Index: PIControllers.c
===================================================================
diff -u -r8306f93dda4cd495f2738212398f2c5076935165 -rb50baf1398a7e6a2ac034202d05ce84a40697cb6
--- PIControllers.c	(.../PIControllers.c)	(revision 8306f93dda4cd495f2738212398f2c5076935165)
+++ PIControllers.c	(.../PIControllers.c)	(revision b50baf1398a7e6a2ac034202d05ce84a40697cb6)
@@ -64,6 +64,9 @@
 /// PI Controllers - initial configurations.
 static PI_CONTROLLER_T piControllers[ NUM_OF_PI_CONTROLLERS_IDS ] =
 {   // Kp   Ki  uMax  uMin  ref meas err  esw esum ctrl Ilimit  controller type, feedfwdEnabled, feedfwdValue
+#ifdef _TD_
+    { 0.0, 0.0, 0.90, 0.10, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_BLOOD_FLOW
+#endif
 #ifdef _DD_
     { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  4.0,  CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 },   // PI_CONTROLLER_ID_D12_PUMP
     { 0.0, 0.0, 2650, 350, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,  4.0,  CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 },   // PI_CONTROLLER_ID_D48_PUMP
@@ -73,6 +76,8 @@
 #ifdef _RO_
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_RO_PUMP
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_RO_PUMP_MAX_PRES
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_BOOST_PUMP_FLOW
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_BOOST_PUMP_PRES
 #endif
 };
 
@@ -124,7 +129,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 }
@@ -163,7 +168,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 }
@@ -233,7 +238,7 @@
         }
         else
         {
-            controller->controlSignal = RANGE( controlSignalBeforeWindup, controller->uMin, ( controller->uMax - controller->feedForward ) );
+            controller->controlSignal = RANGE( controlSignalBeforeWindup, ( controller->uMin - controller->feedForward ), ( controller->uMax - controller->feedForward ) );
         }
 
         // Handle anti-windup for i term
@@ -263,7 +268,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 
@@ -335,7 +340,7 @@
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
 #endif
 #ifdef _RO_
-                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
 #endif
                 break;
         } // End of switch
@@ -346,7 +351,7 @@
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
 #ifdef _RO_
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 
@@ -383,7 +388,7 @@
             SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
 #endif
 #ifdef _RO_
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
 #endif
         }
 
@@ -396,7 +401,7 @@
 #endif
 #ifdef _RO_
         // Invalid controller given
-        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_FP_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
 #endif
     }
 }