Index: firmware/App/Drivers/PinchValve.c
===================================================================
diff -u -r9b13d5537168d760df3d8ddba7371f5764b30348 -r5a62968e832ffab29c33924c9aeecfedcbafb362
--- firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 9b13d5537168d760df3d8ddba7371f5764b30348)
+++ firmware/App/Drivers/PinchValve.c	(.../PinchValve.c)	(revision 5a62968e832ffab29c33924c9aeecfedcbafb362)
@@ -182,7 +182,7 @@
 static PINCH_VALVE_CMD_STATE_T commandState[ NUM_OF_VALVES ];
 
 static PINCH_VALVE_COMMAND_T activeCommand[ NUM_OF_VALVES ];
-static const PINCH_VALVE_COMMAND_T *activeCommandArray[ NUM_OF_VALVES ];
+static PINCH_VALVE_COMMAND_T *activeCommandArray[ NUM_OF_VALVES ];
 static U08 activeCommandCount[ NUM_OF_VALVES ];
 static U08 activeCommandIndex[ NUM_OF_VALVES ];
 
@@ -203,14 +203,14 @@
 static U08 enableResetValue[ NUM_OF_VALVES ];
 
 static U32 executeStartTime[ NUM_OF_VALVES ];
-static U32 statusPollStartMSCount[ NUM_OF_VALVES ];
+//static U32 statusPollStartMSCount[ NUM_OF_VALVES ];
 
 
 // ********** private function prototypes **********
 
-static BOOL setPinchValveCommand( VALVE_T valve, const PINCH_VALVE_COMMAND_T *command );
+static BOOL setPinchValveCommand( VALVE_T valve, PINCH_VALVE_COMMAND_T command );
 
-static void writePinchValveCommandRegisters( VALVE_T valve );
+static BOOL writePinchValveCommandRegisters( VALVE_T valve );
 static BOOL transmitPinchValveCommand( VALVE_T valve );
 static void readPinchValveCommandResponse( VALVE_T valve );
 static void clearPinchValveFpgaCommand( VALVE_T valve );
@@ -223,7 +223,7 @@
 
 static U08 readPinchValveErrorCount( VALVE_T valve );
 static BOOL isValidPinchValve( VALVE_T valve );
-static BOOL isValidPinchValveCommand( const PINCH_VALVE_COMMAND_T *command );
+static BOOL isValidPinchValveCommand( PINCH_VALVE_COMMAND_T *command );
 static void setSigned32CommandWords( PINCH_VALVE_COMMAND_T *command, S32 value );
 static S32 getSigned32OutputValue( VALVE_T valve );
 
@@ -295,24 +295,30 @@
         switch ( commandState[ valve ] )
         {
             case PINCH_VALVE_CMD_IDLE_STATE:
+                if ( activeCommand[ valve ].cmdHeader != 0 )
+                {
+                    commandState[ valve ] = PINCH_VALVE_CMD_SET_CMD_STATE;
+                }
                 break;
 
             case PINCH_VALVE_CMD_SET_CMD_STATE:
-                writePinchValveCommandRegisters( valve );
-
-                if ( PINCH_VALVE_CMD_ERROR_STATE != commandState[ valve ] )
+                if ( TRUE == writePinchValveCommandRegisters( valve ) )
                 {
                     errorCountAtCommandStart[ valve ] = readPinchValveErrorCount( valve );
                     commandState[ valve ] = PINCH_VALVE_CMD_XMIT_CMD_STATE;
                 }
+                else
+                {
+                    commandState[ valve ] = PINCH_VALVE_CMD_ERROR_STATE;
+                }
                 break;
 
