Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r71e5d8968b369a4e94f65a40171f648f442b8f80 -r9725baecc8bf9720e4c27a4564b8aee3d62813e5
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 71e5d8968b369a4e94f65a40171f648f442b8f80)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 9725baecc8bf9720e4c27a4564b8aee3d62813e5)
@@ -225,8 +225,12 @@
 static DATA_GET_PROTOTYPE( U32, getPublishValvesDataInterval );
 static void publishValvesData( VALVE_T valve );
 static void setValveNextStep( VALVE_T valve, U32 stepChange );
+
+// These functions will be used in debug only mode
+#ifdef DEBUG_ENABLED
 static void setFPGAValvePWM( VALVE_T valve );
 static void getValvesCurrentPWM( void );
+#endif
 
 /*********************************************************************//**
  * @brief
@@ -411,10 +415,12 @@
             case VALVE_STATE_IN_TRANSITION:
                 state = handleValveStateInTransition( valve );
                 break;
-
+// PWM mode only used in debug mode
+#ifdef DEBUG_ENABLED
             case VALVE_STATE_IN_BYPASS_MODE:
                 state = handleValveStateInBypassMode( valve );
                 break;
+#endif
 
             default:
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_HD_VALVES_INVALID_EXEC_STATE,
@@ -525,8 +531,13 @@
 
     // If homing has been requested or POST is completed and the door has been close for the specified
     // period of time, start the homing
-    if ( ( valvesStatus[ valve ].hasHomingBeenRequested || valveSelfTestState == VALVE_SELF_TEST_COMPLETE )
-            && isDoorClosed && ! valvesStatus[ valve ].hasHomingFailed )
+    if ( ( valvesStatus[ valve ].hasHomingBeenRequested || valveSelfTestState == VALVE_SELF_TEST_COMPLETE ) &&
+// This is disabled for VectoCAST testing. Once the door
+// driver was implemented, this build switch must be removed
+#ifdef DEBUG_ENABLED
+           isDoorClosed &&
+#endif
+          ! valvesStatus[ valve ].hasHomingFailed )
     {
         // Get ready for the energized state
         valvesStatus[ valve ].homingEdgeDetectionCounter = 0;
@@ -695,7 +706,7 @@
         }
     }
 // This option is only available in a debug build
-#ifdef VALVES_PWM_CONTROL_ENABLED
+#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 )
@@ -766,7 +777,7 @@
 
     return state;
 }
-
+#ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief
  * The handleValveStateInBypassMode function handles the bypass mode
@@ -803,7 +814,7 @@
 
     return state;
 }
-
+#endif
 /*********************************************************************//**
  * @brief
  * The setValveControlMode function sets the valves control mode.
@@ -853,7 +864,7 @@
 
     // Get the current PWM values back.
     // This function is only available if the valves are in bypass mode
-#ifdef VALVES_PWM_CONTROL_ENABLED
+#ifdef DEBUG_ENABLED
     getValvesCurrentPWM();
 #endif
 }
@@ -1061,7 +1072,8 @@
             {
                 SET_ALARM_WITH_2_F32_DATA( ALARM_ID_HD_VALVE_CURRENT_OUT_OF_RANGE, (F32)valve, currentPostion ); //TODO is S16 ok with F32?
             }
-            else
+            else if ( abs( currentPostion - commandedPoistion ) < MAX_DEVIATION_FROM_TARGET_IN_COUNTS &&
+                      valvesStatus[ valve ].positionOutOfRangeCounter > 0 )
             {
                 valvesStatus[ valve ].positionOutOfRangeCounter = 0;
             }
@@ -1143,7 +1155,6 @@
 static void setValveNextStep( VALVE_T valve, U32 stepChange )
 {
     S16 nextStep = 0;
-    S16 targetPosition = 0;
     VALVE_POSITION_T currentPositionEnum   = valvesStatus[ valve ].currentPosition;
     VALVE_POSITION_T commandedPositionEnum = valvesStatus[ valve ].commandedPosition;
     S16 currentPosition   = valvesStatus[ valve ].currentPositionInCounts;
@@ -1167,50 +1178,29 @@
         if ( commandedPositionEnum == VALVE_POSITION_B_OPEN )
         {
             valvesStatus[ valve ].targetPositionInCounts = valvesStatus[ valve ].currentPositionInCounts + nextStep;
-
-            if( nextStep < stepChange )
-            {
-                targetPosition = valvesStatus[ valve ].targetPositionInCounts;
-            }
-            else
-            {
-                targetPosition = valvesStatus[ valve ].targetPositionInCounts;
-            }
         }
         if ( commandedPositionEnum == VALVE_POSITION_C_CLOSE )
         {
             valvesStatus[ valve ].targetPositionInCounts = valvesStatus[ valve ].currentPositionInCounts - nextStep;
-
-            targetPosition = valvesStatus[ valve ].targetPositionInCounts;
         }
     }
     // If the valve is currently in position B, subtract the defined number of steps for the next transition
     else if ( currentPositionEnum == VALVE_POSITION_B_OPEN )
     {
         valvesStatus[ valve ].targetPositionInCounts = valvesStatus[ valve ].currentPositionInCounts - nextStep;
-
-        targetPosition = valvesStatus[ valve ].targetPositionInCounts;
     }
     // If the valve is currently in position C, add the defined number of steps for the next transition
     else if ( currentPositionEnum == VALVE_POSITION_C_CLOSE )
     {
         valvesStatus[ valve ].targetPositionInCounts = valvesStatus[ valve ].currentPositionInCounts + nextStep;
-
-        if ( nextStep < HOMING_STEP_CHANGE_IN_COUNTS && commandedPositionEnum == VALVE_POSITION_B_OPEN )
-        {
-            targetPosition = valvesStatus[ valve ].targetPositionInCounts;
-        }
-        else
-        {
-            targetPosition = valvesStatus[ valve ].targetPositionInCounts;
-        }
     }
 
     // Call the function to send the set point to FPGA. Current relaxation is not
     // enabled here, so it is always false
-    setFPGAValveSetPoint( valve, targetPosition, FALSE );
+    setFPGAValveSetPoint( valve, valvesStatus[ valve ].targetPositionInCounts, FALSE );
 }
 
+#ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief
  * The setFPGAValvePWM function checks whether the valve should be moving
@@ -1297,7 +1287,7 @@
         valvesStatus[ valve ].bypassModeStatus.currentPWMInPercent = currentPWM;
     }
 }
-
+#endif
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/
@@ -1406,6 +1396,7 @@
     return result;
 }
 
+#ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief
  * The testSetValvePWMOverride function overrides the valves PWM in bypass
@@ -1476,5 +1467,6 @@
 
     return result;
 }
+#endif
 
 /**@}*/
Index: firmware/App/HDCommon.h
===================================================================
diff -u -rb1c2d54d3d029ab1340d91193a7a4c81db8ba29d -r9725baecc8bf9720e4c27a4564b8aee3d62813e5
--- firmware/App/HDCommon.h	(.../HDCommon.h)	(revision b1c2d54d3d029ab1340d91193a7a4c81db8ba29d)
+++ firmware/App/HDCommon.h	(.../HDCommon.h)	(revision 9725baecc8bf9720e4c27a4564b8aee3d62813e5)
@@ -32,7 +32,6 @@
 #ifndef _RELEASE_
 #define UF_TEST_ENABLED                     1           // ultrafiltration test build (hard codes treatment params, re-purposes off/stop buttons)
 #define UF_TEST_WITH_DG                     1           // ultrafiltration test build (sets up DG in standby mode)
-#define VALVES_PWM_CONTROL_ENABLED          1           // Control valves with PWM
 #ifndef _VECTORCAST_
 //    #define RM46_EVAL_BOARD_TARGET          1           // limited build runs on RM46 eval board
 //    #define BREADBOARD_TARGET               1           // old breadboard system build - no longer used?
Index: firmware/App/Services/FPGA.c
===================================================================
diff -u -r306243570641956ce4e2303380c9c0a02801726d -r9725baecc8bf9720e4c27a4564b8aee3d62813e5
--- firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 306243570641956ce4e2303380c9c0a02801726d)
+++ firmware/App/Services/FPGA.c	(.../FPGA.c)	(revision 9725baecc8bf9720e4c27a4564b8aee3d62813e5)
@@ -1400,6 +1400,7 @@
     return fpgaSensorReadings.VDiCurrent;
 }
 
