Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r8466e63f95f65a3ffb18c3af85ac99328e41167b -r8bd1ae47aa13a843aa8abd6321ddc050deacb4a6
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 8466e63f95f65a3ffb18c3af85ac99328e41167b)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 8bd1ae47aa13a843aa8abd6321ddc050deacb4a6)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2021 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
-* @file Valves.c
+* @file    Valves.c
 *
-* @author (last) Sean Nash
-* @date (last) 14-Oct-2020
+* @author  (last)      Dara Navaei
+* @date    (last)      10-Nov-2021
 *
-* @author (original) Dara Navaei
-* @date (original) 07-Aug-2020
+* @author  (original)  Dara Navaei
+* @date    (original)  07-Aug-2020
 *
 ***************************************************************************/
 
@@ -20,6 +20,7 @@
 #include "gio.h"
 
 #include "FPGA.h"
+#include "MessageSupport.h"
 #include "SafetyShutdown.h"
 #include "SystemCommMessages.h"
 #include "TaskPriority.h"
@@ -131,7 +132,7 @@
 typedef enum valve_modes
 {
     VALVE_CONTROL_MODE_ENABLE_PID = 0,          ///< Valve control mode enable PID
-    VALVE_CONTORL_MODE_ENABLE_BYPASS,           ///< Valve control mode enable bypass
+    VALVE_CONTROL_MODE_ENABLE_BYPASS,           ///< Valve control mode enable bypass
     VALVE_CONTROL_MODE_DISABLE_ALL,             ///< Valve control mode disable all modes
     NUM_OF_VALVE_CONTROL_MODES,                 ///< Number of valve control modes
 } VALVE_MODE_T;
@@ -169,7 +170,8 @@
 {
     VALVE_POSITION_T commandedPosition;                         ///< Valve commanded position enum
     VALVE_POSITION_T currentPosition;                           ///< Valve current position enum
-    OVERRIDE_S32_T   currentPositionInCounts;                  ///< Valve current position in counts
+    VALVE_POSITION_T pendingCommandedPosition;                  ///< Valve pending position enum
+    OVERRIDE_S32_T   currentPositionInCounts;                   ///< Valve current position in counts
     S16              targetPositionInCounts;                    ///< Valve target position in counts
     BOOL             hasTransitionBeenRequested;                ///< Valve transition request flag
     VALVE_STATE_T    execState;                                 ///< Valve execution state
@@ -257,8 +259,7 @@
 /*********************************************************************//**
  * @brief
  * The initValves function initializes the valves driver.
- * @details Inputs: valveSelfTestState, valvesSelfTestResult, valvesStatus,
- * valvesControlSetBits
+ * @details Inputs: none
  * @details Outputs: valveSelfTestState, valvesSelfTestResult, valvesStatus
  * @return none
  *************************************************************************/
@@ -293,7 +294,7 @@
 /*********************************************************************//**
  * @brief
  * The homeValve function sets the homing request flag of a valve to TRUE.
- * @details Inputs: valvesStatus
+ * @details Inputs: none
  * @details Outputs: valvesStatus (The flag that sets the homing request)
  * @param valve that is set to be homed
  * @return none
@@ -318,7 +319,7 @@
 /*********************************************************************//**
  * @brief
  * The setValvePosition function sets the requested position of a valve.
- * @details Inputs: valvesStatus
+ * @details Inputs: none
  * @details Outputs: valvesStatus
  * @param valve that its position is set
  * @param position that the valve is set
@@ -330,11 +331,10 @@
 
