Index: PIControllers.h
===================================================================
diff -u -rf0ab3bcd54c50c199bfa9c7bf435f4c2c8e7f29f -re36314e77be984668ded42e1af9aefc54b60c677
--- PIControllers.h	(.../PIControllers.h)	(revision f0ab3bcd54c50c199bfa9c7bf435f4c2c8e7f29f)
+++ PIControllers.h	(.../PIControllers.h)	(revision e36314e77be984668ded42e1af9aefc54b60c677)
@@ -25,7 +25,7 @@
 #include "DDCommon.h"
 #endif
 #ifdef _RO_
-#include "ROCommon.h"
+#include "FPCommon.h"
 #endif
 
 /**
@@ -41,15 +41,20 @@
 /// Enumeration of PI controllers.
 typedef enum ControllerList
 {
+#ifdef _TD_
+    PI_CONTROLLER_ID_BLOOD_FLOW,                    ///< Blood pump controller to target flow rate
+#endif
 #ifdef _DD_
     PI_CONTROLLER_ID_D12_PUMP,                      ///< Fresh dialysate Pump controller
     PI_CONTROLLER_ID_D48_PUMP,                      ///< Spent dialysate Pump controller
     PI_CONTROLLER_ID_D5_HEAT,                       ///< Primary heater controller
     PI_CONTROLLER_ID_D45_HEAT,                      ///< Trimmer heater controller
 #endif
 #ifdef _RO_
-    PI_CONTROLLER_ID_RO_PUMP_FLOW = 0,              ///< RO Pump controller to flow
-    PI_CONTROLLER_ID_RO_PUMP_MAX_PRES,              ///< RO pump controller to maximum pressure
+    PI_CONTROLLER_ID_RO_PUMP_FLOW,                  ///< RO Pump controller to flow
+    PI_CONTROLLER_ID_RO_PUMP_PRES,                  ///< RO pump controller to maximum pressure
+    PI_CONTROLLER_ID_BOOST_PUMP_FLOW,               ///< Boost pump controller to flow
+    PI_CONTROLLER_ID_BOOST_PUMP_PRES,               ///< Boost pump controller to maximum pressure
 #endif
     NUM_OF_PI_CONTROLLERS_IDS                       ///< Number of PI controllers
 } PI_CONTROLLER_ID_T;
@@ -64,6 +69,7 @@
     CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
     CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
     CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
+    CONTROLLER_SIGNAL_FEEDFORWARD_OUTPUT,           ///< Feed forward portion of controller output signal
     CONTROLLER_SIGNAL_CONTROL,                      ///< Controller output signal
     NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
 } PI_CONTROLLER_SIGNALS_ID;
@@ -82,8 +88,9 @@
 // ********** public function prototypes **********
 
 void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
-                             F32 kP, F32 kI, F32 controlMin, F32 controlMax );
-void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal );
+                             F32 kP, F32 kI, F32 controlMin, F32 controlMax,
+                             BOOL isFeedForwardEnabled, F32 feedFowardSignal );
+void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal, F32 feedFowardSignal );
 F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );
 void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit );