Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -r1b83a4555c4040a45cecfbea45b6570812ab281e -re242484caff1834f355524ad75febbf64b81b229
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 1b83a4555c4040a45cecfbea45b6570812ab281e)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision e242484caff1834f355524ad75febbf64b81b229)
@@ -46,9 +46,9 @@
 #define MIN_POWER_ON_TIME_FOR_COMM_FAILS ( 1 * MS_PER_SECOND )                  ///< Allow FPGA comm errors for first second after power-up
 
 #define FPGA_H4_ENABLE_BIT_MASK          0x01                                   ///< Bit mask for enabling the blood pump.
-#define FPGA_H4_DIR_FORWARD_BIT_MASK     0x02                                   ///< Bit mask for setting the blood pump direction.
+#define FPGA_H4_DIRECTION_A_BIT_MASK     0x02                                   ///< Bit mask for setting the blood pump direction A setting.
+#define FPGA_H4_DIRECTION_B_BIT_MASK     0x04                                   ///< Bit mask for setting the blood pump direction B setting.
 #define FPGA_H4_BRAKE_AND_HOLD_TORQUE    0x06                                   ///< Bit mask for braking the blood pump while holding the torque of the pump.
-#define FPGA_H4_BIT_2_INDEX              2                                      ///< Blood pump bit 2 index.
 
 #define FPGA_H13_OPEN_BIT_MASK           0x01                                   ///< Bit mask for setting H13 valve position to open.
 #define FPGA_H20_OPEN_BIT_MASK           0x02                                   ///< Bit mask for setting H20 valve position to open.
@@ -483,23 +483,28 @@
  * The setH4Direction function sets the direction for the blood pump
  * motor to the given direction.
  * @details \b Inputs: none
- * @details \b Outputs: Blood pump motor direction is set (bit 1 and 2 of BP control register).
- *          0 - CW (forward)
- *          1 - CCW (reverse)
+ * @details \b Outputs: Blood pump motor direction is set
+ * (bit 1 (A) and 2 (B) of BP control register).
+ *         AB
+ *         00 - Power stage enabled
+ *         01 - CCW (reverse)
+ *         10 - CW (forward)
+ *         11 - Braking and holding torque
  * @param dir the desired direction for the blood pump motor (fwd or rev)
  * @return none
  *************************************************************************/
 void setH4Direction( MOTOR_DIR_T dir )
 {
+    // This clears bit 2 for both forward and reverse directions
     if ( MOTOR_DIR_FORWARD == dir )
     {
-        // First clear bit 2 if it is on otherwise the pump can be kept on brake
-        fpgaActuatorSetPoints.h4Control &= ~( 1 << FPGA_H4_BIT_2_INDEX );
-        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIR_FORWARD_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control &= ~FPGA_H4_DIRECTION_B_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_A_BIT_MASK;
     }
     else
     {
-        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIR_FORWARD_BIT_MASK);
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_B_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIRECTION_A_BIT_MASK);
     }
 }
 
@@ -515,6 +520,12 @@
 void setH4SetSpeed( U16 rpm )
 {
     fpgaActuatorSetPoints.h4SetSpeed = rpm;
+    // if commanded speed is zero, apply brake
+    if ( 0 == rpm )
+    {
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_B_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_A_BIT_MASK;
+    }
 }
 
 /*********************************************************************//**