     // Valve not in position cannot be requested
     // All the other positions are valid
-    if ( position != VALVE_POSITION_NOT_IN_POSITION && valve < NUM_OF_VALVES )
+    if ( ( position != VALVE_POSITION_NOT_IN_POSITION ) && ( valve < NUM_OF_VALVES ) )
     {
-        valvesStatus[ valve ].commandedPosition = position;
+        valvesStatus[ valve ].pendingCommandedPosition   = position;
         valvesStatus[ valve ].hasTransitionBeenRequested = TRUE;
-
         result = TRUE;
     }
     else
@@ -372,7 +372,7 @@
 /*********************************************************************//**
  * @brief
  * The getValveCurrent function returns the current of a valve.
- * @details Inputs: none
+ * @details Inputs: valvesStatus
  * @details Outputs: valvesStatus
  * @param valve that the current is requested
  * @return returns the current of the valve in float
@@ -393,7 +393,7 @@
  * @brief
  * The setValveBloodTrap function set the blood trap valve to open or close
  * position.
- * @details Inputs: valveAirTrapStatus
+ * @details Inputs: none
  * @details Outputs: valveAirTrapStatus
  * @param state enumeration of open or close for valve
  * @return: none
@@ -532,8 +532,8 @@
 /*********************************************************************//**
  * @brief
  * The handleValveSelfTestEnableValves function starts the valves self test.
- * @details Inputs: valvesSelfTestResult, valvesSelfTestResult
- * @details Outputs: valvesSelfTestResult, valvesSelfTestResult
+ * @details Inputs: none
+ * @details Outputs: valvesStatus, valvesSelfTestResult
  * @return next state of the self test state machine
  *************************************************************************/
 static VALVE_SELF_TEST_STATE_T handleValveSelfTestEnableValves( void )
@@ -559,7 +559,7 @@
  * @brief
  * The handleValveSelfTestConfirmEnable function checks to make sure the
  * valves are enabled properly.
- * @details Inputs: valvesSelfTestResult
+ * @details Inputs: none
  * @details Outputs: valvesSelfTestResult
  * @return next state of the self test state machine
  *************************************************************************/
@@ -720,7 +720,7 @@
                  // Set the current position to Position C and the commanded position to Position A
                  valvesStatus[ valve ].hasValveBeenHomed          = TRUE;
                  valvesStatus[ valve ].currentPosition            = VALVE_POSITION_C_CLOSE;
-                 valvesStatus[ valve ].commandedPosition          = VALVE_POSITION_A_INSERT_EJECT;
+                 valvesStatus[ valve ].pendingCommandedPosition   = VALVE_POSITION_A_INSERT_EJECT;
                  valvesStatus[ valve ].hasTransitionBeenRequested = TRUE;
                  valvesStatus[ valve ].hasHomingBeenRequested     = FALSE;
                  valvesStatus[ valve ].numberOfFailedHomings      = 0;
@@ -783,34 +783,31 @@
     }
 #endif
 
-    if ( valvesStatus[ valve ].hasHomingBeenRequested )
+    if ( TRUE == valvesStatus[ valve ].hasHomingBeenRequested )
     {
         state = VALVE_STATE_HOMING_NOT_STARTED;
     }
-    else if ( valvesStatus[ valve ].hasValveBeenHomed && valvesStatus[ valve ].hasTransitionBeenRequested )
+    else if ( ( TRUE == valvesStatus[ valve ].hasValveBeenHomed ) && ( TRUE == valvesStatus[ valve ].hasTransitionBeenRequested ) )
     {
-        if ( valvesStatus[ valve ].currentPosition != valvesStatus[ valve ].commandedPosition )
+        if ( valvesStatus[ valve ].currentPosition != valvesStatus[ valve ].pendingCommandedPosition )
         {
             // Just set the valves to transition so it will not be in a known position for a while
-            valvesStatus[ valve ].transitionStartTime = getMSTimerCount();
+            valvesStatus[ valve ].commandedPosition          = valvesStatus[ valve ].pendingCommandedPosition;
+            valvesStatus[ valve ].transitionStartTime        = getMSTimerCount();
+            valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
             setValveNextStep( valve, TRANSITION_STEP_CHANGE_IN_COUNTS );
 
             state = VALVE_STATE_IN_TRANSITION;
         }
-        else
-        {
-            valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
-        }
     }
 // This option is only available in a debug build
 #ifdef DEBUG_ENABLED
     // Check if the valves have been homed and a bypass mode has been requested
-    else if ( valvesStatus[ valve ].hasValveBeenHomed &&
-              valvesStatus[ valve ].bypassModeStatus.hasBypassModeBeenRequeseted )
+    else if ( ( TRUE == valvesStatus[ valve ].hasValveBeenHomed ) && ( TRUE == valvesStatus[ valve ].bypassModeStatus.hasBypassModeBeenRequeseted ) )
     {
         // Set the valve control mode to bypass and set the PWM
-        setValveControlMode( valve, VALVE_CONTORL_MODE_ENABLE_BYPASS );
-        valvesStatus[ valve ].controlMode = VALVE_CONTORL_MODE_ENABLE_BYPASS;
+        setValveControlMode( valve, VALVE_CONTROL_MODE_ENABLE_BYPASS );
+        valvesStatus[ valve ].controlMode = VALVE_CONTROL_MODE_ENABLE_BYPASS;
         valvesStatus[ valve ].bypassModeStatus.hasChangeBeenRequested = FALSE;
         setFPGAValvePWM( valve );
 