 
             case PINCH_VALVE_CMD_XMIT_CMD_STATE:
                 if ( TRUE == transmitPinchValveCommand( valve ) )
                 {
                     executeStartTime[ valve ] = getMSTimerCount();
-                    statusPollStartMSCount[ valve ] = executeStartTime[ valve ];
+//                    statusPollStartMSCount[ valve ] = executeStartTime[ valve ];
                     commandState[ valve ] = PINCH_VALVE_CMD_WAIT_DONE_STATE;
                 }
                 else
@@ -325,13 +331,13 @@
             case PINCH_VALVE_CMD_WAIT_DONE_STATE:
                 if ( TRUE == didTimeout( executeStartTime[ valve ], PINCH_VALVE_COMMAND_TIMEOUT_MS ) )
                 {
-                    readPinchValveCommandResponse( valve );
+                    //readPinchValveCommandResponse( valve );  // Varshini, I don't think we should read response if it times out.
                     commandState[ valve ] = PINCH_VALVE_CMD_ERROR_STATE;
                 }
-                else if ( TRUE == didTimeout( statusPollStartMSCount[ valve ], PINCH_VALVE_STATUS_POLL_INTERVAL_MS ) )
+                else // if ( TRUE == didTimeout( statusPollStartMSCount[ valve ], PINCH_VALVE_STATUS_POLL_INTERVAL_MS ) )
                 {
                     readPinchValveCommandResponse( valve );
-                    statusPollStartMSCount[ valve ] = getMSTimerCount();
+//                    statusPollStartMSCount[ valve ] = getMSTimerCount();
 
                     if ( ( TRUE == didPinchValveErrorCountChange( valve ) ) || ( TRUE == isPinchValveControllerFaultActive( valve ) ) )
                     {
@@ -345,7 +351,7 @@
                 break;
 
             case PINCH_VALVE_CMD_READ_WORDS_STATE:
-                readPinchValveCommandResponse( valve );
+                readPinchValveCommandResponse( valve );  // Varshini - do we have to read again?  Looks like you already read response in prior state.
 
                 if ( ( TRUE == didPinchValveErrorCountChange( valve ) ) ||
                      ( TRUE == isPinchValveControllerFaultActive( valve ) ) ||
@@ -355,22 +361,26 @@
                 }
                 else
                 {
+                    // TODO - Varshini, I think we need to interpret/save output words (for Get commands) to static variables (e.g. currentValvePosition for a GetPosition command)
                     clearPinchValveFpgaCommand( valve );
+                    activeCommand[ valve ].cmdHeader = 0;
                     commandFailed[ valve ] = FALSE;
                     commandState[ valve ] = PINCH_VALVE_CMD_IDLE_STATE;
                 }
                 break;
 
 
             case PINCH_VALVE_CMD_ERROR_STATE:
-                readPinchValveCommandResponse( valve );
+//                readPinchValveCommandResponse( valve );
                 clearPinchValveFpgaCommand( valve );
+                activeCommand[ valve ].cmdHeader = 0;
                 commandFailed[ valve ] = TRUE;
                 commandState[ valve ] = PINCH_VALVE_CMD_IDLE_STATE;
                 break;
 
             default:
                 clearPinchValveFpgaCommand( valve );
+                activeCommand[ valve ].cmdHeader = 0;
                 commandFailed[ valve ] = TRUE;
                 commandState[ valve ] = PINCH_VALVE_CMD_IDLE_STATE;
                 break;
@@ -564,7 +574,10 @@
             case PINCH_VALVE_FUNCTION_SEND_STATE:
                 if ( ( activeCommandArray[ valve ] != 0 ) && ( activeCommandIndex[ valve ] < activeCommandCount[ valve ] ) )
                 {
-                    if ( TRUE == setPinchValveCommand( valve, &activeCommandArray[ valve ] [ activeCommandIndex[ valve ] ] ) )
+                    PINCH_VALVE_COMMAND_T *cmdArray = activeCommandArray[ valve ];
+                    PINCH_VALVE_COMMAND_T cmd = cmdArray[ activeCommandIndex[ valve ] ];
+
+                    if ( TRUE == setPinchValveCommand( valve, cmd ) )
                     {
                         functionState[ valve ] = PINCH_VALVE_FUNCTION_WAIT_STATE;
                     }
@@ -613,31 +626,33 @@
 * The setPinchValveCommand function requests execution
 * @details \b Inputs: valve, command
 * @details \b Outputs: pendingCommand, functionState, commandResult
-* @param valve H1_VALV or H19_VALV.
+* @param valve ID of valve to send a command to.
+* @param command command record describing command to send to the given valve
 * @return TRUE if the request was accepted, FALSE otherwise.
 *************************************************************************/
-static BOOL setPinchValveCommand( VALVE_T valve, const PINCH_VALVE_COMMAND_T *command )
+static BOOL setPinchValveCommand( VALVE_T valve, PINCH_VALVE_COMMAND_T command )
 {
     BOOL result = FALSE;
 
