Index: firmware/App/Drivers/RotaryValve.c
===================================================================
diff -u -r6b96f1a18ab2f93068daddbf24178fbbae7cc570 -r63f70637ccd17ac53cb3664332a670b01f28c744
--- firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 6b96f1a18ab2f93068daddbf24178fbbae7cc570)
+++ firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 63f70637ccd17ac53cb3664332a670b01f28c744)
@@ -61,13 +61,12 @@
  * @details \b Outputs: Rotary valves driver unit is initialized
  * @return none
  *************************************************************************/
-void initRotaryValvesDriver(void)
+void initRotaryValvesDriver( void )
 {
     U32 i;
 
     for ( i = FIRST_VALVE; i < NUM_OF_VALVES; i++ )
     {
-        valveControl[ i ] = FPGA_PINCH_VALVES_1_8_STEP | FPGA_PINCH_VALVES_NOT_RESET | FPGA_PINCH_VALVES_NOT_SLEEP;  // enable valves, configure for 1/8 step control
         currentValveEncPosition[ i ].data = 0;
         currentValveEncPosition[ i ].ovData = 0;
         currentValveEncPosition[ i ].ovInitData = 0;
@@ -79,10 +78,6 @@
     }
     commandValvePos[ H1_VALV ] = getH1EncoderPosition();
     commandValvePos[ H19_VALV ] = getH19EncoderPosition();
-
-    // set valve control bits once at startup
-    setH1Control( valveControl[ H1_VALV ] );
-    setH19Control( valveControl[ H19_VALV ] );
 }
 
 /*********************************************************************//**
@@ -138,7 +133,7 @@
 {
     if ( valve < NUM_OF_VALVES )
     {
-        U16 mag8 = ( ( mag % 8 ) < 4 ? ( mag >> 3 ) << 3 : ( ( mag >> 3 ) << 3 ) + 8 );   // round to multiple of 8 to maximize holding torque
+        U16 mag8 = ( ( mag % ROTARY_VALVE_MICROSTEP_FRACTION ) < 4 ? ( mag >> 3 ) << 3 : ( ( mag >> 3 ) << 3 ) + ROTARY_VALVE_MICROSTEP_FRACTION );   // round to multiple of 8 to maximize holding torque
         S16 chgSteps = (S16)mag8 * ( MOTOR_DIR_REVERSE == dir ? -1 : 1 );                 // convert to signed change in position - negative value indicates reverse direction
 
         // log event showing valve position change commanded
@@ -218,7 +213,125 @@
     return result;
 }
 
+/*********************************************************************//**
+ * @brief
+ * The resetValve function resets the valve.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void resetValve( VALVE_T valve )
+{
+    U08 resetValve = FPGA_PINCH_VALVES_1_8_STEP | FPGA_PINCH_VALVES_ENABLE_ENCODER | FPGA_PINCH_VALVES_DISABLE |
+                     FPGA_PINCH_VALVES_RESET | FPGA_PINCH_VALVES_NOT_SLEEP;
 
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Control( resetValve );
+            break;
+
+        case H19_VALV:
+            setH19Control( resetValve );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_RESET_REQ, (U32)valve )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The resetValveEncoder function resets the valve's encoder.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void resetValveEncoder( VALVE_T valve )
+{
+    U08 resetEnc = FPGA_PINCH_VALVES_1_8_STEP | FPGA_PINCH_VALVES_RESET_ENCODER | FPGA_PINCH_VALVES_DISABLE |
+                   FPGA_PINCH_VALVES_RESET | FPGA_PINCH_VALVES_NOT_SLEEP;
+
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Control( resetEnc );
+            break;
+
+        case H19_VALV:
+            setH19Control( resetEnc );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_RESET_ENCODER_REQ, (U32)valve )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The enableValve function enables the valve.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void enableValve( VALVE_T valve )
+{
+    U08 enableValve = FPGA_PINCH_VALVES_1_8_STEP | FPGA_PINCH_VALVES_ENABLE_ENCODER | FPAG_PINCH_VALVES_ENABLE |
+                      FPGA_PINCH_VALVES_NOT_RESET | FPGA_PINCH_VALVES_NOT_SLEEP;
+
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Control( enableValve );
+            break;
+
+        case H19_VALV:
+            setH19Control( enableValve );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ENABLE_REQ, (U32)valve )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setValveZeroEncoderPosition function zeros the valve's encoders position.
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return none
+ *************************************************************************/
+void setValveZeroEncoderPosition( VALVE_T valve )
+{
+    // First enable the valve and then set the position to 0 to clear the FPGA command registers
+    switch ( valve )
+    {
+        case H1_VALV:
+            setH1Position( 0 );
+            break;
+
+        case H19_VALV:
+            setH19Position( 0 );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ENCODER_REQ, (U32)valve )
+            break;
+    }
+}
+
+
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/