Index: firmware/App/Services/FPGA.c
===================================================================
diff -u -r4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d -rcb9bcb7376f09096f833ce59cfb9a71f43263315
--- firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d)
+++ firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision cb9bcb7376f09096f833ce59cfb9a71f43263315)
@@ -170,10 +170,10 @@
 typedef struct  // TODO - add all actuator set points to this structure per FPGA register map
 {
     U16 fpgaPIDControl;                         ///< Reg 12.  Valve PID enables.
-    U16 VBASetPoint;                            ///< Reg 14.  VBA pinch valve is commanded to this set point position.
-    U16 VBVSetPoint;                            ///< Reg 16.  VBV pinch valve is commanded to this set point position.
-    U16 VDiSetPoint;                            ///< Reg 18.  VDi pinch valve is commanded to this set point position.
-    U16 VDoSetPoint;                            ///< Reg 20.  VDo pinch valve is commanded to this set point position.
+    S16 VBASetPoint;                            ///< Reg 14.  VBA pinch valve is commanded to this set point position.
+    S16 VBVSetPoint;                            ///< Reg 16.  VBV pinch valve is commanded to this set point position.
+    S16 VDiSetPoint;                            ///< Reg 18.  VDi pinch valve is commanded to this set point position.
+    S16 VDoSetPoint;                            ///< Reg 20.  VDo pinch valve is commanded to this set point position.
     U16 VSpareSetPoint;                         ///< Reg 22.  VSpare pinch valve is commanded to this set point position.
     U16 VBAPWMFixed;                            ///< Reg 24.  VBA PWM set to fixed current by setting fixed PWM duty cycle.  Range 750 to 4250.  < 2500 is reverse direction.
     U16 VBVPWMFixed;                            ///< Reg 26.  VBV PWM set to fixed current by setting fixed PWM duty cycle.  Range 750 to 4250.  < 2500 is reverse direction.
@@ -1312,43 +1312,163 @@
     *err = fpgaSensorReadings.accelFaultRegister;
 }
 
-void enableValvesPIDControl( U16 enableBits )
+/*********************************************************************//**
+ * @brief
+ * The enableValvesPIDControl function enables the PID controller \n
+ * bit of the valves
+ * @details
+ * Inputs : fpgaActuatorSetPoints
+ * Outputs : fpgaActuatorSetPoints
+ * @param bits : The bits to enable the PID controller of a valve
+ * @return none
+ *************************************************************************/
+void enableValvesPIDControl( U16 bits )
 {
-    fpgaActuatorSetPoints.fpgaPIDControl = 0xFF;
+    fpgaActuatorSetPoints.fpgaPIDControl =
+    fpgaActuatorSetPoints.fpgaPIDControl | bits;
 }
 
-void setDialyzerInletValvePosition( U16 setPoint )
+/*********************************************************************//**
+ * @brief
+ * The enableValvesBypassControl function enables the bypass controller \n
+ * bit of the valves
+ * @details
+ * Inputs : fpgaActuatorSetPoints
+ * Outputs : fpgaActuatorSetPoints
+ * @param bits : The bits to enable the bypass controller of a valve
+ * @return none
+ *************************************************************************/
+void enableValvesBypassControl( U16 bits )
 {
+    fpgaActuatorSetPoints.fpgaPIDControl =
+    fpgaActuatorSetPoints.fpgaPIDControl & bits;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getValvesStatus function reads the status of the valves
+ * @details
+ * Inputs : fpgaSensorReadings
+ * Outputs : none
+ * @return The status of the valves
+ *************************************************************************/
+U16 getValvesStatus( void )
+{
+    return fpgaSensorReadings.valveStatus;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setValveDialyzerInletPosition function sets the position of VDi \n
+ * in counts
+ * @details
+ * Inputs : fpgaActuatorSetPoints
+ * Outputs : fpgaActuatorSetPoints
+ * @param setPoint : Next position of the valve in counts
+ * @return none
+ *************************************************************************/
+void setValveDialyzerInletPosition( S16 setPoint )
+{
     fpgaActuatorSetPoints.VDiSetPoint = setPoint;
 }
-S16 getDialyzerInletValvePosition( void )
+
+/*********************************************************************//**
+ * @brief
+ * The getValveDialyzerInletPosition function reads the current position \n
+ * of VDi in counts
+ * @details
+ * Inputs : none
+ * Outputs : fpgaSensorReadings
+ * @return The current position of VDi
+ *************************************************************************/
+S16 getValveDialyzerInletPosition( void )
 {
     return fpgaSensorReadings.VDiPosition;
 }
 
-void setDialyzerOutletValvePosition( U16 setPoint )
+/*********************************************************************//**
+ * @brief
+ * The setValveDialyzerOutletPosition function sets the position of VDo \n
+ * in counts
+ * @details
+ * Inputs : fpgaActuatorSetPoints
+ * Outputs : fpgaActuatorSetPoints
+ * @param setPoint : Next position of the valve in counts
+ * @return none
+ *************************************************************************/
+void setValveDialyzerOutletPosition( S16 setPoint )
 {
     fpgaActuatorSetPoints.VDoSetPoint = setPoint;
 }
-S16 getDialyzerOutletValvePosition( void )
+
+/*********************************************************************//**
+ * @brief
+ * The getDialyzerOutletValvePosition function reads the current position \n
+ * of VDo in counts
+ * @details
+ * Inputs : none
+ * Outputs : fpgaSensorReadings
+ * @return The current position of VDo
+ *************************************************************************/
+S16 getValveDialyzerOutletPosition( void )
 {
     return fpgaSensorReadings.VDoPosition;
 }
 
-void setVenousBloodValvePosition( U16 setPoint )
+/*********************************************************************//**
+ * @brief
+ * The setValveBloodVenousPosition function sets the position of VBV \n
+ * in counts
+ * @details
+ * Inputs : fpgaActuatorSetPoints
+ * Outputs : fpgaActuatorSetPoints
+ * @param setPoint : Next position of the valve in counts
+ * @return none
+ *************************************************************************/
+void setValveBloodVenousPosition( S16 setPoint )
 {
     fpgaActuatorSetPoints.VBVSetPoint = setPoint;
 }
-S16 getVenousBloodValvePoistion( void )
+
+/*********************************************************************//**
+ * @brief
+ * The getValveBloodVenousPosition function reads the current position \n
+ * of VBV in counts
+ * @details
+ * Inputs : none
+ * Outputs : fpgaSensorReadings
+ * @return The current position of VBV
+ *************************************************************************/
+S16 getValveBloodVenousPosition( void )
 {
     return fpgaSensorReadings.VBVPosition;
 }
 
-void setArterialBloodValvePosition( U16 setPoint )
+/*********************************************************************//**
+ * @brief
+ * The setValveBloodArterialPosition function sets the position of VBA \n
+ * in counts
+ * @details
+ * Inputs : fpgaActuatorSetPoints
+ * Outputs : fpgaActuatorSetPoints
+ * @param setPoint : Next position of the valve in counts
+ * @return none
+ *************************************************************************/
+void setValveBloodArterialPosition( S16 setPoint )
 {
     fpgaActuatorSetPoints.VBASetPoint = setPoint;
 }
-S16 getArterialBloodValvePoistion( void )
+
+/*********************************************************************//**
+ * @brief
+ * The getValveBloodArterialPosition function reads the current position \n
+ * of VBA in counts
+ * @details
+ * Inputs : none
+ * Outputs : fpgaSensorReadings
+ * @return The current position of VBA
+ *************************************************************************/
+S16 getValveBloodArterialPosition( void )
 {
     return fpgaSensorReadings.VBAPosition;
 }