-        if ( ( TRUE == isValidPinchValve( valve ) ) && ( TRUE == isValidPinchValveCommand( command ) ) &&
-            ( PINCH_VALVE_CMD_IDLE_STATE == commandState[ valve ] ) )
+    if ( ( TRUE == isValidPinchValve( valve ) ) && ( TRUE == isValidPinchValveCommand( &command ) ) &&
+         ( PINCH_VALVE_CMD_IDLE_STATE == commandState[ valve ] ) )
     {
-        activeCommand[ valve ] = *command;
+        activeCommand[ valve ] = command;
 
-        if ( ( activeCommandArray[ valve ] == &positionCommands[ 0 ] ) &&
-             ( PINCH_VALVE_POSITION_CMD_SET_POSITION == activeCommandIndex[ valve ] ) )
+        // if set position command, replace position value (words 1 and 2) with position given with command
+        if ( PINCH_VALVE_PMD_CMD_SET_POSITION == activeCommandArray[ valve ]->cmdHeader )
         {
             setSigned32CommandWords( &activeCommand[ valve ], pendingValvePosition[ valve ] );
         }
-
+        // reset command feedback before command is sent
         commandOutputWord1[ valve ] = 0;
         commandOutputWord2[ valve ] = 0;
         commandOutputWord3[ valve ] = 0;
         commandSpiStatus[ valve ]   = 0;
         commandErrorCount[ valve ]  = 0;
         commandFailed[ valve ]      = FALSE;
         commandState[ valve ]       = PINCH_VALVE_CMD_SET_CMD_STATE;
+
         result                      = TRUE;
     }
 
@@ -651,28 +666,30 @@
 * input words through the FpgaTD interface.
 * @details \b Inputs: activeValve, activeCommand
 * @details \b Outputs: FPGA command header and input registers
-* @return none
+* @return TRUE if successful, FALSE if not
 *************************************************************************/
-static void writePinchValveCommandRegisters( VALVE_T valve )
+static BOOL writePinchValveCommandRegisters( VALVE_T valve )
 {
+    BOOL result = FALSE;
+
     if ( H1_VALV == valve )
     {
         setH1CmdHeader( activeCommand[ valve ].cmdHeader );
         setH1InputWord1( activeCommand[ valve ].inputWord1 );
         setH1InputWord2( activeCommand[ valve ].inputWord2 );
         setH1InputWord3( activeCommand[ valve ].inputWord3 );
+        result = TRUE;
     }
     else if ( H19_VALV == valve )
     {
         setH19CmdHeader( activeCommand[ valve ].cmdHeader );
         setH19InputWord1( activeCommand[ valve ].inputWord1 );
         setH19InputWord2( activeCommand[ valve ].inputWord2 );
         setH19InputWord3( activeCommand[ valve ].inputWord3 );
+        result = TRUE;
     }
-    else
-    {
-        commandState[ valve ] = PINCH_VALVE_CMD_ERROR_STATE;
-    }
+
+    return result;
 }
 
 /*********************************************************************//**
@@ -892,10 +909,10 @@
 * The isValidPinchValveCommand function validates a generic command request.
 * @details \b Inputs: command
 * @details \b Outputs: none
-* @param command Command to validate.
+* @param command Pointer to command record to validate.
 * @return TRUE if the request is valid.
 *************************************************************************/
-static BOOL isValidPinchValveCommand( const PINCH_VALVE_COMMAND_T *command )
+static BOOL isValidPinchValveCommand( PINCH_VALVE_COMMAND_T *command )
 {
     BOOL result = FALSE;