesStatus[ valve ].currentPosition != valvesStatus[ valve ].pendingCommandedPosition )
+        if ( ( valvesStatus[ valve ].currentPosition != valvesStatus[ valve ].pendingCommandedPosition ) &&
+             ( FALSE == isValveCloseToCommandedPosition( valve, valvesStatus[ valve ].pendingCommandedPosition ) ) )
         {
             // Just set the valves to transition so it will not be in a known position for a while
             valvesStatus[ valve ].commandedPosition          = valvesStatus[ valve ].pendingCommandedPosition;
@@ -957,7 +959,7 @@
 {
     // Get the set and reset bits for the particular valve
     U16 control = VALVE_CONTROL_MODES_SET_BITS[ valve ][ mode ];
-    U16 reset = VALVE_CONTROL_MODES_RESET_BITS[ valve ];
+    U16 reset   = VALVE_CONTROL_MODES_RESET_BITS[ valve ];
 
     // Reset the control bits of the particular valve
     valvesControlSetBits &= reset;
@@ -1170,9 +1172,9 @@
 static void getAndMonitorValvesCurrentFPGAPosition( void )
 {
     VALVE_T valve;
-    S16 currentPosition = 0;
-    S16 commandedPosition = 0;
     VALVE_POSITION_T commandedPositionEnum;
+    S16 currentPosition   = 0;
+    S16 commandedPosition = 0;
 
     // Get the position of the valves and update the structure of each valve
     valvesStatus[ VDI ].currentPositionInCounts.data = (S32)getFPGAValveDialyzerInletPosition();
@@ -1208,10 +1210,13 @@
 
             if ( valvesStatus[ valve ].positionOutOfRangeCounter > MAX_POS_DEVIATION_TIME_INTERVAL_COUNTER )
             {
+                // If the valve's deviation from target was more than the counts for the define period of time trigger the alarm.
+                // Also, set the state to Idle so in the fault mode, the valve can transition to Pos C. The exec state is directly set here
+                // because this is a monitor function that is called in the controller function.
+                valvesStatus[ valve ].execState = VALVE_STATE_IDLE;
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_VALVE_POSITION_OUT_OF_RANGE, (U32)valve, currentPosition );
             }
-            else if ( ( abs( currentPosition - commandedPosition ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS ) &&
-                      ( valvesStatus[ valve ].positionOutOfRangeCounter > 0 ) )
+            else if ( ( TRUE == isValveCloseToCommandedPosition( valve, commandedPositionEnum ) ) && ( valvesStatus[ valve ].positionOutOfRangeCounter > 0 ) )
             {
                 valvesStatus[ valve ].positionOutOfRangeCounter = 0;
             }
@@ -1268,11 +1273,11 @@
  *************************************************************************/
 static void setValveNextStep( VALVE_T valve, U32 stepChange )
 {
-    S16 nextStep = 0;
+    S16 nextStep                           = 0;
     VALVE_POSITION_T currentPositionEnum   = valvesStatus[ valve ].currentPosition;
     VALVE_POSITION_T commandedPositionEnum = valvesStatus[ valve ].commandedPosition;
-    S16 currentPosition   = getValvePositionCounts( valve );
-    S16 commandedPosition = valvesStatus[ valve ].positions[ commandedPositionEnum ];
+    S16 currentPosition                    = getValvePositionCounts( valve );
+    S16 commandedPosition                  = valvesStatus[ valve ].positions[ commandedPositionEnum ];
 
     // If the next step is less than the specified step change, set that
     if ( abs( currentPosition - commandedPosition ) <= stepChange )
@@ -1346,6 +1351,27 @@
     return position;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The isValveCloseToCommandedPosition function checks whether a valve is close
+ * to its commanded position or not
+ * @details Inputs: valvesStatus
+ * @details Outputs: none
+ * @param valve that its position in counts is requested
+ * @param positionToCheck the position enum (can be commanded to pending commanded enums
+ * to check)
+ * @return TRUE if the valve is within accepted deviation from commanded otherwise,
+ * FALSE
+ *************************************************************************/
+static BOOL isValveCloseToCommandedPosition( VALVE_T valve, VALVE_POSITION_T positionToCheck )
+{
+    S16 currentPosition   = getValvePositionCounts( valve );
+    S16 commandedPosition = valvesStatus[ valve ].positions[ positionToCheck ];
+    BOOL isInRange        = ( abs( currentPosition - commandedPosition ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS ? TRUE : FALSE );
+
+    return isInRange;
+}
+
 #ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief