Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r28dd261825b2c742df73042ac2902db0c8f6f2b7 -ra6fec5578295ef0bb7223376facb7d0cbd2c1209
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 28dd261825b2c742df73042ac2902db0c8f6f2b7)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision a6fec5578295ef0bb7223376facb7d0cbd2c1209)
@@ -1,6 +1,5 @@
 
 // Includes
-
 #include "Valves.h"
 #include "FPGA.h"
 #include "Timers.h"
@@ -95,15 +94,16 @@
     VALVE_POSITION_T commandedPosition;
     VALVE_POSITION_T currentPosition;
     S16              currentPositionInCounts;
-    S16              previousPositionInCounts;
     BOOL             hasTransitionBeenRequested;
     VALVE_STATE_T    execState;
     U32              transitionStartTime;
     S16              positions[ NUM_OF_VALVE_POSITIONS ];
     F32              valveCurrent;
     U32              valveOverCurrentCounter;
     U32              valvePositionOutOfRangeCounter;
+    U32              valvesDataPublishCounter;
     // Homing variables
+    S16              previousPositionInCounts;
     U32              numberOfFailedHomings;
     U32              homingEdgeDetectionCounter;
     BOOL             hasHomingBeenRequested;
@@ -117,7 +117,6 @@
 static VALVE_STATUS_T valvesStatus[ NUM_OF_VALVES ];
 
 static OVERRIDE_U32_T valvesDataPublishInterval = { VALVES_DATA_PUB_INTERVAL, VALVES_DATA_PUB_INTERVAL, 0, 0 };
-static U32            valvesDataPublishCounter = 0;
 
 // Self test function prototypes
 static VALVE_SELF_TEST_STATE_T handleValveSelfTestEnableValves( void );
@@ -138,11 +137,11 @@
 static void convertAndMonitorValvesCurrent( void );
 static void getAndMonitorValvesCurrentPosition( void );
 static DATA_GET_PROTOTYPE( U32, getPublishValvesDataInterval );
-static void publishValvesData( void );
+static void publishValvesData( VALVE_T valve );
 
 /*********************************************************************//**
  * @brief
- * The initValves function initializes the valves driver
+ * The initValves function initializes the valves driver.
  * @details
  * Inputs: valveSelfTestState, valvesSelfTestResult, valvesStatus
  * Outputs: valveSelfTestState, valvesSelfTestResult, valvesStatus
@@ -164,7 +163,7 @@
 
 /*********************************************************************//**
  * @brief
- * The homeValve function sets the homing request flag of a valve to TRUE
+ * The homeValve function sets the homing request flag of a valve to TRUE.
  * @details
  * Inputs: valvesStatus
  * Outputs: valvesStatus (The flag that sets the homing request)
@@ -181,7 +180,7 @@
 
 /*********************************************************************//**
  * @brief
- * The setValvePosition function sets the requested position of a valve
+ * The setValvePosition function sets the requested position of a valve.
  * @details
  * Inputs: valvesStatus
  * Outputs: valvesStatus (commanded position)
@@ -206,7 +205,7 @@
 
 /*********************************************************************//**
  * @brief
- * The getValvePosition function returns the current position of a valve
+ * The getValvePosition function returns the current position of a valve.
  * @details
  * Inputs: none
  * Outputs: valvesStatus (current position)
@@ -222,7 +221,7 @@
 /*********************************************************************//**
  * @brief
  * The setValveBloodTrap function set the blood trap valve to open or close
- * position
+ * position.
  * @details
  * Inputs: TODO
  * Outputs: TODO
@@ -231,12 +230,13 @@
  *************************************************************************/
 BOOL setValveBloodTrap( OPN_CLS_STATE_T state )
 {
+    //TODO fill up the function
     return TRUE;
 }
 
 /*********************************************************************//**
  * @brief
- * The execValvesSelfTest function executes the valves self test
+ * The execValvesSelfTest function executes the valves self test.
  * @details
  * Inputs: valveSelfTestState
  * Outputs: valveSelfTestState
@@ -268,7 +268,7 @@
 
 /*********************************************************************//**
  * @brief
- * The execValves function executes the valves exec state machine
+ * The execValves function executes the valves exec state machine.
  * @details
  * Inputs: none
  * Outputs: none (All the values are stored in the structure of each valve)
@@ -329,14 +329,14 @@
             default:
                 break;
         }
-    }
 
