Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -rcf22584fb68bb29311d81d1e5ad79f8cf064b8fb -r5eda216f634a74512a5bc11b0984676567512d80
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision cf22584fb68bb29311d81d1e5ad79f8cf064b8fb)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 5eda216f634a74512a5bc11b0984676567512d80)
@@ -114,7 +114,7 @@
     S16 h2Temperature;                          ///< Reg 274.  H2 raw temperature data.
     U08 h2ReadCount;                            ///< Reg 276.  H2 read count.
     U08 h2ErrorCount;                           ///< Reg 277.  H2 error count.
-    U16 reserved1;                              ///< Reg 278.  Reserved and available for future use.
+    S16 h1MaxEncPosition;                       ///< Reg 278.  H1 max encoder position.
     S16 h1EncPosition;                          ///< Reg 280.  H1 encoder position (1000 steps/rev).
     U16 h1Status;                               ///< Reg 282.  H1 status.
     U32 reserved2;                              ///< Reg 284.  Reserved and available for future use.
@@ -124,8 +124,7 @@
     S16 h4SpeedFromHall;                        ///< Reg 294.  H4 measured speed from hall sensor(s).
     U16 h19Status;                              ///< Reg 296.  H19 status.
     S16 h19EncPosition;                         ///< Reg 298.  H19 encoder position (1000 steps/rev).
-    U08 reserved4;                              ///< Reg 300.  H19 status.
-    U08 h4Status;                               ///< Reg 301.  H4 status.
+    S16 h19MaxEncPosition;                      ///< Reg 300.  H19 max encoder position.
     U16 GPIOReg;                                ///< Reg 302.  GPIO register.
     U08 HEPStatus;                              ///< Reg 304.  HEP status register.
     U08 HEPAdcReadCount;                        ///< Reg 305.  HEP ADC read counter.
@@ -151,7 +150,7 @@
     S16 ACPower3Voltage;                        ///< Reg 342.  AC power voltage - 3.
     S16 h4RotorHallCount;                       ///< Reg 344.  H4 rotor count from hall sensor.
     U08 h6RotorStatus;                          ///< Reg 346.  H6 rotor status.
-    U08 reserved5;                              ///<
+    U08 reserved5;                              ///< Reg 347.  Reserved register.
     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.
@@ -1003,7 +1002,9 @@
  *          0=reset (set to 1 after power up)
  *      Sleep: bit 6 (active low)
  *          0=sleep mode
- *      Reserved: bit 7
+ *      Homing: bit 7 (set 1 to enable homing)
+ *          0=disable homing
+ *          1=enable homing
  * @details \b Inputs: none
  * @details \b Outputs: fpgaActuatorSetPoints.h19Control
  * @param controlBits The control bits to apply to the venous pinch valve.
@@ -1069,6 +1070,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The getH19MaxEncPosition function reads max encoder position of the venous
+ * pinch valve prior to losing the shaft.
+ * @details \b Inputs: fpgaSensorReadings.h19MaxEncPosition
+ * @details \b Outputs: none
+ * @return Max encoder position of the venous pinch valve
+ *************************************************************************/
+S16 getH19MaxEncPosition( void )
+{
+    return fpgaSensorReadings.h19MaxEncPosition;
+}
+
+/*********************************************************************//**
+ * @brief
  * The setH1Control function sets the control bits for the arterial pinch valve.
  *      Microstep setting: bits 0..2:
  *          0=full step (100% torque)
@@ -1089,7 +1103,9 @@
  *          0=reset (set to 1 after power up)
  *      Sleep: bit 6 (active low)
  *          0=sleep mode
- *      Reserved: bit 7
+ *      Homing: bit 7 (set 1 to enable homing)
+ *          0=disable homing
+ *          1=enable homing
  * @details \b Inputs: none
  * @details \b Outputs: fpgaActuatorSetPoints.h1Control
  * @param controlBits The control bits to apply to the arterial pinch valve.
@@ -1154,6 +1170,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The getH1MaxEncPosition function reads max encoder position of the arterial
+ * pinch valve prior to losing its shaft.
+ * @details \b Inputs: fpgaSensorReadings.h1MaxEncPosition
+ * @details \b Outputs: none
+ * @return Max encoder value of the arterial pinch valve
+ *************************************************************************/
+S16 getH1MaxEncPosition( void )
+{
+    return fpgaSensorReadings.h1MaxEncPosition;
+}
+
+/*********************************************************************//**
+ * @brief
  * The getFPGABoardTemperature function reads the FPGA board temperature.
  * @details \b Inputs: fpgaSensorReadings
  * @details \b Outputs: none