Index: firmware/App/Modes/ModeTreatment.c
===================================================================
diff -u -r83310420ae862de4724f8cfbbaeda9936c47801b -rd94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a
--- firmware/App/Modes/ModeTreatment.c	(.../ModeTreatment.c)	(revision 83310420ae862de4724f8cfbbaeda9936c47801b)
+++ firmware/App/Modes/ModeTreatment.c	(.../ModeTreatment.c)	(revision d94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a)
@@ -17,6 +17,7 @@
 
 #include "AirTrap.h"
 //#include "BloodFlow.h"
+#include "BPModule.h"
 #include "Bubbles.h"
 #include "Buttons.h"
 #include "DDInterface.h"
Index: firmware/App/Services/AlarmMgmtSWFaults.h
===================================================================
diff -u -r8345f0415ce34f2f47afcbf613a00216769f51c6 -rd94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a
--- firmware/App/Services/AlarmMgmtSWFaults.h	(.../AlarmMgmtSWFaults.h)	(revision 8345f0415ce34f2f47afcbf613a00216769f51c6)
+++ firmware/App/Services/AlarmMgmtSWFaults.h	(.../AlarmMgmtSWFaults.h)	(revision d94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a)
@@ -199,6 +199,9 @@
     SW_FAULT_ID_PRE_TX_RECIRC_INVALID_STATE = 168,
     SW_FAULT_ID_TD_VALVES_INVALID_VALVE2 = 169,
     SW_FAULT_ID_INVALID_TUBE_SET_TYPE = 170,
+    SW_FAULT_ID_INVALID_MESSAGE_PAYLOAD_LENGTH = 171,
+    SW_FAULT_ID_TD_BP_DRIVER_STATE = 172,
+    SW_FAULT_ID_TD_BP_MODULE_STATE = 173,
     NUM_OF_SW_FAULT_IDS
 } SW_FAULT_ID_T;
 
Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -r35870ad9866d25e32797343f14054eadbb234cf9 -rd94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision 35870ad9866d25e32797343f14054eadbb234cf9)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision d94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a)
@@ -7,8 +7,8 @@
 *
 * @file    FpgaTD.c
 *
-* @author  (last)      Varshini Nagabooshanam
-* @date    (last)      15-Jun-2026
+* @author  (last)      Sean Nash
+* @date    (last)      30-Jun-2026
 *
 * @author  (original)  Sean Nash
 * @date    (original)  01-Aug-2024
@@ -46,9 +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_DIR_FORWARD_BIT_MASK     0x02                                   ///< Bit mask for setting the blood pump direction.
+#define FPGA_H4_DIRECTION_A_BIT_MASK     0x02                                   ///< Bit mask for setting the blood pump direction A setting.
+#define FPGA_H4_DIRECTION_B_BIT_MASK     0x04                                   ///< Bit mask for setting the blood pump direction B setting.
 #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.
@@ -499,23 +499,28 @@
  * 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 and 2 of BP control register).
- *          0 - CW (forward)
- *          1 - CCW (reverse)
+ * @details \b Outputs: Blood pump motor direction is set
+ * (bit 1 (A) and 2 (B) of BP control register).
+ *         AB
+ *         00 - Power stage enabled
+ *         01 - CCW (reverse)
+ *         10 - CW (forward)
+ *         11 - Braking and holding torque
  * @param dir the desired direction for the blood pump motor (fwd or rev)
  * @return none
  *************************************************************************/
 void setH4Direction( MOTOR_DIR_T dir )
 {
+    // This clears bit 2 for both forward and reverse directions
     if ( MOTOR_DIR_FORWARD == dir )
     {
-        // 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;
+        fpgaActuatorSetPoints.h4Control &= ~FPGA_H4_DIRECTION_B_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_A_BIT_MASK;
     }
     else
     {
-        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIR_FORWARD_BIT_MASK);
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_B_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control &= ~((U08)FPGA_H4_DIRECTION_A_BIT_MASK);
     }
 }
 
@@ -531,6 +536,12 @@
 void setH4SetSpeed( U16 rpm )
 {
     fpgaActuatorSetPoints.h4SetSpeed = rpm;
+    // if commanded speed is zero, apply brake
+    if ( 0 == rpm )
+    {
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_B_BIT_MASK;
+        fpgaActuatorSetPoints.h4Control |= FPGA_H4_DIRECTION_A_BIT_MASK;
+    }
 }
 
 /*********************************************************************//**
Index: firmware/App/Services/Messaging.c
===================================================================
diff -u -r83310420ae862de4724f8cfbbaeda9936c47801b -rd94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a
--- firmware/App/Services/Messaging.c	(.../Messaging.c)	(revision 83310420ae862de4724f8cfbbaeda9936c47801b)
+++ firmware/App/Services/Messaging.c	(.../Messaging.c)	(revision d94c5324fc18b9fda9d8f0b5efcf6f60a52f3f7a)
@@ -21,6 +21,7 @@
 #include "AirTrap.h"
 #include "AlarmMgmt.h"
 #include "BloodFlow.h"
+#include "BPModule.h"
 #include "Bubbles.h"
 #include "Buttons.h"
 #include "Compatible.h"
@@ -134,6 +135,7 @@
     { MSG_ID_UI_ADJUST_DISPOSABLES_CONFIRM_REQUEST,                     &handleAutoLoadRequest },
     { MSG_ID_UI_SETUP_TUBING_SET_CONNECTIONS_CONFIRM_REQUEST,           &handleSetupTubingSetConnectionConfirmRequest },
     { MSG_ID_UI_ADJUST_DISPOSABLES_REMOVAL_CONFIRM_REQUEST,             &handleAutoEjectRequest },
+    { MSG_ID_UI_BLOOD_PRESSURE_REQUEST,                                 &bpModuleHandleVitalsRequest },
     { MSG_ID_FFU_SIGNAL_TD_UPDATE_AVAILABLE,                            &handleUpdateAvailable },
     { MSG_ID_UI_FLUID_BOLUS_REQUEST,                                    &handleFluidBolusRequest },
     { MSG_ID_TD_SOFTWARE_RESET_REQUEST,                                 &testTDSoftwareResetRequest },