Index: firmware/App/Drivers/PinchValve.h
===================================================================
diff -u -r9565d9627edc032a2c6414a38f38f14c62e3ec87 -r078ab958e0cac18c5b8a5cc2f9d22710ac52aa1e
--- firmware/App/Drivers/PinchValve.h	(.../PinchValve.h)	(revision 9565d9627edc032a2c6414a38f38f14c62e3ec87)
+++ firmware/App/Drivers/PinchValve.h	(.../PinchValve.h)	(revision 078ab958e0cac18c5b8a5cc2f9d22710ac52aa1e)
@@ -18,52 +18,71 @@
 #ifndef __PINCHVALVE_H__
 #define __PINCHVALVE_H__
 
-#ifndef __PINCH_VALVE_H__
-#define __PINCH_VALVE_H__
-
 #include "TDCommon.h"
+#include "RotaryValve.h"
 
 /**
- * @defgroup PinchValve PinchValve
- * @brief Magellan pinch valve driver for H1 and H19.
+ *  @defgroup PinchValve PinchValve
+ *  @brief pinch valve communication driver.
+ *  This driver sends one generic command at a time through the FPGA
+ *  interface. High level functions such as homing and movement to positions
+ *  A, B, and C belong in the controller layer.
  *
- * The PinchValve unit provides a command execution state machine for the
- * Magellan based pinch valve interface.  FPGA register access is handled by
- * FpgaTD.
- *
- * @addtogroup PinchValve
- * @{
+ *  @addtogroup PinchValve
+ *  @{
  */
 
 // ********** public definitions **********
 
+#define PINCH_VALVE_MAX_INPUT_WORDS              3U  ///< Maximum number of command input words.
+#define PINCH_VALVE_MAX_OUTPUT_WORDS             3U  ///< Maximum number of command output words.
 
+/// Pinch valve command request.
+typedef struct
+{
+    U16 cmdHeader;                                   ///< Command header.
+    U16 inputWord1;                                  ///< Input word 1.
+    U16 inputWord2;                                  ///< Input word 2.
+    U16 inputWord3;                                  ///< Input word 3.
+    U08 inputWordCount;                              ///< Number of valid input words, excluding the command header.
+    U08 outputWordCount;                             ///< Number of output words expected.
+    BOOL writeOnly;                                  ///< TRUE for a write-only command.
+} PINCH_VALVE_COMMAND_T;
 
-// PMD IC command codes.
-#define PINCH_VALVE_PMD_CMD_SET_PROFILE_MODE       0x00A0
-#define PINCH_VALVE_PMD_CMD_RESET_EVENT_STATUS     0x0034
-#define PINCH_VALVE_PMD_CMD_SET_VELOCITY           0x0011
-#define PINCH_VALVE_PMD_CMD_SET_POSITION           0x0010
-#define PINCH_VALVE_PMD_CMD_UPDATE                 0x001A
-#define PINCH_VALVE_PMD_CMD_GET_ACTIVITY_STATUS    0x00A6
-#define PINCH_VALVE_PMD_CMD_GET_EVENT_STATUS       0x0031
-#define PINCH_VALVE_PMD_CMD_GET_ACTUAL_POSITION    0x0037
-#define PINCH_VALVE_PMD_CMD_SET_ACTUAL_POSITION    0x004D
-#define PINCH_VALVE_PMD_CMD_SET_OPERATING_MODE     0x0065
+/// Pinch valve command response.
+typedef struct
+{
+    U16 outputWord1;                                 ///< Output word 1.
+    U16 outputWord2;                                 ///< Output word 2.
+    U16 outputWord3;                                 ///< Output word 3.
+    U08 spiCmdStatus;                                ///< FPGA SPI command status.
+    U08 readCount;                                   ///< FPGA read count.
+    U08 errorCount;                                  ///< FPGA invalid command error count.
+} PINCH_VALVE_RESPONSE_T;
 
+/// Pinch valve driver command result.
+typedef enum pinchValveCommandResults
+{
+    PINCH_VALVE_CMD_RESULT_IDLE = 0,                 ///< No command has been requested.
+    PINCH_VALVE_CMD_RESULT_BUSY,                     ///< Command is executing.
+    PINCH_VALVE_CMD_RESULT_COMPLETE,                 ///< Command completed successfully.
+    PINCH_VALVE_CMD_RESULT_ERROR                     ///< Command failed.
+} PINCH_VALVE_CMD_RESULT_T;
+
 // ********** public function prototypes **********
 
-void initPinchValve( void );
-void execPinchValve( void );
+void initPinchValveDriver( void );
+void execPinchValveDriver( void );
 
-BOOL startPinchValveHome( PINCH_VALVE_ID_T valve );
-BOOL startPinchValveMove( PINCH_VALVE_ID_T valve, S32 targetPosition );
-BOOL startPinchValveReadStatus( PINCH_VALVE_ID_T valve );
+BOOL setPinchValveCommand( VALVE_T valve, const PINCH_VALVE_COMMAND_T *command );
 
-PINCH_VALVE_STATE_T getPinchValveState( void );
+void setPinchValveEnableReset( VALVE_T valve, BOOL enable, BOOL reset );
+U08 getPinchValveEnableReset( VALVE_T valve );
+
+BOOL isPinchValveBusy( void );
 PINCH_VALVE_CMD_RESULT_T getPinchValveCommandResult( void );
-void getPinchValveResponse( PINCH_VALVE_RESPONSE_T *response );
+BOOL getPinchValveResponse( VALVE_T valve, PINCH_VALVE_RESPONSE_T *response );
 
-U16 getPinchValveLastOutputWord3( void );
+/**@}*/
 
 #endif