Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r3cc737c39b4440e18abab95ef2f8b6aef13acba9 -r0dec8744af40d0c87a6d7cd1923920c1c2bd1d2f
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 3cc737c39b4440e18abab95ef2f8b6aef13acba9)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 0dec8744af40d0c87a6d7cd1923920c1c2bd1d2f)
@@ -1,18 +1,19 @@
-/**********************************************************************//**
- *
- *  Copyright (c) 2019-2020 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 PIControllers.c
- *
- *  @date 18-Dec-2019
- *  @author L. Baloa
- *
- *  @brief PIControllers source file.
- *
- **************************************************************************/
+/**************************************************************************
+*
+* Copyright (c) 2019-2020 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 PIControllers.c
+*
+* @author (last) Quang Nguyen
+* @date (last) 22-Jul-2020
+*
+* @author (original) Sean
+* @date (original) 04-Feb-2020
+*
+***************************************************************************/
 
 #ifndef _VECTORCAST_
     #include "math.h"
@@ -28,8 +29,7 @@
 
 // ********** private definitions **********
 
-/// minimum integral coefficient - cannot be zero.
-#define MIN_KI                      NEARLY_ZERO
+#define MIN_KI                      NEARLY_ZERO     ///< minimum integral coefficient - cannot be zero.
 
 /// record for PI controller.
 typedef struct {
@@ -98,7 +98,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
@@ -128,7 +128,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
@@ -174,7 +174,7 @@
     }
     else
     {
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return result;
@@ -233,13 +233,13 @@
                 break;
 
             default:
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
                 break;
         } // end of switch
     }
     else
     {   // invalid controller given
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return output;