Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r5217f70ca5c74bd586dc14540e6404b43feea004 -rf8395d7271a1fbcb2e577ce48b9327b16d2b97e0
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 5217f70ca5c74bd586dc14540e6404b43feea004)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision f8395d7271a1fbcb2e577ce48b9327b16d2b97e0)
@@ -1,218 +1,217 @@
-/**************************************************************************
- *
- *  Copyright (c) 2019-2019 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 service module.  Creates a digital PI to be used as
- *  control loops
- *
- **************************************************************************/
-
-#include "math.h"
-
-#include "PIControllers.h"
-
-// ********** private definitions **********
-
-#define MIN_KI                      NEARLY_ZERO
-
-typedef struct {
-    // -- PI's parameters --
-    F32 Kp;                         // Proportional Value
-    F32 Ki;                         // Integral Value
-    F32 uMax;                       // Maximum control signal
-    F32 uMin;                       // Minimum control signal
-    // -- PI's signals --
-    F32 referenceSignal;            // reference signal
-    F32 measuredSignal;             // measured signal
-    F32 errorSignal;                // reference - measured signal
-    F32 errorSumBeforeWindUp;       // error signal before windup correction
-    F32 errorSum;                   // error integral after windup correction
-    F32 controlSignal;              // actual control signal
-} PI_CONTROLLER_T;
-
-#define SET_CONTROLLER( c, id )                     ((c) = &piControllers[id])
-
-// ********** private data **********
-
-// PI Controllers -- definition
-
-static PI_CONTROLLER_T piControllers[ NUM_OF_PI_CONTROLLERS_IDS ] =
-{   // Kp   Ki  uMax  uMin  ref meas  err  esw esum ctrl
-    { 0.0, 0.0,  1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_LOAD_CELL
-    { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_BLOOD_FLOW
-    { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }   // PI_CONTROLLER_ID_DIALYSATE_FLOW
-};
-
-/*************************************************************************
- * @brief initializePIController
- * Initialize controller before operation. Make sure to call it before \n
- * first call to runController function.
- *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
- *
- * @return none
- *************************************************************************/
-void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
-                             F32 kP, F32 kI, F32 controlMin, F32 controlMax )
-{
-    PI_CONTROLLER_T *controller;
-
-    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
-    {
-        SET_CONTROLLER( controller, controllerID );
-
-        controller->Kp = kP;
-        if ( fabs( kI ) > MIN_KI )      // ensure kI is not zero
-        {
-            controller->Ki = kI;
-        }
-        else
-        {
-            controller->Ki = ( kI < 0.0 ? MIN_KI * -1.0 : MIN_KI );
-        }
-        controller->uMin = controlMin;
-        controller->uMax = controlMax;
-        resetPIController( controllerID, initialControlSignal );
-    }
-}
-
-/*************************************************************************
- * @brief resetPIController
- * Reset controller before new set point. Make sure to call it before first \n
- * call to runController function.
- *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
- *
- * @return none
- *************************************************************************/
-void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal )
-{
-    PI_CONTROLLER_T *controller;
-
-    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
-    {
-        SET_CONTROLLER( controller, controllerID );
-        controller->controlSignal = RANGE( initialControlSignal, controller->uMin, controller->uMax );
-        controller->referenceSignal = 0.0;
-        controller->errorSignal = 0.0;
-        controller->errorSum = controller->controlSignal / controller->Ki;
-        controller->errorSumBeforeWindUp = controller->errorSum;
-        controller->measuredSignal = 0.0;
-    }
-}
-
-/*************************************************************************
- * @brief runPIController
- * Call this function whenever a new measured signal sampled is acquired.