+#ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief
  * The setFPGAValveDialyzerInletPWM function sets the PWM of VDI in counts.
@@ -1427,6 +1428,7 @@
 {
     return fpgaSensorReadings.VDiPWMTarget;
 }
+#endif
 
 /*********************************************************************//**
  * @brief
@@ -1471,6 +1473,7 @@
     return fpgaSensorReadings.VDoCurrent;
 }
 
+#ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief
  * The setFPGAValveDialyzerOutletPWM function sets the PWM of VDO in counts.
@@ -1498,6 +1501,7 @@
 {
     return fpgaSensorReadings.VDoPWMTarget;
 }
+#endif
 
 /*********************************************************************//**
  * @brief
@@ -1542,6 +1546,7 @@
     return fpgaSensorReadings.VBVCurrent;
 }
 
+#ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief
  * The setFPGAValveBloodVenousPWM function sets the PWM of VBV in counts.
@@ -1568,6 +1573,7 @@
 {
     return fpgaSensorReadings.VBVPWMTarget;
 }
+#endif
 
 /*********************************************************************//**
  * @brief
@@ -1612,6 +1618,7 @@
     return fpgaSensorReadings.VBACurrent;
 }
 
+#ifdef DEBUG_ENABLED
 /*********************************************************************//**
  * @brief
  * The setFPGAValveBloodArterialPWM function sets a PWM for VBA in counts.
@@ -1639,6 +1646,7 @@
 {
     return fpgaSensorReadings.VBAPWMTarget;
 }
+#endif
 
 /*********************************************************************//**
  * @brief
Index: firmware/App/Services/FPGA.h
===================================================================
diff -u -r306243570641956ce4e2303380c9c0a02801726d -r9725baecc8bf9720e4c27a4564b8aee3d62813e5
--- firmware/App/Services/FPGA.h	(.../FPGA.h)	(revision 306243570641956ce4e2303380c9c0a02801726d)
+++ firmware/App/Services/FPGA.h	(.../FPGA.h)	(revision 9725baecc8bf9720e4c27a4564b8aee3d62813e5)
@@ -74,26 +74,30 @@
 void setFPGAValveDialyzerInletPosition( S16 setPoint );
 S16 getFPGAValveDialyzerInletPosition( void );
 U16 getFPGAValveDialyzerInletCurrentCounts( void );
-void setFPGAValveDialyzerInletPWM( U16 count );
-U16 getFPGAValveDialyzerInletPWM( void );
 
 void setFPGAValveDialyzerOutletPosition( S16 setPoint );
 S16 getFPGAValveDialyzerOutletPosition( void );
 U16 getFPGAValveDialyzerOutletCurrentCounts( void );
-void setFPGAValveDialyzerOutletPWM( U16 count );
-U16 getFPGAValveDialyzerOutletPWM( void );
 
 void setFPGAValveBloodVenousPosition( S16 setPoint );
 S16 getFPGAValveBloodVenousPosition( void );
 U16 getFPGAValveBloodVenousCurrentCounts( void );
-void setFPGAValveBloodVenousPWM( U16 count );
-U16 getFPGAValveBloodVenousPWM( void );
 
 void setFPGAValveBloodArterialPosition( S16 setPoint );
 S16 getFPGAValveBloodArterialPosition( void );
 U16 getFPGAValveBloodArterialCurrentCounts( void );
+
+// The PWM functions only used during debugging
+#ifdef DEBUG_ENABLED
+void setFPGAValveDialyzerInletPWM( U16 count );
+U16 getFPGAValveDialyzerInletPWM( void );
+void setFPGAValveDialyzerOutletPWM( U16 count );
+U16 getFPGAValveDialyzerOutletPWM( void );
+void setFPGAValveBloodVenousPWM( U16 count );
+U16 getFPGAValveBloodVenousPWM( void );
 void setFPGAValveBloodArterialPWM( U16 count );
 U16 getFPGAValveBloodArterialPWM( void );
+#endif
 
 /**@}*/