@@ -847,15 +844,12 @@
     {
         // The valve is in range. Set the current position to the commanded position
         valvesStatus[ valve ].currentPosition = commandedPositionEnum;
-        // Set the transition request to false as it has been serviced
-        valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
 
         // 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
@@ -864,18 +858,16 @@
     // Check if the valve's transition time has timed out
     else if ( didTimeout( valvesStatus[ valve ].transitionStartTime, VALVE_TRANSITION_TIMEOUT_MS ) )
     {
-        valvesStatus[ valve ].hasTransitionBeenRequested = FALSE;
+        //valvesStatus[ valve ].hasTransitionBeenRequested = FALSE; TODO remove
         // Go back to Idle state
         state = VALVE_STATE_IDLE;
 #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 )
+        if ( ( TRUE == isAlarmActive( ALARM_ID_HD_VALVE_TRANSITION_TIMEOUT ) ) && ( VALVE_POSITION_C_CLOSE == valvesStatus[ valve ].commandedPosition ) )
         {
             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
@@ -926,8 +918,7 @@
 /*********************************************************************//**
  * @brief
  * The setValveControlMode function sets the valves control mode.
- * @details Inputs: valvesControlSetBits, valvesControlModesSetBits,
- * valvesControlModesResetBits
+ * @details Inputs: none
  * @details Outputs: valvesControlSetBits
  * @param valve that its control mode is set
  * @param mode the control mode that the valve will be set to
@@ -984,7 +975,7 @@
  * The areValvesEnabled function checks the current valves status from FPGA
  * to the enable bit mask of each valve. If any of the valves is not enabled
  * the function raises an alarm.
- * @details Inputs: valvesStatus, valvesControlStatusBits
+ * @details Inputs: valvesStatus
  * @details Outputs: none
  * @return Returns TRUE if all the valves are enabled properly
  *************************************************************************/
@@ -1017,7 +1008,7 @@
                 result = FALSE;
             }
         }
-        else if ( mode == VALVE_CONTORL_MODE_ENABLE_BYPASS )
+        else if ( mode == VALVE_CONTROL_MODE_ENABLE_BYPASS )
         {
             if ( ! ( status & VALVE_CONTROL_STATUS_BITS[ valve ][ VALVE_CONTROL_STATUS_BYPASS_ENABLED ] ) )
             {
@@ -1048,7 +1039,7 @@
 
 /*********************************************************************//**
  * @brief
- * The setFPGAValue function sets the position of a valve to FPGA.
+ * The setFPGAValveSetPoint function sets the position of a valve to FPGA.
  * @details Inputs: none
  * @details Outputs: none
  * @param valve that its FPGA set point is updated
@@ -1157,8 +1148,8 @@
 static void getAndMonitorValvesCurrentFPGAPosition( void )
 {
     VALVE_T valve;
-    S16 currentPostion = 0;
-    S16 commandedPoistion = 0;
+    S16 currentPosition = 0;
+    S16 commandedPosition = 0;
     VALVE_POSITION_T commandedPositionEnum;
 
     // Get the position of the valves and update the structure of each valve
@@ -1176,9 +1167,9 @@
         {
             U32 maxDeviation = MAX_DEVIATION_FROM_TARGET_IN_COUNTS;
 
-            currentPostion        = getValvePositionCounts( valve );
+            currentPosition        = getValvePositionCounts( valve );
             commandedPositionEnum = valvesStatus[ valve ].commandedPosition;
-            commandedPoistion     = valvesStatus[ valve ].positions[ commandedPositionEnum ];
+            commandedPosition     = valvesStatus[ valve ].positions[ commandedPositionEnum ];
 
