Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r926afe9b1d9cc6931cbca48080e4a66385a20239 -r8e7158d8231435496fcf1d5649e51babf859ccc7
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 926afe9b1d9cc6931cbca48080e4a66385a20239)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 8e7158d8231435496fcf1d5649e51babf859ccc7)
@@ -1,22 +1,21 @@
-/**********************************************************************//**
- *
- *  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) 2019-2021 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) Sean Nash
+* @date (last) 13-Aug-2020
+*
+* @author (original) Sean
+* @date (original) 27-Dec-2019
+*
+***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include "math.h"
-#endif
+#include <math.h>
 
 #include "SystemCommMessages.h"
 #include "PIControllers.h"
@@ -66,22 +65,22 @@
  * Initialize controller before operation. Make sure to call it before
  * first call to runController function.
  *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
- * @param kP - Coefficient for proportional.
- * @param kI - Coefficient for integral.
- * @param controlMin - Minimum control output.
- * @param controlMax - Maximum control output.
+ * @param controllerID ID filter number
+ * @param initialControlSignal Value of the output on the first iteration
+ * @param kP Coefficient for proportional
+ * @param kI Coefficient for integral
+ * @param controlMin Minimum control output
+ * @param controlMax Maximum control output
  *
  * @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 )
     {
+        PI_CONTROLLER_T *controller;
+
         SET_CONTROLLER( controller, controllerID );
 
         controller->Kp = kP;
@@ -99,7 +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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
@@ -108,8 +107,8 @@
  * Reset controller before new set point. Make sure to call it before first
  * call to runController function.
  *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
+ * @param controllerID ID filter number
+ * @param initialControlSignal Value of the output on the first iteration
  *
  * @return none
  *************************************************************************/
@@ -129,17 +128,17 @@
     }
     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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 }
 
 /*********************************************************************//**
  * @brief
  * 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
+ * @param controllerID ID filter number
+ * @param referenceSignal reference signal value
+ * @param measuredSignal latest measured sample
  *
  * @return value of the control signal
  *************************************************************************/
@@ -172,27 +171,10 @@
             controller->errorSum -= ( windupError / controller->Ki );
         }
         result = controller->controlSignal;
-//#ifdef DEBUG_ENABLED
-//    {
-//        // TODO - temporary debug code - remove later
-//        char debugFlowStr[ 100 ];
-//        S32  nums = (S32)(measuredSignal);
-//        S32  decs = (S32)(fabs(measuredSignal-(S32)(measuredSignal))*100.0);
-//        S32  nume = (S32)controller->errorSignal;
-//        S32  dece = (S32)(fabs(controller->errorSignal-(S32)controller->errorSignal)*100.0);
-//        S32  numes = (S32)controller->errorSum;
-//        S32  deces = (S32)((controller->errorSum-(S32)(controller->errorSum))*100.0);
-//        S32  nump = (S32)controller->controlSignal;
-//        S32  decp = (S32)((controller->controlSignal-(S32)controller->controlSignal)*10000.0);
-//
-//        sprintf( debugFlowStr, "%6d.%02d  %6d.%02d  %10d.%02d  %3d.%04d\n", nums, decs, nume, dece, numes, deces, nump, decp );
-//        sendDebugData( (U08*)debugFlowStr, strlen(debugFlowStr) );
-//    }
-//#endif
     }
     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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return result;
@@ -202,8 +184,8 @@
  * @brief
  * Returns the latest requested signal sample.
  *
- * @param controllerID - ID filter number
- * @param signalID -  signal sample ID request
+ * @param controllerID ID filter number
+ * @param signalID signal sample ID request
  *
  * @return latest sample requested
  *************************************************************************/
@@ -251,13 +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_HD_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_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }
 
     return output;