Index: firmware/App/Drivers/PinchValve.c
===================================================================
diff -u -r6d2e13dfca9285909eddd958ca82bf3da1157412 -r2c9f7442169ce34dd4a2fffe91e293efab255826
--- firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 6d2e13dfca9285909eddd958ca82bf3da1157412)
+++ firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 2c9f7442169ce34dd4a2fffe91e293efab255826)
@@ -249,7 +249,7 @@
 // ********** private function prototypes **********
 
 // Low level command state machine handlers
-static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdIdleState( VALVE_T valve );
+static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdIdleState( void );
 static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdSetCmdState( VALVE_T valve );
 static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdXmitCmdState( VALVE_T valve );
 static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdWaitDoneState( VALVE_T valve );
@@ -368,7 +368,7 @@
 * The execPinchValveCommand function executes the low level FPGA command
 * state machine.
 * @details \b Inputs: commandState[]
-* @details \b Outputs: commandState[]
+* @details \b Outputs: commandFailed []
 * @return current state (sub-mode)
 *************************************************************************/
 void execPinchValveCommand( void )
@@ -380,7 +380,7 @@
         switch ( commandState[ valve ] )
         {
             case PINCH_VALVE_CMD_IDLE_STATE:
-                commandState[ valve ] = handlePinchValveCmdIdleState( valve );
+                commandState[ valve ] = handlePinchValveCmdIdleState();
                 break;
 
             case PINCH_VALVE_CMD_SET_CMD_STATE:
@@ -419,7 +419,7 @@
 * The execPinchValveFunction function executes the pinch valve
 * homing and position command sequence state machine.
 * @details \b Inputs: functionState[]
-* @details \b Outputs: functionState[]
+* @details \b Outputs: commandFailed[]
 * @return current state (sub-mode)
 *************************************************************************/
 void execPinchValveFunction( void )
@@ -459,10 +459,8 @@
 * @param valve H1_VALV or H19_VALV.
 * @return next Pinch Valve command state machine.
 *************************************************************************/
-static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdIdleState( VALVE_T valve )
+static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdIdleState( void )
 {
-    ( void )valve;
-
     return PINCH_VALVE_CMD_IDLE_STATE;
 }
 
@@ -567,7 +565,7 @@
 *************************************************************************/
 static PINCH_VALVE_CMD_STATE_T handlePinchValveCmdReadWordsState( VALVE_T valve )
 {
-    PINCH_VALVE_CMD_STATE_T nextState;
+    PINCH_VALVE_CMD_STATE_T nextState = PINCH_VALVE_CMD_READ_WORDS_STATE;
 
     if ( ( TRUE == didPinchValveErrorCountChange( valve ) ) ||
          ( TRUE == isPinchValveControllerFaultActive( valve ) ) ||
@@ -632,7 +630,7 @@
 * h19HomingCommands[], positionCommands[]
 * @details \b Outputs: pendingValvePositionRequest[], homingInProgress[], positionInProgress[],
 * activeCommandArray[], activeCommandCount[], activeCommandIndex[],
-* commandFailed[], positionCommands[]
+* commandFailed[], positionCommands[], pendingValveHomeRequest[]
 * @param valve H1_VALV or H19_VALV.
 * @return next Pinch Valve function state machine
 *************************************************************************/
@@ -692,7 +690,7 @@
 * in the active homing or position sequence.
 * @details \b Inputs: valve, activeCommandArray[], activeCommandCount[],
 * activeCommandIndex[], commandState[]
-* @details \b Outputs: commandFailed[], activeCommand[], commandState[]
+* @details \b Outputs: commandFailed[], activeCommand[]
 * @param valve H1_VALV or H19_VALV.
 * @return next Pinch Valve function state machine.
 *************************************************************************/
@@ -770,9 +768,9 @@
 * @brief
 * The homePinchValve function requests the homing command sequence for the
 * selected pinch valve.
-* @details \b Inputs: valve, pendingValveHomeRequest[],
+* @details \b Inputs: none
+* @details \b Outputs: commandFailed[], pendingValveHomeRequest[],
 * pendingValvePositionRequest[]
-* @details \b Outputs: commandFailed[], enableResetValue[]
 * @param valve H1_VALV or H19_VALV.
 * @return TRUE if the homing request is accepted, FALSE otherwise.
 *************************************************************************/
@@ -796,8 +794,7 @@
 * @brief
 * The setPinchValvePosition function requests movement to the selected
 * stored pinch valve position.
-* @details \b Inputs: valve, position, pendingValveHomeRequest[],
-* pendingValvePositionRequest[], valvePositions[]
+* @details \b Inputs: none
 * @details \b Outputs: pendingValvePosition[],
 * pendingValvePositionRequest[], pendingValveHomeRequest[],
 * commandFailed[]
@@ -846,8 +843,8 @@
 * @brief
 * The setPinchValveEnableReset function sets the enable and reset
 * register for the selected valve.
-* @details \b Inputs: valve, enable, reset
-* @details \b Outputs: enableResetValue[]
+* @details \b Inputs: none
+* @details \b Outputs: none
 * @param valve H1_VALV or H19_VALV.
 * @param enable TRUE to enable the pinch valve controller.
 * @param reset TRUE to assert the pinch valve controller reset.
@@ -918,7 +915,7 @@
 * @brief
 * The isPinchValveHomed function checks whether homed valve positions have
 * been stored for the selected pinch valve.
-* @details \b Inputs: valve, valvePositions[]
+* @details \b Inputs: valvePositions[]
 * @details \b Outputs: none
 * @param valve H1_VALV or H19_VALV.
 * @return TRUE if the selected valve has a stored Position A, FALSE otherwise.
@@ -939,7 +936,7 @@
 * @brief
 * The getPinchValveStoredPosition function returns the stored encoder count
 * for the selected pinch valve position.
-* @details \b Inputs: valve, position, valvePositions[]
+* @details \b Inputs: position, valvePositions[]
 * @details \b Outputs: none
 * @param valve H1_VALV or H19_VALV.
 * @param position Stored valve position to read.
@@ -987,7 +984,7 @@
 * @details \b Outputs: activeCommand[], commandOutputWord1[],
 * commandOutputWord2[], commandOutputWord3[], commandSpiStatus[],
 * commandErrorCount[], commandFailed[], commandState[]
-* @param valve H1_VALV or H19_VALV..
+* @param valve H1_VALV or H19_VALV.
 * @param command Pinch valve command to execute
 * @return TRUE if the command is accepted, FALSE otherwise..
 *************************************************************************/
@@ -1021,8 +1018,9 @@
 * @brief
 * The writePinchValveCommandRegisters function writes the active command
 * header, input words and FPGA command byte.
-* @details \b Inputs: valve, activeCommand[]
-* @details \b Outputs: fpgaCommandValue[]
+* @details \b Inputs: fpgaCommandValue[]
+* @details \b Outputs: none
+* @param valve H1_VALV or H19_VALV.
 * @return TRUE if the command registers are written, FALSE otherwise.
 *************************************************************************/
 static BOOL writePinchValveCommandRegisters( VALVE_T valve )
@@ -1299,13 +1297,14 @@
 * The isPinchValveCommandDone function checks the SPI command done bit.
 * @details \b Inputs: commandSpiStatus[]
 * @details \b Outputs: none
+* @param valve H1_VALV or H19_VALV.
 * @return TRUE if the command done bit is set, FALSE otherwise.
 *************************************************************************/
 static BOOL isPinchValveCommandDone( VALVE_T valve )
 {
     BOOL result;
 
