Index: firmware/App/Controllers/Valves.c
===================================================================
diff -u -r31af479fdd28f5bc5f0241de76f9b891d535feda -r01421bdf636834fad230d03258fc30ad2f839abf
--- firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 31af479fdd28f5bc5f0241de76f9b891d535feda)
+++ firmware/App/Controllers/Valves.c	(.../Valves.c)	(revision 01421bdf636834fad230d03258fc30ad2f839abf)
@@ -47,26 +47,22 @@
 #define VALVE_OFFEST_FROM_EDG_CNT           296                                                 ///< Valves offset from the edge.
 #define POS_C_FROM_ZERO_CNT                 VALVE_OFFEST_FROM_EDG_CNT                           ///< Position C from zero position in counts.
 #define POS_D_PARTIAL_CLOSE_FROM_ZERO_CNT   ( POS_C_FROM_ZERO_CNT + 32 )                        ///< Position D partial close from zero position in counts.
+#define VALVE_TRANSITION_TIMEOUT_MS         ( 30 * MS_PER_SECOND )                              ///< Maximum controller wait time for a home or position operation.
 
+
 /// Valve status structure
 typedef struct
 {
     VALVE_POSITION_T commandedPosition;                                                         ///< Valve commanded position enum.
     VALVE_POSITION_T currentPosition;                                                           ///< Valve current position enum.
     VALVE_POSITION_T pendingCommandedPosition;                                                  ///< Valve pending position enum.
-//    S16              currentEncPosition;                                                        ///< Valve current position in encoder counts.
     S16              priorEncPosition;                                                          ///< Valve prior position in encoder counts.
     BOOL             hasTransitionBeenRequested;                                                ///< Valve transition request flag.
     VALVE_STATE_T    controlState;                                                              ///< Valve control state.
     U32              valveOpsStartTime;                                                         ///< Valve transition start time.
-//    S16              positionsABC[ NUM_OF_VALVE_POSITIONS ];                                    ///< Valve positions (in encoder counts) for positions A, B, and C.
-//    U32              overCurrentCounter;                                                        ///< Valve over current counter.
-//    U32              positionOutOfRangeCounter;                                                 ///< Valve position out of range counter.
     // Homing variables
     BOOL             hasHomingBeenRequested;                                                    ///< Valve homing request flag.
     BOOL             hasValveBeenHomed;                                                         ///< Valve homing completed flag.
-//    S16              currentMaxEncPositionCnt;                                                  ///< Valve homing current maximum encoder position counts.
-//    S16              previousMaxEncPositionCnt;                                                 ///< Valve homing previous maximum encoder position counts.
 } VALVE_STATUS_T;
 
 /// Payload record structure for pinch valve set position request
@@ -89,23 +85,13 @@
 static VALVE_STATUS_T currentValveStates[ NUM_OF_VALVES ];                                      ///< Current status of each valve.
 static U32 valvesDataPublicationTimerCounter;                                                   ///< Valves data broadcast timer counter.
 static OVERRIDE_U32_T valvesDataPublishInterval;                                                ///< Valves data broadcast interval (in ms).
-//static SELF_TEST_STATUS_T valvesSelfTestResult;                                                 ///< Valves self test result.
-//static TD_VALVES_CAL_RECORD_T valvesCalibrationRecord;                                          ///< Valves calibration record.
 
 // ********** private function prototypes **********
 
 static VALVE_STATE_T handleValvesWait4PostState( VALVE_T valve );
-//static VALVE_STATE_T handleValvesResetValve( VALVE_T valve );
-//static VALVE_STATE_T handleValvesResetEncoder( VALVE_T valve );
-//static VALVE_STATE_T handleValvesEnableValve( VALVE_T valve );
 static VALVE_STATE_T handleValvesNotHomedState( VALVE_T valve );
-//static VALVE_STATE_T handleValvesFindEnergizedEdgeState( VALVE_T valve );
-//static VALVE_STATE_T handleValvesFindDeenergizedEdgeState( VALVE_T valve );
 static VALVE_STATE_T handleValvesIdleState( VALVE_T valve );
 static VALVE_STATE_T handleValvesTransitionState( VALVE_T valve );
-//static void checkValveInRange( VALVE_T valve, SW_FAULT_ID_T SWFault );
-//static BOOL hasEdgeBeenReached( VALVE_T valve );
-//static S16 convertCountToDivision8( S16 count );
 static void publishValvesData( void );
 
