Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -r37294a71c0b3e3ca67ccb10b85536d124d3ef028 -r0eb4b76d5209ff2adf583a9ab6ec8f87a5aa011b
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 37294a71c0b3e3ca67ccb10b85536d124d3ef028)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 0eb4b76d5209ff2adf583a9ab6ec8f87a5aa011b)
@@ -46,7 +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_DIRECTION_REV_BIT_MASK   0x02                                   ///< Bit mask for setting the blood pump direction.
+#define FPGA_H4_DIR_FORWARD_BIT_MASK     0x02                                   ///< Bit mask for setting the blood pump direction.
+#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.
@@ -148,7 +150,20 @@
     S16 h4RotorHallCount;                       ///< Reg 344.  H4 rotor count from hall sensor.
     U08 h6RotorStatus;                          ///< Reg 346.  H6 rotor status.
     U08 reserved5;                              ///<
-    U16 h12Speed;                               ///< Reg 348.  H12 speed (in RPM).
+    U16 h12Speed;                               ///< Reg 348.  H12 speed (air pump in RPM).
+    U16 rotorRevsCounter;                       ///< Reg 350.  Rotor revs counter
+    U16 baroManufactInfo;                       ///< Reg 352.  Baro sensor manufacturing information.
+    U16 baroPresSensitivity;                    ///< Reg 354.  Baro sensor prom coefficient 1.
+    U16 baroPresOffset;                         ///< Reg 356.  Baro sensor prom coefficient 2.
+    U16 baroTempCoeffOfPresSense;               ///< Reg 358.  Baro sensor prom coefficient 3.
+    U16 baroTempCoeffPresOffset;                ///< Reg 360.  Baro sensor prom coefficient 4.
+    U16 baroRefTemp;                            ///< Reg 362.  Baro sensor prom coefficient 5.
+    U16 baroTempCoeffOfTemp;                    ///< Reg 364.  Baro sensor prom coefficient 6.
+    U16 baroPromCRC;                            ///< Reg 366.  Baro prom CRC.
+    U32 baroPressure;                           ///< Reg 368.  Baro pressure value in counts.
+    U32 baroTemperature;                        ///< Reg 372.  Baro temperature value in counts.
+    U08 baroReadCount;                          ///< Reg 376.  Baro read count.
+    U08 baroErrorCount;                         ///< Reg 377.  Baro error count.
 } FPGA_SENSORS_T;
 
 /// Record structure for FPGA continuous priority writes.
@@ -467,21 +482,23 @@
  * 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 of BP control register).
+ * @details \b Outputs: Blood pump motor direction is set (bit 1 and 2 of BP control register).
  *          0 - CW (forward)
  *          1 - CCW (reverse)
  * @param dir the desired direction for the blood pump motor (fwd or rev)
  * @return none
  *************************************************************************/
 void setH4Direction( MOTOR_DIR_T dir )
 {
-    if ( MOTOR_DIR_REVERSE == dir )
+    if ( MOTOR_DIR_FORWARD == dir )
     {
-        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_REV_BIT_MASK;
+        // 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;
     }
     else
     {
-        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIRECTION_REV_BIT_MASK);
+        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIR_FORWARD_BIT_MASK);
     }
 }
 
@@ -514,6 +531,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The setH4BrakeAndHoldTorque function brakes the pump while holding the torque.
+ * The pump will not coast.
+ * @details \b Inputs: none
+ * @details \b Outputs: Blood pump motor control register
+ * @return none
+ *************************************************************************/
+void setH4BrakeAndHoldTorque( void )
+{
+    fpgaActuatorSetPoints.h4Control |= FPGA_H4_BRAKE_AND_HOLD_TORQUE;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getH6Status function gets the latest blood pump hall sensor status.
  * Bit 0: 1=Magnet is detected (used for homing in forward direction)
  * Bit 1: 0=Reverse pump direction detected, 1=Forward pump direction detected
@@ -559,6 +589,20 @@
 