-    result = ( ( commandSpiStatus[ valve ] & PINCH_VALVE_SPI_DONE_BIT_MASK ) != 0 );
+    result = ( 0 != ( commandSpiStatus[ valve ] & PINCH_VALVE_SPI_DONE_BIT_MASK ) ) ? TRUE : FALSE;
 
     return result;
 }
@@ -1316,13 +1315,15 @@
 * status bit.
 * @details \b Inputs: commandSpiStatus[]
 * @details \b Outputs: none
+* @param valve H1_VALV or H19_VALV.
 * @return TRUE if the controller fault bit is set, FALSE otherwise
 *************************************************************************/
 static BOOL isPinchValveControllerFaultActive( VALVE_T valve )
 {
     BOOL result;
 
-    result = ( ( commandSpiStatus[ valve ] & PINCH_VALVE_SPI_CONTROLLER_FAULT_BIT_MASK ) != 0 );
+    result = ( ( commandSpiStatus[ valve ] & PINCH_VALVE_SPI_CONTROLLER_FAULT_BIT_MASK ) != 0 )
+                                                           ? TRUE : FALSE;
 
     return result;
 }
@@ -1333,13 +1334,14 @@
 * error count changed during the active transaction.
 * @details \b Inputs: commandErrorCount[]
 * @details \b Outputs: none
+* @param valve H1_VALV or H19_VALV.
 * @return TRUE if the error count changed, FALSE otherwise.
 *************************************************************************/
 static BOOL didPinchValveErrorCountChange( VALVE_T valve )
 {
     BOOL result;
 
-    result = ( commandErrorCount[ valve ] != errorCountAtCommandStart[ valve ] );
+    result = ( commandErrorCount[ valve ] != errorCountAtCommandStart[ valve ] ) ? TRUE : FALSE;
 
     return result;
 }
@@ -1430,7 +1432,9 @@
             }
             else
             {
-                receivedCount = (U08)( ( commandSpiStatus[ valve ] & PINCH_VALVE_SPI_RX_COUNT_MASK ) >> PINCH_VALVE_SPI_RX_COUNT_SHIFT );
+                receivedCount = (U08)( ( commandSpiStatus[ valve ] &
+                                         PINCH_VALVE_SPI_RX_COUNT_MASK ) >>
+                                         PINCH_VALVE_SPI_RX_COUNT_SHIFT );
 
                 if ( receivedCount == activeCommand[ valve ].outputWordCount )
                 {
@@ -1459,7 +1463,7 @@
 {
     BOOL result;
 
-    result = ( ( H1_VALV == valve ) || ( H19_VALV == valve ) );
+    result = ( ( H1_VALV == valve ) || ( H19_VALV == valve ) ) ? TRUE : FALSE;
 
     return result;
 }
@@ -1545,7 +1549,7 @@
 * words into a signed 32 bit value.
 * @details \b Inputs: valve, commandOutputWord1[], commandOutputWord2[]
 * @details \b Outputs: none
-* * @param valve H1_VALV or H19_VALV.
+* @param valve H1_VALV or H19_VALV.
 * @return Signed 32 bit command output value.
 *************************************************************************/
 static S32 getSigned32OutputValue( VALVE_T valve )
@@ -1650,7 +1654,7 @@
 {
     BOOL result;
 
-    result = ( 0 != ( status & PINCH_VALVE_EVENT_MOTION_COMPLETE_MASK ) );
+    result = ( 0 != ( status & PINCH_VALVE_EVENT_MOTION_COMPLETE_MASK ) ) ? TRUE : FALSE;
 
     return result;
 }
@@ -1668,7 +1672,7 @@
 {
     BOOL result;
 
-    result = ( 0 != ( status & PINCH_VALVE_EVENT_MOTION_ERROR_MASK ) );
+    result = ( 0 != ( status & PINCH_VALVE_EVENT_MOTION_ERROR_MASK ) ) ? TRUE : FALSE;
 
     return result;
 }