Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u
--- firmware/App/Controllers/Valves.c	(revision 0)
+++ firmware/App/Controllers/Valves.c	(revision 4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d)
@@ -0,0 +1,49 @@
+/*
+ * Valves.c
+ *
+ *  Created on: Aug 7, 2020
+ *      Author: fw
+ */
+
+#include "Valves.h"
+
+
+void initValves( void )
+{
+
+}
+
+SELF_TEST_STATUS_T execValvesSelfTest( void )
+{
+
+}
+
+void execValves( void )
+{
+
+}
+
+BOOL homeDialyzerInletValve( void )
+{
+
+}
+
+BOOL homeDialyzerOutletValve( void )
+{
+
+}
+
+BOOL homeBloodArterialValve( void )
+{
+
+}
+
+BOOL homeBloodVenousValve( void )
+{
+
+}
+
+BOOL homeBloodTrapValve( void )
+{
+
+}
Index: firmware/App/Controllers/Valves.h
===================================================================
diff -u
--- firmware/App/Controllers/Valves.h	(revision 0)
+++ firmware/App/Controllers/Valves.h	(revision 4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d)
@@ -0,0 +1,47 @@
+/*
+ * Valves.h
+ *
+ *  Created on: Aug 7, 2020
+ *      Author: fw
+ */
+
+#ifndef _VALVES_H_
+#define _VALVES_H_
+
+#include "Common.h"
+
+typedef enum valveStatesNames
+{
+    VALVE_STATE_POS_A_INSERT_EJECT = 0,
+    VALVE_STATE_POS_B_OPEN,
+    VALVE_STATE_POS_C_CLOSE,
+    NUM_OF_VALVE_STATES,
+} VALVE_STATE_NAMES_T;
+
+typedef enum valveNames
+{
+    VDI = 0,
+    VDO,
+    VBA,
+    VBV,
+    VAT,
+    NUM_OF_VALVES
+} VALVES_T;
+
+void initValves( void );
+
+SELF_TEST_STATUS_T execValvesSelfTest( void );
+
+void execValves( void );
+
+BOOL homeDialyzerInletValve( void );
+
+BOOL homeDialyzerOutletValve( void );
+
+BOOL homeBloodArterialValve( void );
+
+BOOL homeBloodVenousValve( void );
+
+BOOL homeBloodTrapValve( void );
+
+#endif
Index: firmware/App/Services/FPGA.c
===================================================================
diff -u -rf4545d449a2a2f9353307a55d2bce9e150591c3d -r4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d
--- firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision f4545d449a2a2f9353307a55d2bce9e150591c3d)
+++ firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d)
@@ -1310,6 +1310,47 @@
 {
     *cnt = fpgaSensorReadings.accelSampleCounter;
     *err = fpgaSensorReadings.accelFaultRegister;
+}
+
+void enableValvesPIDControl( U16 enableBits )
+{
+    fpgaActuatorSetPoints.fpgaPIDControl = 0xFF;
+}
+
+void setDialyzerInletValvePosition( U16 setPoint )
+{
+    fpgaActuatorSetPoints.VDiSetPoint = setPoint;
+}
+S16 getDialyzerInletValvePosition( void )
+{
+    return fpgaSensorReadings.VDiPosition;
+}
+
+void setDialyzerOutletValvePosition( U16 setPoint )
+{
+    fpgaActuatorSetPoints.VDoSetPoint = setPoint;
+}
+S16 getDialyzerOutletValvePosition( void )
+{
+    return fpgaSensorReadings.VDoPosition;
+}
+
+void setVenousBloodValvePosition( U16 setPoint )
+{
+    fpgaActuatorSetPoints.VBVSetPoint = setPoint;
+}
+S16 getVenousBloodValvePoistion( void )
+{
+    return fpgaSensorReadings.VBVPosition;
+}
+
+void setArterialBloodValvePosition( U16 setPoint )
+{
+    fpgaActuatorSetPoints.VBASetPoint = setPoint;
+}
+S16 getArterialBloodValvePoistion( void )
+{
+    return fpgaSensorReadings.VBAPosition;
 }
 
 /*********************************************************************//**
Index: firmware/App/Services/FPGA.h
===================================================================
diff -u -r3ded5ffcbcade3f1da5d40c52936ab5f97fc6ec9 -r4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d
--- firmware/App/Services/FPGA.h	(.../FPGA.h)	(revision 3ded5ffcbcade3f1da5d40c52936ab5f97fc6ec9)
+++ firmware/App/Services/FPGA.h	(.../FPGA.h)	(revision 4a5f3c9dfe803562a40aeea3bbc9fc3be0d1e26d)
@@ -67,7 +67,21 @@
 void getFPGAAccelAxes( S16 *x, S16 *y, S16 *z );
 void getFPGAAccelMaxes( S16 *xm, S16*ym, S16*zm );
 void getFPGAAccelStatus( U16 *cnt, U16 *accelFPGAFaultReg );
-
+
+void enableValvesPIDControl( U16 enableBits );
+
+void setDialyzerInletValvePosition( U16 setPoint );
+S16 getDialyzerInletValvePosition( void );
+
+void setDialyzerOutletValvePosition( U16 setPoint );
+S16 getDialyzerOutletValvePosition( void );
+
+void setVenousBloodValvePosition( U16 setPoint );
+S16 getVenousBloodValvePoistion( void );
+
+void setArterialBloodValvePosition( U16 setPoint );
+S16 getArterialBloodValvePoistion( void );
+
 /**@}*/
 
 #endif