             // If the current position is B, current relaxation requires looser range check
             if ( VALVE_POSITION_B_OPEN == commandedPositionEnum )
@@ -1189,18 +1180,18 @@
             // Check if the current position has deviated from the position it is supposed to be in
             // For more than a certain amount of time. If it has, raise an alarm
             // Absolute value is used for comparison to cover +/- from the commanded position
-            if ( abs( currentPostion - commandedPoistion ) > maxDeviation )
+            if ( abs( currentPosition - commandedPosition ) > maxDeviation )
             {
                 valvesStatus[ valve ].positionOutOfRangeCounter++;
             }
 
             if ( valvesStatus[ valve ].positionOutOfRangeCounter >  MAX_POS_DEVIATION_TIME_INTERVAL_COUNTER )
             {
 #ifndef DISABLE_VALVE_ALARMS
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_VALVE_POSITION_OUT_OF_RANGE, (U32)valve, currentPostion );
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_VALVE_POSITION_OUT_OF_RANGE, (U32)valve, currentPosition );
 #endif
             }
-            else if ( abs( currentPostion - commandedPoistion ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS &&
+            else if ( abs( currentPosition - commandedPosition ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS &&
                       valvesStatus[ valve ].positionOutOfRangeCounter > 0 )
             {
                 valvesStatus[ valve ].positionOutOfRangeCounter = 0;
@@ -1225,6 +1216,7 @@
     if ( ++valvesStatus[ valve ].dataPublishCounter >= getU32OverrideValue( &valvesDataPublishInterval ) )
     {
         HD_VALVE_DATA_T valveData;
+
         valveData.valveID      = (U32)valve;
         valveData.state        = (U32)valvesStatus[ valve ].execState;
         valveData.currentPosID = (U32)getValvePosition( valve );
@@ -1237,7 +1229,7 @@
         valveData.pwm          = valvesStatus[ valve ].bypassModeStatus.currentPWMInPercent;
         valveData.airTrapValve = (U32)getValveAirTrapStatus();
 
-        broadcastHDValves( &valveData );
+        broadcastData( MSG_ID_HD_VALVES_DATA, COMM_BUFFER_OUT_CAN_HD_BROADCAST, (U08*)&valveData, sizeof( HD_VALVE_DATA_T ) );
 
         valvesStatus[ valve ].dataPublishCounter = 0;
     }
@@ -1386,7 +1378,7 @@
  * @brief
  * The getValvesCurrentPWM function gets the PWM counts from the FPGA module
  * and converts them in to duty cycle in percent.
- * @details Inputs: valvesStatus
+ * @details Inputs: none
  * @details Outputs: valvesStatus
  * @return none
  *************************************************************************/
@@ -1456,7 +1448,7 @@
  * @brief
  * The testResetValvesDataPublishInterval function resets the override
  * of the valves publish interval.
- * @details Inputs: valvesDataPublishInterval
+ * @details Inputs: none
  * @details Outputs: valvesDataPublishInterval
  * @return TRUE if override reset successful, FALSE if not
  *************************************************************************/
@@ -1477,7 +1469,7 @@
 /*********************************************************************//**
  * @brief
  * The testSetValvesPositionOverride function overrides the valves position.
- * @details Inputs: valvesPositionOverride, valvesStatus
+ * @details Inputs: none
  * @details Outputs: valvesPositionOverride
  * @param valve to override its position
  * @param position of the valve that will be overridden
@@ -1567,7 +1559,7 @@
  * @brief
  * The testResetValvePWMOverride function resets the override PWM in bypass
  * control mode.
- * @details Inputs: valvesStatus
+ * @details Inputs: none
  * @details Outputs: valvesStatus
  * @param valve that its PWM override will be reset
  * @return TRUE if override reset successful, FALSE if not
@@ -1640,8 +1632,8 @@
  * @brief
  * The testSetValvesPositionCountOverride function overrides the valves
  * position in counts.
- * @details Inputs: valvesPositionOverride, valvesStatus
- * @details Outputs: valvesPositionOverride
+ * @details Inputs: valvesStatus
+ * @details Outputs: none
  * @param valve to override its position
  * @param position of the valve that will be overridden
  * @return TRUE if override successful, FALSE if not
@@ -1666,7 +1658,7 @@
  * @brief
  * The testResetValvesPositionCountOverride function resets the override
  * of the valves' position in counts.
- * @details Inputs: valvesStatus
+ * @details Inputs: none
  * @details Outputs: valvesStatus
  * @param valve that its position count override will be reset
  * @return TRUE if override reset successful, FALSE if not