Index: firmware/App/Services/FpgaTD.c
===================================================================
diff -u -re2047250deeaec1353ae10e88b24bd4a533ed0a0 -rf702f87af0d8b7c1ecc7d9fb62d21989c34055ff
--- firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision e2047250deeaec1353ae10e88b24bd4a533ed0a0)
+++ firmware/App/Services/FpgaTD.c	(.../FpgaTD.c)	(revision f702f87af0d8b7c1ecc7d9fb62d21989c34055ff)
@@ -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.
@@ -493,14 +493,15 @@
 void setH4Direction( MOTOR_DIR_T dir )
 {
     // This clears bit 2 for both forward and reverse directions
-    fpgaActuatorSetPoints.h4Control &= ~( 1 << FPGA_H4_BIT_2_INDEX );
     if ( MOTOR_DIR_FORWARD == dir )
     {
-        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);
     }
 }