Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r766708fceb0bdf1af8c7897df29d4f5036bfd3db -r27f3db92495948d4c1192421c1b0c20338c4a034
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 766708fceb0bdf1af8c7897df29d4f5036bfd3db)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 27f3db92495948d4c1192421c1b0c20338c4a034)
@@ -19,11 +19,12 @@
 #include "reg_het.h"
 #include "gio.h"
 
-#include "Valves.h"
 #include "FPGA.h"
-#include "Timers.h"
-#include "TaskPriority.h"
+#include "SafetyShutdown.h"
 #include "SystemCommMessages.h"
+#include "TaskPriority.h"
+#include "Timers.h"
+#include "Valves.h"
 
 /**
  *  @addtogroup Valves
@@ -86,13 +87,17 @@
 #define MAX_DEVIATION_FROM_TARGET_IN_COUNTS     150                                                     ///< Maximum deviation from target in counts
 #define MAX_DEVIATION_FROM_TRAGET_IN_POS_B      1000                                                    ///< Maximum allowed deviation from position B in counts
 #define MAX_ALLOWED_FAILED_HOMINGS              3U                                                      ///< Maximum allowed failed homings
-#define HOMING_EDGE_DETECTION_TIME_INTERVAL     ( MS_PER_SECOND / ( 2 * TASK_PRIORITY_INTERVAL ) )      ///< The time that the valve must be at the edge to be considered for edge detection
+/// The time that the valve must be at the edge to be considered for edge detection
+static const U32 HOMING_EDGE_DETECTION_TIME_INTERVAL     = ( MS_PER_SECOND / ( 2 * TASK_PRIORITY_INTERVAL ) );
 #define VALVES_CURRENT_THRESHOLD_AMPS           1.0                                                     ///< Valves current threshold
-#define MAX_OVER_CURRENT_TIME_INTERVAL_COUNTER  ( MS_PER_SECOND / ( TASK_PRIORITY_INTERVAL ) )          ///< Valves over current time interval counter
-#define MAX_POS_DEVIATION_TIME_INTERVAL_COUNTER ( MS_PER_SECOND / ( TASK_PRIORITY_INTERVAL ) )          ///< Valves out of range time interval counter
+/// Valves over current time interval counter
+static const U32 MAX_OVER_CURRENT_TIME_INTERVAL_COUNTER  = ( MS_PER_SECOND / ( TASK_PRIORITY_INTERVAL ) );
+/// Valves out of range time interval counter
+static const U32 MAX_POS_DEVIATION_TIME_INTERVAL_COUNTER = ( MS_PER_SECOND / ( TASK_PRIORITY_INTERVAL ) );
 #define VALVE_TRANSITION_TIMEOUT_MS             3000U                                                   ///< Valves transition time out in ms
 
-#define VALVES_DATA_PUB_INTERVAL                ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )              ///< Valve data publication time interval
+/// Valve data publication time interval
+#define VALVES_DATA_PUB_INTERVAL                ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )
 
 #define VALVE_MAX_ALLOWED_PWM_PERCENT           100U                                                    ///< Valve maximum allowed PWM in percent
 #define VALVE_CW_PWM_TO_CNT_CONVERSION( pwm )   ( ( 20 * pwm ) + 2500 )                                 ///< Valve clockwise PWM to count conversion
@@ -821,7 +826,9 @@
         // If we are in Pos B, enable current relaxation
         if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
         {
+            // Enable current relaxation
             setFPGAValveSetPoint( valve, currentPosition, TRUE );
+            valvesStatus[ valve ].hasTransitionBeenRequested = TRUE;
         }
 
         // Go back to Idle state
@@ -836,6 +843,13 @@
 #ifndef DISABLE_VALVE_ALARMS
         SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT, (U32)valve );
 #endif
+        // If the valve transition timeout is active and the valve's commanded positions is position C, activate safety shutdown
+        if ( isAlarmActive( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT ) && valvesStatus[ valve ].commandedPosition == VALVE_POSITION_C_CLOSE )
+        {
+            activateSafetyShutdown();
+            // Set the alarm
+            SET_ALARM_WITH_1_U32_DATA( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT, (U32)valve );
+        }
     }
     // Check if the valve is close to the temporary target position and if it is, assign the next target position
     else if ( abs( currentPosition - targetPosition ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS )
@@ -954,6 +968,7 @@
     BOOL result = TRUE;
 
 #ifndef DISABLE_3WAY_VALVES
+#ifndef DISABLE_VALVE_ALARMS
     // Get the status of the valves from FPGA
     U16 status = getFPGAValvesStatus();
 
@@ -999,6 +1014,7 @@
         }
     }
 #endif
+#endif
 
     return result;
 }
@@ -1362,14 +1378,16 @@
         currentPWM = pwmInCounts[ valve ];
 
         // Check if the direction is clockwise or not to use the right conversion equation
-        if ( valvesStatus[ valve ].bypassModeStatus.direction == VAVLE_DIR_CLOCKWISE )
+        // TODO check the PWM conversion macros. These macros are not needed anywhere and they
+        // are only used for Bypass mode so they are not critical.
+        /*if ( valvesStatus[ valve ].bypassModeStatus.direction == VAVLE_DIR_CLOCKWISE )
         {
             currentPWM = VALVE_CW_CNT_TO_PWM_CONVERSION( currentPWM );
         }
         else
         {
             currentPWM = VALVE_CCW_CNT_TO_PWM_CONVERSION( currentPWM );
-        }
+        }*/
 
         valvesStatus[ valve ].bypassModeStatus.currentPWMInPercent = currentPWM;
     }