- *
- * @param controllerID - ID filter number
- * @param referenceSignal - reference signal value
- * @param measuredSignal - latest measured sample
- *
- * @return value of the control signal
- *************************************************************************/
-F32 runPIController(PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal)
-{
-    PI_CONTROLLER_T *controller;
-    F32 result = 0.0;
-
-    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
-    {
-        F32 controlSignalBeforeWindup;
-        F32 windupError;
-
-        SET_CONTROLLER( controller, controllerID );
-
-        controller->referenceSignal = referenceSignal;
-        controller->measuredSignal = measuredSignal;
-        // calculate error signal
-        controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0 ? ( measuredSignal * -1.0 ) : measuredSignal );
-        controller->errorSum += controller->errorSignal;
-        // anti-windup
-        controller->errorSumBeforeWindUp = controller->errorSum;
-        // calculate control signal
-        controlSignalBeforeWindup = ( controller->Kp * controller->errorSignal ) + ( controller->Ki * controller->errorSum );
-        controller->controlSignal = RANGE( controlSignalBeforeWindup, controller->uMin, controller->uMax );
-        // handle anti-windup for i term
-        windupError = controller->controlSignal - controlSignalBeforeWindup;
-        if ( fabs( windupError ) > NEARLY_ZERO )
-        {
-            controller->errorSum -= ( windupError / controller->Ki );
-        }
-        result = controller->controlSignal;
-    }
-
-    return result;
-}
-
-/*************************************************************************
- * @brief getPIControllerSignals
- * Returns the latest requested signal sample.
- *
- * @param controllerID - ID filter number
- * @param signalID -  signal sample ID request
- *
- * @return latest sample requested
- *************************************************************************/
-F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID )
-{
-    PI_CONTROLLER_T *controller;
-    F32 output = 0.0;
-
-    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
-    {
-        SET_CONTROLLER( controller, controllerID );
-
-        switch( signalID )
-        {
-            case CONTROLLER_SIGNAL_REFERENCE:
-                output = controller->referenceSignal;
-                break;
-
-            case CONTROLLER_SIGNAL_MEASURED:
-                output = controller->measuredSignal;
-                break;
-
-            case CONTROLLER_SIGNAL_ERROR:
-                output = controller->errorSignal;
-                break;
-
-            case CONTROLLER_SIGNAL_ERROR_SUM:
-                output = controller->errorSumBeforeWindUp;
-                break;
-
-            case CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP:
-                output = controller->errorSum;
-                break;
-
-            case CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT:
-                output = controller->Kp * controller->errorSignal;
-                break;
-
-            case CONTROLLER_SIGNAL_INTEGRAL_OUTPUT:
-                output = controller->Ki * controller->errorSum;
-                break;
-
-            case CONTROLLER_SIGNAL_CONTROL:
-                output = controller->controlSignal;
-                break;
-
-            default:
-                output = 0;
-                break;
-        } // end of switch
-    }
-
-    return output;
-}
-
+/**************************************************************************
+ *
+ *  Copyright (c) 2019-2019 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 service module.  Creates a digital PI to be used as
+ *  control loops
+ *
+ **************************************************************************/
+
+#include "math.h"
+
+#include "PIControllers.h"
+
+// ********** private definitions **********
+
+#define MIN_KI                      NEARLY_ZERO
+
+typedef struct {
+    // -- PI's parameters --
+    F32 Kp;                         // Proportional Value
+    F32 Ki;                         // Integral Value
+    F32 uMax;                       // Maximum control signal
+    F32 uMin;                       // Minimum control signal
+    // -- PI's signals --
+    F32 referenceSignal;            // reference signal
+    F32 measuredSignal;             // measured signal
+    F32 errorSignal;                // reference - measured signal
+    F32 errorSumBeforeWindUp;       // error signal before windup correction
+    F32 errorSum;                   // error integral after windup correction
+    F32 controlSignal;              // actual control signal
+} PI_CONTROLLER_T;
+
+#define SET_CONTROLLER( c, id )                     ((c) = &piControllers[id])
+
+// ********** private data **********
+
+// PI Controllers -- definition
+
+static PI_CONTROLLER_T piControllers[ NUM_OF_PI_CONTROLLERS_IDS ] =
+{   // Kp   Ki  uMax  uMin  ref meas  err  esw esum ctrl
+    { 0.0, 0.0,  1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_LOAD_CELL
+    { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_BLOOD_FLOW
+    { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }   // PI_CONTROLLER_ID_DIALYSATE_FLOW
+};
+
+/*************************************************************************
+ * @brief initializePIController
+ * Initialize controller before operation. Make sure to call it before \n
+ * first call to runController function.
