Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -rf702f87af0d8b7c1ecc7d9fb62d21989c34055ff -re242484caff1834f355524ad75febbf64b81b229
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision f702f87af0d8b7c1ecc7d9fb62d21989c34055ff)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision e242484caff1834f355524ad75febbf64b81b229)
@@ -484,9 +484,12 @@
  * 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)
+ * (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
  *************************************************************************/
@@ -517,6 +520,12 @@
 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;
+    }
 }
 
 /*********************************************************************//**