Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -rb692af0986725e87431ca5e23c5721f1b242baac -r051326e2671e8d5b3e99eaa109ea549e94a929f3
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision b692af0986725e87431ca5e23c5721f1b242baac)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 051326e2671e8d5b3e99eaa109ea549e94a929f3)
@@ -40,6 +40,8 @@
 #define MAX_HOME_FULL_TRAVEL_DIFF           100U                                                ///< Maximum allowed difference in full travel encoder counts between expected and measured during home operation.
 #define VALVE_TRANSITION_TIMEOUT_MS         3000U                                               ///< Valves transition time out in ms
 
+#define VALVE_FORCE_HOME                    TRUE                                                ///< Force valve to home even if already homed
+
 /// Valve controller states
 typedef enum Valve_Control_States
 {
@@ -132,6 +134,48 @@
 
 /*********************************************************************//**
  * @brief
+ * The homeValve function requests a valve homing operation on a given valve.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if given valve is invalid.
+ * @details \b Inputs: currentValveStates[]
+ * @details \b Outputs: currentValveStates[]
+ * @param valve ID of valve that is set to be homed
+ * @param force flag indicating whether homing should be forced even if already homed
+ * @param cartridge flag indicating whether a cartridge may be present requiring a more lax homing
+ * @return TRUE if the homing command accepted otherwise, FALSE
+ *************************************************************************/
+BOOL homeValve( VALVE_T valve, BOOL force, BOOL cartridge )
+{
+    BOOL result = FALSE;
+
+    if ( valve < NUM_OF_VALVES )
+    {
+        VALVE_STATE_T currState = currentValveStates[ valve ].controlState;
+
+        if ( ( VALVE_STATE_HOMING_NOT_STARTED == currState ) || ( VALVE_STATE_IDLE == currState ) )
+        {
+            // If haven't already homed the valves, home the valves
+            if ( ( currentValveStates[ valve ].hasValveBeenHomed != TRUE ) || ( VALVE_FORCE_HOME == force ) )
+            {
+                currentValveStates[ valve ].hasHomingBeenRequested = TRUE;
+            }
+            // Otherwise, go to position A (home position)
+            else
+            {
+                setValvePosition( valve, VALVE_POSITION_A_INSERT_EJECT );
+            }
+            result = TRUE;
+        }
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_VALVES_INVALID_VALVE8, (U32)valve )
+    }
+
+    return result;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setValvePosition function sets the commanded position for a given valve.
  * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve or position given.
  * @details \b Inputs: none