 /*********************************************************************//**
@@ -117,6 +103,8 @@
  *************************************************************************/
 void initValves( void )
 {
+    VALVE_T valve;
+
     // Initialize Pinch Valve driver
     initPinchValveDriver();
 
@@ -128,6 +116,20 @@
     valvesDataPublishInterval.ovInitData = 0;
     valvesDataPublishInterval.override   = OVERRIDE_RESET;
 
+    for ( valve = FIRST_VALVE; valve < NUM_OF_VALVES; valve++ )
+    {
+        currentValveStates[ valve ].commandedPosition          = VALVE_POSITION_NOT_IN_POSITION;
+        currentValveStates[ valve ].currentPosition            = VALVE_POSITION_NOT_IN_POSITION;
+        currentValveStates[ valve ].pendingCommandedPosition   = VALVE_POSITION_NOT_IN_POSITION;
+        currentValveStates[ valve ].hasTransitionBeenRequested = FALSE;
+        currentValveStates[ valve ].hasHomingBeenRequested     = FALSE;
+        currentValveStates[ valve ].hasValveBeenHomed          = FALSE;
+        //currentValveStates[ valve ].homingOperationActive      = FALSE;
+        currentValveStates[ valve ].controlState               = VALVE_STATE_WAIT_FOR_POST;
+        currentValveStates[ valve ].valveOpsStartTime          = 0;
+    }
+
+
 #ifdef ASN_DEMO
     currentValveStates[ H1_VALV ].positionsABC[ VALVE_POSITION_C_CLOSE ] = ROTARY_VALVE_MICROSTEP_FRACTION;
     currentValveStates[ H1_VALV ].positionsABC[ VALVE_POSITION_B_OPEN ] = 1728;
@@ -154,14 +156,24 @@
 {
     BOOL result = FALSE;
 
+    ( void )cartridge;
+
     if ( valve < NUM_OF_VALVES )
     {
-        //result = homePinchValve( valve );
-        if ( TRUE == result )
+        if ( ( TRUE == force ) || ( FALSE == currentValveStates[ valve ].hasValveBeenHomed ) )
         {
-            currentValveStates[valve].hasHomingBeenRequested = TRUE;
-            currentValveStates[valve].controlState = VALVE_STATE_IN_TRANSITION;
+            if ( ( FALSE == isPinchValveBusy( valve ) ) && ( FALSE == currentValveStates[ valve ].hasHomingBeenRequested ) )
+            {
+                currentValveStates[ valve ].hasHomingBeenRequested     = TRUE;
+                currentValveStates[ valve ].hasTransitionBeenRequested = FALSE;
+                currentValveStates[ valve ].currentPosition            = VALVE_POSITION_NOT_IN_POSITION;
+                result = TRUE;
+            }
         }
+        else
+        {
+            result = TRUE;
+        }
     }
     else
     {
@@ -185,16 +197,20 @@
 {
     BOOL result = FALSE;
 
-    if ( ( valve < NUM_OF_VALVES ) && ( position < NUM_OF_VALVE_POSITIONS ) )
+    if ( ( valve < NUM_OF_VALVES ) && ( position > VALVE_POSITION_NOT_IN_POSITION ) && ( position < NUM_OF_VALVE_POSITIONS ) )
     {
-        currentValveStates[ valve ].pendingCommandedPosition   = position;
-        currentValveStates[ valve ].hasTransitionBeenRequested = TRUE;
-        result = TRUE;
+        if ( ( TRUE == currentValveStates[ valve ].hasValveBeenHomed ) &&
+             ( FALSE == isPinchValveBusy( valve ) ) &&
+             ( FALSE == currentValveStates[ valve ].hasTransitionBeenRequested ) )
+        {
+            currentValveStates[ valve ].pendingCommandedPosition   = position;
+            currentValveStates[ valve ].hasTransitionBeenRequested = TRUE;
+            result = TRUE;
+        }
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_VALVES_INVALID_PARAM,
-                                   ( (U32)valve << SHIFT_16_BITS_FOR_WORD_SHIFT ) | (U32)position )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_TD_VALVES_INVALID_PARAM, ( (U32)valve << SHIFT_16_BITS_FOR_WORD_SHIFT ) | (U32)position )
     }
 
     return result;