-    publishValvesData();
+        publishValvesData( valve );
+    }
 }
 
 /*********************************************************************//**
  * @brief
- * The handleValveSelfTestEnableValves function starts the valves self test
+ * The handleValveSelfTestEnableValves function starts the valves self test.
  * @details
  * Inputs: valvesSelfTestResult
  * Outputs: nvalvesSelfTestResult
@@ -360,7 +360,7 @@
 /*********************************************************************//**
  * @brief
  * The handleValveSelfTestConfirmEnable function checks to make sure the
- * valves are enabled properly
+ * valves are enabled properly.
  * @details
  * Inputs: valvesSelfTestResult
  * Outputs: valvesSelfTestResult
@@ -383,8 +383,7 @@
 /*********************************************************************//**
  * @brief
  * The handleValveStateWaitForPost function handles the wait for POST \n
- * state
- * valves are enabled properly
+ * state.
  * @details
  * Inputs: valveSelfTestState, valveSelfTestState
  * Outputs: valveSelfTestState (the next exec state of a valve)
@@ -405,8 +404,7 @@
 /*********************************************************************//**
  * @brief
  * The handleValveStateIdle function handles the idle state of the valves \n
- * state machine
- * valves are enabled properly
+ * state machine.
  * @details
  * Inputs: valveSelfTestState, valveSelfTestState
  * Outputs: valveSelfTestState (the next exec state of a valve)
@@ -441,7 +439,7 @@
 /*********************************************************************//**
  * @brief
  * The handleValveStateInTransition function handles the in transition \n
- * state of the state machine
+ * state of the state machine.
  * @details
  * Inputs: valvesStatus (commanded position, current position, current position \n
  * in counts, has transition been requested flag)
@@ -516,7 +514,7 @@
 /*********************************************************************//**
  * @brief
  * The handleValveStateHomingNotStarted function handles homing not started \n
- * state of the state machine
+ * state of the state machine.
  * @details
  * Inputs: valvesStatus, valveSelfTestState
  * Outputs: valvesStatus
@@ -548,7 +546,7 @@
 /*********************************************************************//**
  * @brief
  * The handleValveStateHomingFindEnergizedEdge function handles find \n
- * energized state of the state machine
+ * energized state of the state machine.
  * @details
  * Inputs: valvesStatus, valveSelfTestState
  * Outputs: valvesStatus
@@ -607,8 +605,8 @@
 /*********************************************************************//**
  * @brief
  * The handleValveStateHomingFindDeenergizedEdge function handles find \n
- * de-energized state of the state machine
- * @details
+ * de-energized state of the state machine.
+ * @details.
  * Inputs: valvesStatus, valveSelfTestState
  * Outputs: valvesStatus
  * @return: none
@@ -681,7 +679,7 @@
 /*********************************************************************//**
  * @brief
  * The execMonitorValves function handles monitoring of the valves. The \n
- * function calls other functions to monitor the values
+ * function calls other functions to monitor the values.
  * @details
  * Inputs: none
  * Outputs: none
@@ -703,7 +701,7 @@
  * @brief
  * The areValvesEnabled function checks the current valves status from FPGA \n
  * to the enable bit mask of each valve. If any of the valves is not enabled \n
- * the function raises an alarm
+ * the function raises an alarm.
  * @details
  * Inputs: none
  * Outputs: none
@@ -777,7 +775,7 @@
 
 /*********************************************************************//**
  * @brief
- * The setFPGAValue function sets the position of a valve to FPGA
+ * The setFPGAValue function sets the position of a valve to FPGA.
  * @details
  * Inputs: none
  * Outputs: none
@@ -818,7 +816,7 @@
  * @brief
  * The convertAndMonitorValvesCurrent function gets the current values \n
  * in counts from FPGA and converts them to current. If any of the values \n
- * is above the threshold, the function will raise an alarm
+ * is above the threshold, the function will raise an alarm.
  * @details
  * Inputs: valvesStatus
  * Outputs: valvesStatus
@@ -831,7 +829,8 @@
     F32 ADC2Voltage = 0;
     F32 voltage2Current = 0;
 
