Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -r285b5d82539c96524c93703d52a66fff76fb64fc -rceddc04641038a62bbbd9714a045d0cbfc473c8f
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 285b5d82539c96524c93703d52a66fff76fb64fc)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision ceddc04641038a62bbbd9714a045d0cbfc473c8f)
@@ -102,7 +102,7 @@
     S16 H1CmdPosition;                          ///< Reg 278.  H1 commanded position (200 steps/rev).
     S16 H1EncPosition;                          ///< Reg 280.  H1 encoder position (1024 counts/rev).
     U08 H1Status;                               ///< Reg 282.  H1 status.
-    U08 reserved4;                              ///< Reg 283.  Reserved and available for future use.
+    U08 reserved1;                              ///< Reg 283.  Reserved and available for future use.
     U08 BEMStatus;                              ///< Reg 284.  BEM status.
     U08 BEMEncStatus;                           ///< Reg 285.  BEM encoder status.
     S32 BEMEncPosition;                         ///< Reg 286.  BEM encoder position.
@@ -156,10 +156,17 @@
     U08 H4Control;                              ///< Reg 20.  H4 Blood pump control register.
     U08 H19Control;                             ///< Reg 21.  H19 control register.
     U16 H19Position;                            ///< Reg 22.  H19 position set register (200 steps/rev).
-    U16 H1Position;                             ///< Reg 24.  H1 position set register (200 steps/rev).
-    U08 H1Control;                              ///< Reg 26.  H1 control register.
-    U08 valveEncoderControl;                    ///< Reg 27.  H1/H19 encoder control register.
-    U08 alarmControl;                           ///< Reg 28.  Alarm audio control register.
+    U16 H19MotorSpeed;                          ///< Reg 24.  H19 stepper motor speed (uSec/step).
+    U16 H1Position;                             ///< Reg 26.  H1 position set register (200 steps/rev).
+    U16 H1MotorSpeed;                           ///< Reg 28.  H1 stepper motor speed (uSec/step).
+    U08 H1Control;                              ///< Reg 30.  H1 control register.
+    U08 valveEncoderControl;                    ///< Reg 31.  H1/H19 encoder control register.
+    U08 alarmControl;                           ///< Reg 32.  Alarm audio control register.
+    U08 syrPumpControl;                         ///< Reg 33.  Syringe pump control register.
+    U32 syrPumpSpeed;                           ///< Reg 34.  Syringe pump time between step toggle (1/2 step period).
+    U16 syrPumpDACData;                         ///< Reg 38.  Syringe pump DAC data (12 bits).
+    U16 syrPumpDACControl;                      ///< Reg 40.  Syringe pump ADC and DAC control register.
+    U16 h12Period;                              ///< Reg 42.  H12 Air pump time period for each count in PWM register.
 } FPGA_ACTUATORS_T;
 
 #pragma pack(pop)
@@ -719,7 +726,7 @@
  * @note VBTControl register bit 0 will drive state of H13 valve (0=closed, 1=open).
  * @details \b Inputs: fpgaActuatorSetPoints
  * @details \b Outputs: fpgaActuatorSetPoints
- * @param state : The valve state to command H13 valve to
+ * @param state The valve state to command H13 valve to
  * @return none
  *************************************************************************/
 void setH20ValveState( VALVE_3WAY_STATE_T state )
@@ -740,7 +747,7 @@
  * to 0 to turn pump off or 1..255 for varying power levels.
  * @details \b Inputs: fpgaActuatorSetPoints.h12Control
  * @details \b Outputs: fpgaActuatorSetPoints.h12Control
- * @param power : The set power level to set the H12 air pump to.
+ * @param power The set power level to set the H12 air pump to.
  * @return none
  *************************************************************************/
 void setAirPumpMotorPowerLevel( U08 power )
@@ -750,6 +757,21 @@
 
 /*********************************************************************//**
  * @brief
+ * The setAirPumpMotorPWMCntTime function sets the air pump motor PWM count
+ * time in increments of 10 nS.  The PWM period will then be 255 x given
+ * value x 10 nS.
+ * @details \b Inputs: fpgaActuatorSetPoints.h12Period
+ * @details \b Outputs: fpgaActuatorSetPoints.h12Period
+ * @param tenNS The time associated with each PWM count in power level setting.
+ * @return none
+ *************************************************************************/
+void setAirPumpMotorPWMCntTime( U16 tenNS )
+{
+    fpgaActuatorSetPoints.h12Period = tenNS;
+}
+
+/*********************************************************************//**
+ * @brief
  * The H18BubbleDetected function determines whether H18 bubble detector
  * sensor is currently detecting a bubble.
  * @details \b Inputs: fpgaSensorReadings