Index: firmware/App/Drivers/PeristalticPump.c
===================================================================
diff -u -rfe29b840bff79d853e49baf3a78b080e1cf428b6 -r0054e875bf1b9a85d017e6e388b225f51ae6d032
--- firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision fe29b840bff79d853e49baf3a78b080e1cf428b6)
+++ firmware/App/Drivers/PeristalticPump.c	(.../PeristalticPump.c)	(revision 0054e875bf1b9a85d017e6e388b225f51ae6d032)
@@ -236,6 +236,19 @@
 
 /*********************************************************************//**
  * @brief
+ * The setPeristalticPumpHardStop function stops the pump and holds the torque
+ * of the pump.
+ * @details \b Inputs: none
+ * @details \b Outputs: none
+ * @return none
+ *************************************************************************/
+void setPeristalticPumpHardStop( void )
+{
+    setH4BrakeAndHoldTorque();
+}
+
+/*********************************************************************//**
+ * @brief
  * The getPeristalticPumpSetSpeed function gets the current pump set
  * speed in RPM.
  * @note A negative speed indicates reverse direction.
Index: firmware/App/Drivers/PeristalticPump.h
===================================================================
diff -u -rfe29b840bff79d853e49baf3a78b080e1cf428b6 -r0054e875bf1b9a85d017e6e388b225f51ae6d032
--- firmware/App/Drivers/PeristalticPump.h	(.../PeristalticPump.h)	(revision fe29b840bff79d853e49baf3a78b080e1cf428b6)
+++ firmware/App/Drivers/PeristalticPump.h	(.../PeristalticPump.h)	(revision 0054e875bf1b9a85d017e6e388b225f51ae6d032)
@@ -51,6 +51,8 @@
 BOOL isPeristalticPumpHome( void );
 BOOL isPumpHomeInProgress( void );
 
+void setPeristalticPumpHardStop( void );
+
 /**@}*/
 
 #endif
Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -r37294a71c0b3e3ca67ccb10b85536d124d3ef028 -r0054e875bf1b9a85d017e6e388b225f51ae6d032
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 37294a71c0b3e3ca67ccb10b85536d124d3ef028)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 0054e875bf1b9a85d017e6e388b225f51ae6d032)
@@ -47,6 +47,7 @@
 
 #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_BRAKE_AND_HOLD_TORQUE    0x05                                   ///< Bit mask for braking the blood pump while holding the torque of the pump.
 
 #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.
@@ -467,7 +468,7 @@
  * 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)
@@ -514,6 +515,19 @@
 
 /*********************************************************************//**
  * @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
Index: firmware/App/Services/FpgaTD.h
===================================================================
diff -u -r8b819deb3e770c981eed221f63170dd842eedbe3 -r0054e875bf1b9a85d017e6e388b225f51ae6d032
--- firmware/App/Services/FpgaTD.h	(.../FpgaTD.h)	(revision 8b819deb3e770c981eed221f63170dd842eedbe3)
+++ firmware/App/Services/FpgaTD.h	(.../FpgaTD.h)	(revision 0054e875bf1b9a85d017e6e388b225f51ae6d032)
@@ -73,6 +73,7 @@
 void setH4Direction( MOTOR_DIR_T dir );
 void setH4SetSpeed( U16 rpm );
 U16  getH4Period( void );
+void setH4BrakeAndHoldTorque( void );
 
 S16  getH4RotorCount( void );
 U08  getH6Status( void );