-    // Get the current from FPGA in ADC
+    // Get the current from FPGA in ADC and use the macros to convert
+    // the ADC count into voltage, and convert voltage to current
     currentInADC = getFPGAValveDialyzerInletCurrentCounts();
     ADC2Voltage = ADC_TO_VOLTAGE_CONVERSION( currentInADC );
     voltage2Current = ADC_TO_VOLTAGE_CONVERSION( ADC2Voltage );
@@ -877,7 +876,7 @@
  * of the valves and stores them into the structure of each valve. The function \n
  * checks whether any of the valves have deviated from their current position \n
  * if they are in idle state. If any of the valves have deviated, the function \n
- * raises an alarm
+ * raises an alarm.
  * @details
  * Inputs: valvesStatus
  * Outputs: valvesStatus
@@ -927,7 +926,7 @@
 /*********************************************************************//**
  * @brief
  * The getPublishValvesDataInterval function gets the valves data publish \n
- * interval
+ * interval.
  * @details
  * Inputs: valvesDataPublishInterval
  * Outputs: none
@@ -948,22 +947,82 @@
 /*********************************************************************//**
  * @brief
  * The publishValvesData function publishes the data of the valves at the \n
- * specified time interval
+ * specified time interval.
  * @details
- * Inputs: valvesDataPublishCounter
- * Outputs: valvesDataPublishCounter
+ * Inputs: valvesStatus
+ * Outputs: valvesStatus
  * @return: none
  *************************************************************************/
-static void publishValvesData( void )
+static void publishValvesData( VALVE_T valve )
 {
-    if ( ++valvesDataPublishCounter > getPublishValvesDataInterval() )
+    // Check the counter
+    if ( ++valvesStatus[ valve ].valvesDataPublishCounter > getPublishValvesDataInterval() )
     {
-        broadcastHDValves();
+        U32 currentPos = (U32)valvesStatus[ valve ].currentPosition;
+        S16 currentPosCount = valvesStatus[ valve ].currentPositionInCounts;
+        F32 current = valvesStatus[ valve ].valveCurrent;
 
-        valvesDataPublishCounter = 0;
+        broadcastHDValves( (U32)valve, currentPos, currentPosCount, current );
+
+        valvesStatus[ valve ].valvesDataPublishCounter = 0;
     }
 }
 
 /**@}*/
 
+/*************************************************************************
+ *                       TEST SUPPORT FUNCTIONS
+ *************************************************************************/
 
+/*********************************************************************//**
+ * @brief
+ * The testSetValvesDataPublishInterval function overrides the valves \n
+ * data publish interval.
+ * @details
+ * Inputs: valvesDataPublishInterval
+ * Outputs: valvesDataPublishInterval
+ * @param: value : override valve data publish interval with (in ms)
+ * @return TRUE if override successful, FALSE if not
+ *************************************************************************/
+BOOL testSetValvesDataPublishInterval( U32 value )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        U32 intvl = value / TASK_PRIORITY_INTERVAL;
+
+        result = TRUE;
+        valvesDataPublishInterval.ovData   = intvl;
+        valvesDataPublishInterval.override = OVERRIDE_KEY;
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The testResetValvesDataPublishInterval function resets the override \n
+ * of the valves publish interval.
+ * @details
+ * Inputs: valvesDataPublishInterval
+ * Outputs: valvesDataPublishInterval
+ * @return TRUE if override reset successful, FALSE if not
+ *************************************************************************/
+BOOL testResetValvesDataPublishInterval( void )
+{
+    BOOL result = FALSE;
+
+    if ( TRUE == isTestingActivated() )
+    {
+        result = TRUE;
+        valvesDataPublishInterval.override = OVERRIDE_RESET;
+        valvesDataPublishInterval.ovData   = valvesDataPublishInterval.ovInitData;
+    }
+
+    return result;
+}
+
+
+
+
Index: firmware/App/Controllers/Valves.h
===================================================================
diff -u -r28dd261825b2c742df73042ac2902db0c8f6f2b7 -ra6fec5578295ef0bb7223376facb7d0cbd2c1209
--- firmware/App/Controllers/Valves.h	(.../Valves.h)	(revision 28dd261825b2c742df73042ac2902db0c8f6f2b7)
+++ firmware/App/Controllers/Valves.h	(.../Valves.h)	(revision a6fec5578295ef0bb7223376facb7d0cbd2c1209)
@@ -52,6 +52,10 @@
 
 BOOL setValveBloodTrap( OPN_CLS_STATE_T state );
 
+BOOL testSetValvesDataPublishInterval( U32 value );
+
+BOOL testResetValvesDataPublishInterval( void );
+
 /**@}*/
 
 #endif
Index: firmware/App/Services/MessagePayloads.h
===================================================================
diff -u -rc84daa1f07003427fc5cdde8f5651434478f7313 -ra6fec5578295ef0bb7223376facb7d0cbd2c1209
--- firmware/App/Services/MessagePayloads.h	(.../MessagePayloads.h)	(revision c84daa1f07003427fc5cdde8f5651434478f7313)
+++ firmware/App/Services/MessagePayloads.h	(.../MessagePayloads.h)	(revision a6fec5578295ef0bb7223376facb7d0cbd2c1209)
@@ -173,6 +173,14 @@
     U32 ctrlMode;
 } OVERRIDE_PUMP_SET_PT_PAYLOAD_T;
 
+typedef struct
+{
+    U32 valveID;
+    U32 currentPosID;
+    S16 currentPos;
+    F32 current;
+} HD_VALVES_T;
+
 #pragma pack(pop)
 
