Index: firmware/App/Services/FpgaTD.h
===================================================================
diff -u -r50f4b79164155c1bc375dd3ff0e8588f934dc729 -rb824ef4b479578c5aa702abd9147aef505a6fb04
--- firmware/App/Services/FpgaTD.h	(.../FpgaTD.h)	(revision 50f4b79164155c1bc375dd3ff0e8588f934dc729)
+++ firmware/App/Services/FpgaTD.h	(.../FpgaTD.h)	(revision b824ef4b479578c5aa702abd9147aef505a6fb04)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2024 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2024-2025 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
-* @file    FPGA.h
+* @file    FpgaTD.h
 *
-* @author  (last)      Sean Nash
-* @date    (last)      30-Jul-2024
+* @author  (last)      Dara Navaei
+* @date    (last)      30-Oct-2025
 *
 * @author  (original)  Sean Nash
-* @date    (original)  30-Jul-2024
+* @date    (original)  01-Aug-2024
 *
 ***************************************************************************/
 
@@ -32,9 +32,12 @@
 // ********** public definitions **********
 
 // Bit definitions for pinch valve control register
-#define FPGA_PINCH_VALVES_1_32_STEP                 0x03                        ///< Bit mask for configuring pinch valve for 1/32 step.
-#define FPGA_PINCH_VALVES_REVERSE                   0x08                        ///< Bit mask for configuring pinch valve for reverse direction.
+#define FPGA_PINCH_VALVES_1_8_STEP                  0x07                        ///< Bit mask for configuring pinch valve for 1/8 step microstepping.
+#define FPGA_PINCH_VALVES_ENABLE_ENCODER            0x00                        ///< Bit mask for configuring pinch valve enable encoder.
+#define FPGA_PINCH_VALVES_RESET_ENCODER             0x08                        ///< Bit mask for configuring pinch valve to reset the encoder.
+#define FPAG_PINCH_VALVES_ENABLE                    0x00                        ///< Bit mask for configuring pinch valve to enable.
 #define FPGA_PINCH_VALVES_DISABLE                   0x10                        ///< Bit mask for configuring pinch valve to be disabled.
+#define FPGA_PINCH_VALVES_RESET                     0x00                        ///< Bit mask for configuring pinch valve to be in reset.
 #define FPGA_PINCH_VALVES_NOT_RESET                 0x20                        ///< Bit mask for configuring pinch valve to not be in reset.
 #define FPGA_PINCH_VALVES_NOT_SLEEP                 0x40                        ///< Bit mask for configuring pinch valve to not be in sleep mode.
 #define FPGA_PINCH_VALVES_NEW_POS_CMD               0x80                        ///< Bit mask for configuring pinch valve to accept a new position command.
@@ -48,6 +51,19 @@
 #define SYRINGE_PUMP_CONTROL_FORWARD_DIR            0x00                        ///< Syringe pump control register bit mask for forward direction.
 #define SYRINGE_PUMP_CONTROL_32TH_STEP              0x03                        ///< Syringe pump control register bits for 1/32 micro-stepping mode.
 
+/// Baro sensor manufacturing coefficients
+typedef struct
+{
+    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.
+} BARO_PRES_SENSOR_MFG_T;
+
 // ********** public function prototypes **********
 
 void initFpgaTD( void );
@@ -70,9 +86,12 @@
 void setH4Direction( MOTOR_DIR_T dir );
 void setH4SetSpeed( U16 rpm );
 U16  getH4Period( void );
+void setH4BrakeAndHoldTorque( void );
 
 S16  getH4RotorCount( void );
+S16  getH4TorqueCount( void );
 U08  getH6Status( void );
+U08  getH6RotorStatus( void );
 
 void setH5ControlFlags( U08 ctrl );
 U08  getH5ControlFlags( void );
@@ -88,6 +107,12 @@
 U08  getH14ReadCounter( void );
 U08  getH14ErrorCounter( void );
 
+void getH23MfgCoeffs( BARO_PRES_SENSOR_MFG_T* baroMfgCoeffs );
+U32  getH23Pressure( void );
+U32  getH23Temperature( void );
+U08  getH23ReadCounter( void );
+U08  getH23ErrorCounter( void );
+
 F32  getFPGABackupAlarmAudioCurrent( void );
 
 void getFPGAAirTrapLevels( BOOL *airAtLower, BOOL *airAtUpper );
@@ -104,16 +129,14 @@
 
 void setH19Control( U08 controlBits );
 U08  getH19Control( void );
-void setH19Position( U16 setPoint );
+void setH19Position( S16 setPoint );
 S16  getH19EncoderPosition( void );
-S16  getH19CmdPosition( void );
 U16  getH19Status( void );
 
 void setH1Control( U08 controlBits );
 U08  getH1Control( void );
-void setH1Position( U16 setPoint );
+void setH1Position( S16 setPoint );
 S16  getH1EncoderPosition( void );
-S16  getH1CmdPosition( void );
 U16  getH1Status( void );
 
 U16  getFPGABoardTemperature( void );