Index: firmware/App/Controllers/BloodFlow.c
===================================================================
diff -u -r6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1 -rea6ff77291eee02f351953b76c6720cf860c8be7
--- firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision 6311eb9b65fdeec7a285d25e07f3932ac0fb6cf1)
+++ firmware/App/Controllers/BloodFlow.c	(.../BloodFlow.c)	(revision ea6ff77291eee02f351953b76c6720cf860c8be7)
@@ -25,6 +25,7 @@
 #include "FPGA.h"
 #include "InternalADC.h"
 #include "OperationModes.h"
+#include "PIControllers.h"
 #include "SystemCommMessages.h"
 #include "TaskGeneral.h"
 #include "TaskPriority.h"
@@ -117,8 +118,6 @@
 DATA_DECL( F32, MeasuredBloodPumpMCSpeed, adcBloodPumpMCSpeedRPM, 0.0, 0.0 );   // measured blood pump motor controller speed
 DATA_DECL( F32, MeasuredBloodPumpMCCurrent, adcBloodPumpMCCurrentmA, 0.0, 0.0 );// measured blood pump motor controller current
 
-static F32 bpFlowError = 0.0;                                                   // blood flow error
-static F32 bpFlowErrorSum = 0.0;                                                // blood flow error sum
 static U32 bpControlTimerCounter = 0;                                           // determines when to perform control on blood flow
 
 static F32 flowReadings[ SIZE_OF_ROLLING_AVG ];                                 // holds flow samples for a rolling average
@@ -164,6 +163,12 @@
 
     // zero rolling flow average buffer
     resetBloodFlowMovingAverage();
+
+    // initialize blood flow PI controller
+    initializePIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE,
+                            BP_P_COEFFICIENT, BP_I_COEFFICIENT,
+                            MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, MAX_BLOOD_PUMP_PWM_DUTY_CYCLE,
+                            BP_MIN_ERROR_SUM, BP_MAX_ERROR_SUM );
 }
 
 /*************************************************************************
@@ -192,9 +197,6 @@
             bloodPumpDirection = dir;
             // set PWM duty cycle target to an estimated initial target to ramp to based on target flow rate - then we'll control to flow when ramp completed
             bloodPumpPWMDutyCyclePct = BP_PWM_FROM_ML_PER_MIN((F32)flowRate);   // ~ 8% per 100 mL/min with a 10% zero offset added in (e.g. 100 mL/min = 8+10 = 18%)
-            // reset flow control stats
-            bpFlowError = 0.0;
-            bpFlowErrorSum = 0.0;
 
             switch ( bloodPumpState )
             {
@@ -250,9 +252,8 @@
     stopBloodPump();
     bloodPumpState = BLOOD_PUMP_OFF_STATE;
     bloodPumpPWMDutyCyclePct = 0.0;
-    bpFlowError = 0.0;
-    bpFlowErrorSum = 0.0;
     bpControlTimerCounter = 0;
+    resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE );
 }
 
 /*************************************************************************
@@ -379,6 +380,7 @@
     else if ( bloodPumpPWMDutyCyclePctSet >= bloodPumpPWMDutyCyclePct )
     {
         resetBloodFlowMovingAverage();
+        resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet );
         result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // continue ramp up
@@ -415,6 +417,7 @@
     else if ( bloodPumpPWMDutyCyclePctSet <= bloodPumpPWMDutyCyclePct )
     {
         resetBloodFlowMovingAverage();
+        resetPIController( PI_CONTROLLER_ID_BLOOD_FLOW, bloodPumpPWMDutyCyclePctSet );
         result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE;
     }
     // continue ramp down
@@ -442,30 +445,12 @@
     BLOOD_PUMP_STATE_T result = BLOOD_PUMP_CONTROL_TO_TARGET_STATE;
     F32 tgtFlow = (F32)getTargetBloodFlowRate();
     F32 actFlow = getMeasuredBloodFlowRate();
-    F32 pTerm, iTerm;
     F32 newPWM;
 
     // control at set interval
     if ( ++bpControlTimerCounter >= BP_CONTROL_INTERVAL )
     {
-        // compute P term
-        if ( MOTOR_DIR_FORWARD == bloodPumpDirectionSet )
-        {
-            bpFlowError = tgtFlow - actFlow;
-        }
-        else
-        {
-            bpFlowError = (tgtFlow * -1.0) - (actFlow * -1.0);
-        }
-        pTerm = bpFlowError * BP_P_COEFFICIENT;
-        pTerm = RANGE( pTerm, BP_MIN_PWM_DC_DELTA, BP_MAX_PWM_DC_DELTA );
-        // compute I term
-        bpFlowErrorSum += bpFlowError;
-        iTerm = RANGE( bpFlowErrorSum, BP_MIN_ERROR_SUM, BP_MAX_ERROR_SUM );
-        iTerm *= BP_I_COEFFICIENT;
-        // compute new PWM duty cycle % for blood pump motor
-        newPWM = bloodPumpPWMDutyCyclePctSet + pTerm + iTerm;
-        newPWM = RANGE( newPWM, MIN_BLOOD_PUMP_PWM_DUTY_CYCLE, MAX_BLOOD_PUMP_PWM_DUTY_CYCLE );
+        newPWM = runPIController( PI_CONTROLLER_ID_BLOOD_FLOW, tgtFlow, actFlow );
         bloodPumpPWMDutyCyclePctSet = newPWM;
         etpwmSetCmpA( etpwmREG1, (U32)FLOAT_TO_INT_WITH_ROUND( bloodPumpPWMDutyCyclePctSet * (F32)(etpwmREG1->TBPRD) ) );
         bpControlTimerCounter = 0;