 #endif
Index: firmware/App/Services/SystemCommMessages.c
===================================================================
diff -u -r28dd261825b2c742df73042ac2902db0c8f6f2b7 -ra6fec5578295ef0bb7223376facb7d0cbd2c1209
--- firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision 28dd261825b2c742df73042ac2902db0c8f6f2b7)
+++ firmware/App/Services/SystemCommMessages.c	(.../SystemCommMessages.c)	(revision a6fec5578295ef0bb7223376facb7d0cbd2c1209)
@@ -31,7 +31,8 @@
 #include "SafetyShutdown.h"
 #include "SystemComm.h"
 #include "SystemCommMessages.h"
-#include "Utilities.h"
+#include "Utilities.h"
+#include "Valves.h"
 #include "WatchdogMgmt.h"
 #include "RTC.h"
 
@@ -1119,9 +1120,42 @@
     return result;
 }
 
-BOOL broadcastHDValves( void )
+/***********************************************************************//**
+ * @brief
+ * The broadcastHDValves function constructs an HD valves msg to \n
+ * be broadcast and queues the msg for transmit on the appropriate CAN channel.
+ * @details
+ * Inputs : none
+ * Outputs : HD valves msg constructed and queued
+ * @param valve : HD valve ID
+ * @param currentPosEnum : Current position ID
+ * @param currentPosCount : Current position count
+ * @param current : Current of the valve
+ * @return TRUE if msg successfully queued for transmit, FALSE if not
+ *************************************************************************/
+BOOL broadcastHDValves( U32 valve, U32 currentPosEnum, S16 currentPosCount, F32 current )
 {
+    BOOL result;
+    MESSAGE_T msg;
+    U08 *payloadPtr = msg.payload;
+    HD_VALVES_T payload;
 
+    // create a message record
+    blankMessage( &msg );
+    msg.hdr.msgID = MSG_ID_HD_VALVES_DATA;
+    msg.hdr.payloadLen = sizeof( HD_VALVES_T );
+
+    payload.valveID = valve;
+    payload.currentPosID = currentPosEnum;
+    payload.currentPos = currentPosCount;
+    payload.current = current;
+
+    memcpy( payloadPtr, &payload, sizeof( HD_VALVES_T ) );
+
+    // serialize the message (w/ sync, CRC, and appropriate CAN padding) and add serialized message data to appropriate comm buffer
+    result = serializeMessage( msg, COMM_BUFFER_OUT_CAN_HD_BROADCAST, ACK_NOT_REQUIRED );
+
+    return result;
 }
 
 #ifdef EMC_TEST_BUILD
@@ -2365,3 +2399,15 @@
     // respond to request
     sendTestAckResponseMsg( (MSG_ID_T)message->hdr.msgID, result );
 }
+
+/*********************************************************************//**
+ * @brief
+ * The handleTestHDValvesBroadcastIntervalOverrideRequest function handles \n
+ * a request to override the broadcast interval for HD valves data.
+ * @details
+ * Inputs : none
+ * Outputs : message handled
+ * @param message : a pointer to the message to handle
+ * @return none
+ *************************************************************************/
+DATA_OVERRIDE_HANDLER_FUNC_U32( U32, handleTestHDValvesBroadcastIntervalOverrideRequest, testSetValvesDataPublishInterval, testResetValvesDataPublishInterval )
Index: firmware/App/Services/SystemCommMessages.h
===================================================================
diff -u -r28dd261825b2c742df73042ac2902db0c8f6f2b7 -ra6fec5578295ef0bb7223376facb7d0cbd2c1209
--- firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision 28dd261825b2c742df73042ac2902db0c8f6f2b7)
+++ firmware/App/Services/SystemCommMessages.h	(.../SystemCommMessages.h)	(revision a6fec5578295ef0bb7223376facb7d0cbd2c1209)
@@ -161,7 +161,7 @@
 BOOL broadcastHDOperationMode( U32 mode, U32 subMode );
 
 //MSG_ID_HD_VALVES_DATA
-BOOL broadcastHDValves( void );
+BOOL broadcastHDValves( U32 valve, U32 currentPosEnum, S16 currentPosCount, F32 current );
 
 #ifdef EMC_TEST_BUILD
 // MSG_ID_CAN_ERROR_COUNT
@@ -313,6 +313,9 @@
 
 // MSG_ID_HD_DIALYSATE_FLOW_SET_CALIBRATION:
 void handleSetDialysateFlowCalibration( MESSAGE_T *message );
+
+//MSG_ID_HD_VALVES_SEND_INTERVAL_OVERRIDE
+void handleTestHDValvesBroadcastIntervalOverrideRequest( MESSAGE_T *message );
 
 #endif