Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r8da12f877491ce76e60645acfa738458f954293a -r75e1ae332d1446dddf9b8d4ce6e8317449c57d67
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 8da12f877491ce76e60645acfa738458f954293a)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 75e1ae332d1446dddf9b8d4ce6e8317449c57d67)
@@ -7,8 +7,8 @@
 *
 * @file    Valves.c
 *
-* @author  (last)      Darren Cox
-* @date    (last)      12-Jan-2023
+* @author  (last)      Dara Navaei
+* @date    (last)      22-Jan-2023
 *
 * @author  (original)  Dara Navaei
 * @date    (original)  07-Aug-2020
@@ -252,6 +252,7 @@
 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
@@ -479,6 +480,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The resetValvesPOSTState function resets the valves POST state;
+ * @details Inputs: none
+ * @details Outputs: valveSelfTestState, valvesSelfTestResult
+ * @return none
+ *************************************************************************/
+void resetValvesPOSTState( void )
+{
+    valveSelfTestState   = VALVE_SELF_TEST_ENABLE_VALVES;
+    valvesSelfTestResult = SELF_TEST_STATUS_IN_PROGRESS;
+}
+
+/*********************************************************************//**
+ * @brief
  * The execValves function executes the valves exec state machine.
  * @details Inputs: valvesStatus
  * @details Outputs: valvesStatus
@@ -809,7 +823,8 @@
     }
     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;
@@ -945,7 +960,7 @@
 {
     // 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;
@@ -1158,9 +1173,9 @@
 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();
@@ -1196,10 +1211,13 @@
 
             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;
             }
@@ -1256,11 +1274,11 @@
  *************************************************************************/
 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 )
@@ -1334,6 +1352,27 @@
     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