+ *
+ * @param controllerID - ID filter number
+ * @param initialControlSignal - Value of the output on the first iteration
+ *
+ * @return none
+ *************************************************************************/
+void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
+                             F32 kP, F32 kI, F32 controlMin, F32 controlMax )
+{
+    PI_CONTROLLER_T *controller;
+
+    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
+    {
+        SET_CONTROLLER( controller, controllerID );
+
+        controller->Kp = kP;
+        if ( fabs( kI ) > MIN_KI )      // ensure kI is not zero
+        {
+            controller->Ki = kI;
+        }
+        else
+        {
+            controller->Ki = ( kI < 0.0 ? MIN_KI * -1.0 : MIN_KI );
+        }
+        controller->uMin = controlMin;
+        controller->uMax = controlMax;
+        resetPIController( controllerID, initialControlSignal );
+    }
+}
+
+/*************************************************************************
+ * @brief resetPIController
+ * Reset controller before new set point. Make sure to call it before first \n
+ * call to runController function.
+ *
+ * @param controllerID - ID filter number
+ * @param initialControlSignal - Value of the output on the first iteration
+ *
+ * @return none
+ *************************************************************************/
+void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal )
+{
+    PI_CONTROLLER_T *controller;
+
+    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
+    {
+        SET_CONTROLLER( controller, controllerID );
+        controller->controlSignal = RANGE( initialControlSignal, controller->uMin, controller->uMax );
+        controller->referenceSignal = 0.0;
+        controller->errorSignal = 0.0;
+        controller->errorSum = controller->controlSignal / controller->Ki;
+        controller->errorSumBeforeWindUp = controller->errorSum;
+        controller->measuredSignal = 0.0;
+    }
+}
+
+/*************************************************************************
+ * @brief runPIController
+ * Call this function whenever a new measured signal sampled is acquired.
+ *
+ * @param controllerID - ID filter number
+ * @param referenceSignal - reference signal value
+ * @param measuredSignal - latest measured sample
+ *
+ * @return value of the control signal
+ *************************************************************************/
+F32 runPIController(PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal)
+{
+    PI_CONTROLLER_T *controller;
+    F32 result = 0.0;
+
+    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
+    {
+        F32 controlSignalBeforeWindup;
+        F32 windupError;
+
+        SET_CONTROLLER( controller, controllerID );
+
+        controller->referenceSignal = referenceSignal;
+        controller->measuredSignal = measuredSignal;
+        // calculate error signal
+        controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0 ? ( measuredSignal * -1.0 ) : measuredSignal );
+        controller->errorSum += controller->errorSignal;
+        // anti-windup
+        controller->errorSumBeforeWindUp = controller->errorSum;
+        // calculate control signal
+        controlSignalBeforeWindup = ( controller->Kp * controller->errorSignal ) + ( controller->Ki * controller->errorSum );
+        controller->controlSignal = RANGE( controlSignalBeforeWindup, controller->uMin, controller->uMax );
+        // handle anti-windup for i term
+        windupError = controller->controlSignal - controlSignalBeforeWindup;
+        if ( fabs( windupError ) > NEARLY_ZERO )
+        {
+            controller->errorSum -= ( windupError / controller->Ki );
+        }
+        result = controller->controlSignal;
+    }
+
+    return result;
+}
+
+/*************************************************************************
+ * @brief getPIControllerSignals
+ * Returns the latest requested signal sample.
+ *
+ * @param controllerID - ID filter number
+ * @param signalID -  signal sample ID request
+ *
+ * @return latest sample requested
+ *************************************************************************/
+F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID )
+{
+    PI_CONTROLLER_T *controller;
+    F32 output = 0.0;
+
+    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
+    {
+        SET_CONTROLLER( controller, controllerID );
+
+        switch( signalID )
+        {
+            case CONTROLLER_SIGNAL_REFERENCE:
+                output = controller->referenceSignal;
+                break;
+
+            case CONTROLLER_SIGNAL_MEASURED:
+                output = controller->measuredSignal;
+                break;
+
+            case CONTROLLER_SIGNAL_ERROR:
+                output = controller->errorSignal;
+                break;
+
+            case CONTROLLER_SIGNAL_ERROR_SUM:
+                output = controller->errorSumBeforeWindUp;
+                break;
+
+            case CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP:
+                output = controller->errorSum;
+                break;
+
+            case CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT:
+                output = controller->Kp * controller->errorSignal;
+                break;
+
+            case CONTROLLER_SIGNAL_INTEGRAL_OUTPUT:
+                output = controller->Ki * controller->errorSum;
+                break;
+
+            case CONTROLLER_SIGNAL_CONTROL:
+                output = controller->controlSignal;
+                break;
+
+            default:
+                output = 0;
+                break;
+        } // end of switch
+    }
+
+    return output;
+}