Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -r3fe55376370dc82b5edcb20ac6026d8f079e401b -r82bb2222f791a434d22921e2fe4f5edd7e74776d
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 3fe55376370dc82b5edcb20ac6026d8f079e401b)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 82bb2222f791a434d22921e2fe4f5edd7e74776d)
@@ -115,9 +115,9 @@
     S16 H1EncPosition;                          ///< Reg 280.  H1 encoder position (1024 counts/rev).
     U08 H1Status;                               ///< Reg 282.  H1 status.
     U08 reserved1;                              ///< Reg 283.  Reserved and available for future use.
-    U08 H5Status;                               ///< Reg 284.  H5 motor status.
-    U08 H5EncStatus;                            ///< Reg 285.  H5 encoder status.
-    S32 H5EncPosition;                          ///< Reg 286.  H5 encoder position.
+    U08 reserved2;                              ///< Reg 284.  Reserved and available for future use.
+    U08 reserved3;                              ///< Reg 285.  Reserved and available for future use.
+    S32 reserved4;                              ///< Reg 286.  Reserved and available for future use.
     S16 H4Period;                               ///< Reg 290.  H4 measured period (10 uSec).
     S16 H4Torque;                               ///< Reg 292.  H4 measured torque.
     S16 H4SpeedFromHall;                        ///< Reg 294.  H4 measured speed from hall sensor(s).
@@ -163,7 +163,7 @@
     U16 h13PWMPUllInTime;                       ///< Reg 12.  H13 PWM pull in time register.
     U08 h12Control;                             ///< Reg 14.  H12 Air pump control register.
     U08 h5Control;                              ///< Reg 15.  H5 ejector stepper motor control register.
-    U16 h5SetSpeed;                             ///< Reg 16.  H5 ejector stepper motor step register.
+    U16 NotUsed;                                ///< Reg 16.  Reserved.
     U16 H4SetSpeed;                             ///< Reg 18.  H4 Blood pump speed set register (RPM).
     U08 H4Control;                              ///< Reg 20.  H4 Blood pump control register.
     U08 H19Control;                             ///< Reg 21.  H19 control register.
@@ -179,6 +179,7 @@
     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.
+    U32 h5SetSpeed;                             ///< Reg 44.  H5 ejector motor set speed.
 } FPGA_ACTUATORS_T;
 
 #pragma pack(pop)
@@ -549,7 +550,7 @@
  * @note Bit 0 - MS1 (bit 1 of microstepping configuration setting)
  *       Bit 1 - MS2 (bit 2 of microstepping configuration setting)
  *       Bit 2 - MS3 (bit 3 of microstepping configuration setting)
- *       Bit 3 - Direction (0=forward, 1=reverse)
+ *       Bit 3 - Direction (1=forward, 0=reverse)
  *       Bit 4 - Disable (0=enabled, 1=disabled)
  *       Bit 5 - Reset (0=reset, 1=not reset)
  *       Bit 6 - Sleep (0=sleep, 1=not sleep)
@@ -566,6 +567,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The getH5ControlFlags function gets the currently set control flags for
+ * the H5 ejector stepper motor.
+ * @details \b Inputs: fpgaActuatorSetPoints.h5Control
+ * @details \b Outputs: none
+ * @return Currently set control flags for H5 ejector motor
+ *************************************************************************/
+U08 getH5ControlFlags( void )
+{
+    return fpgaActuatorSetPoints.h5Control;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setH5StepToggleTime function sets the ejector motor set speed step
  * toggle time (in uSec).
  * @details \b Inputs: none