 /*********************************************************************//**
  * @brief
+ * The getH4TorqueCount function gets the latest blood pump
+ * torque count. Count is the period in 10 uS resolution. Firmware converts
+ * the period to frequency and 1kHz = 10mN.m.
+ * @details \b Inputs: fpgaSensorReadings.h4Torque
+ * @details \b Outputs: none
+ * @return Latest blood pump torque sensor count reading.
+ *************************************************************************/
+S16 getH4TorqueCount( void )
+{
+    return fpgaSensorReadings.h4Torque;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setH5ControlFlags function sets the control flags for the H5 ejector
  * stepper motor.
  * @note Bit 0 - MS1 (bit 1 of microstepping configuration setting)
@@ -715,6 +759,81 @@
 
 /*********************************************************************//**
  * @brief
+ * The getH23MfgCoeffs function updates the baro sensor's manufacturing
+ * information into the provided buffer.
+ * @details \b Inputs: fpgaSensorReadings.baroManufactInfo,
+ * fpgaSensorReadings.baroPromCoeff1, fpgaSensorReadings.baroPromCoeff2,
+ * fpgaSensorReadings.baroPromCoeff3, fpgaSensorReadings.baroPromCoeff4,
+ * fpgaSensorReadings.baroPromCoeff5, fpgaSensorReadings.baroPromCoeff6,
+ * fpgaSensorReadings.baroPromCRC
+ * @details \b Outputs: none
+ * @param baroMfgCoeffs The baro sensor mfg info buffer.
+ * @return none
+ *************************************************************************/
+void getH23MfgCoeffs( BARO_PRES_SENSOR_MFG_T* baroMfgCoeffs )
+{
+    baroMfgCoeffs->baroManufactInfo         = fpgaSensorReadings.baroManufactInfo;
+    baroMfgCoeffs->baroPresSensitivity      = fpgaSensorReadings.baroPresSensitivity;
+    baroMfgCoeffs->baroPresOffset           = fpgaSensorReadings.baroPresOffset;
+    baroMfgCoeffs->baroTempCoeffOfPresSense = fpgaSensorReadings.baroTempCoeffOfPresSense;
+    baroMfgCoeffs->baroTempCoeffPresOffset  = fpgaSensorReadings.baroTempCoeffPresOffset;
+    baroMfgCoeffs->baroRefTemp              = fpgaSensorReadings.baroRefTemp;
+    baroMfgCoeffs->baroTempCoeffOfTemp      = fpgaSensorReadings.baroTempCoeffOfTemp;
+    baroMfgCoeffs->baroPromCRC              = fpgaSensorReadings.baroPromCRC;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getH23Pressure function reads the baro sensor pressure.
+ * @details \b Inputs: fpgaSensorReadings.baroPressure
+ * @details \b Outputs: none
+ * @return Latest baro sensor pressure.
+ *************************************************************************/
+U32 getH23Pressure( void )
+{
+    return ( fpgaSensorReadings.baroPressure & MASK_OFF_U32_MSB );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getH23Temperature function reads the baro sensor temperature.
+ * @details \b Inputs: fpgaSensorReadings.baroTemperature
+ * @details \b Outputs: none
+ * @return Latest baro sensor temperature.
+ *************************************************************************/
+U32 getH23Temperature( void )
+{
+    return ( fpgaSensorReadings.baroTemperature & MASK_OFF_U32_MSB );
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getH23ReadCounter function gets the latest baro pressure
+ * sensor read counter.
+ * @details \b Inputs: fpgaSensorReadings
+ * @details \b Outputs: none
+ * @return latest baro pressure sensor read counter
+ *************************************************************************/
+U08 getH23ReadCounter( void )
+{
+    return fpgaSensorReadings.baroReadCount;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The getH23ErrorCounter function gets the latest baro pressure
+ * sensor error counter.
+ * @details \b Inputs: fpgaSensorReadings
+ * @details \b Outputs: none
+ * @return latest baro pressure sensor error counter
+ *************************************************************************/
+U08 getH23ErrorCounter( void )
+{
+    return fpgaSensorReadings.baroErrorCount;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getFPGABackupAlarmAudioCurrent function gets the latest piezo alarm
  * audio current reading.
  * @details \b Inputs: fpgaSensorReadings