Index: firmware/App/Drivers/RotaryValve.c
===================================================================
diff -u -rb824ef4b479578c5aa702abd9147aef505a6fb04 -r153784735cd268c81765544a581e36d76067d344
--- firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision b824ef4b479578c5aa702abd9147aef505a6fb04)
+++ firmware/App/Drivers/RotaryValve.c	(.../RotaryValve.c)	(revision 153784735cd268c81765544a581e36d76067d344)
@@ -133,6 +133,7 @@
 {
     if ( valve < NUM_OF_VALVES )
     {
+        // TODO this line is not needed because the positions are calculated in the homing
         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
 
@@ -185,36 +186,6 @@
 
 /*********************************************************************//**
  * @brief
- * The getValveStatus function gets the current status for a given valve.
- *    Status bits:
- *       0-motor driver fault
- *       1-direction fault
- *       2-incorrect encoder sensor fault
- *       3..7-reserved
- * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
- * @details \b Inputs: valveStatus[]
- * @details \b Outputs: none
- * @param valve ID of valve to get status for
- * @return Status for the given valve
- *************************************************************************/
-static U08 getValveStatus( VALVE_T valve )
-{
-    U08 result = 0;
-
-    if ( valve < NUM_OF_VALVES )
-    {
-        result = getU08OverrideValue( &valveStatus[ valve ] );
-    }
-    else
-    {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE4, (U32)valve )
-    }
-
-    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
@@ -331,7 +302,118 @@
     }
 }
 
+/*********************************************************************//**
+ * @brief
+ * The setValveHomingEnableDisable function enables or disables the homing
+ * bit in the valve's control set.
+ * @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
+ * @param enableHoming TRUE if enable homing needed otherwise, FALSE
+ * @return none
+ *************************************************************************/
+void setValveHomingEnableDisable( VALVE_T valve, BOOL enableHoming )
+{
+    U08 valveControlSet;
 
+    switch ( valve )
+    {
+        case H1_VALV:
+            valveControlSet = getH1Control();
+            if ( TRUE == enableHoming )
+            {
+                valveControlSet |= FPGA_PINCH_VALVES_ENABLE_HOMING;
+            }
+            else
+            {
+                valveControlSet &= ~FPGA_PINCH_VALVES_ENABLE_HOMING;
+            }
+            setH1Control( valveControlSet );
+            break;
+
+        case H19_VALV:
+            valveControlSet = getH19Control();
+            if ( TRUE == enableHoming )
+            {
+                valveControlSet |= FPGA_PINCH_VALVES_ENABLE_HOMING;
+            }
+            else
+            {
+                valveControlSet &= ~FPGA_PINCH_VALVES_ENABLE_HOMING;
+            }
+            setH19Control( valveControlSet );
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_HOMING_SET, (U32)valve )
+            break;
+    }
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getValveMaximumEncoderPosition function gets the maximum encoder
+ * position of 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 gets the valves maximum encoder position
+ *************************************************************************/
+S16 getValveMaximumEncoderPosition( VALVE_T valve )
+{
+    S16 maxEncoderValue;
+
+    switch ( valve )
+    {
+        case H1_VALV:
+            maxEncoderValue = getH1MaxEncPosition();
+            break;
+
+        case H19_VALV:
+            maxEncoderValue = getH19MaxEncPosition();
+            break;
+
+        default:
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_MAX_ENC_POS_REQ, (U32)valve )
+            break;
+    }
+
+    return maxEncoderValue;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getValveStatus function gets the current status for a given valve.
+ *    Status bits:
+ *       0-motor driver fault
+ *       1-direction fault
+ *       2-incorrect encoder sensor fault
+ *       3..7-reserved
+ * @details \b Alarm: ALARM_ID_TD_SOFTWARE_FAULT if invalid valve given.
+ * @details \b Inputs: valveStatus[]
+ * @details \b Outputs: none
+ * @param valve ID of valve to get status for
+ * @return Status for the given valve
+ *************************************************************************/
+static U08 getValveStatus( VALVE_T valve )
+{
+    U08 result = 0;
+
+    if ( valve < NUM_OF_VALVES )
+    {
+        result = getU08OverrideValue( &valveStatus[ valve ] );
+    }
+    else
+    {
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE4, (U32)valve )
+    }
+
+    return result;
+}
+
+
 /*************************************************************************
  *                       TEST SUPPORT FUNCTIONS
  *************************************************************************/