Index: PIControllers.c
===================================================================
diff -u -r21fa2beca5bf5f6e97bbb4c3729b05f5d25b2f2f -rb50baf1398a7e6a2ac034202d05ce84a40697cb6
--- PIControllers.c	(.../PIControllers.c)	(revision 21fa2beca5bf5f6e97bbb4c3729b05f5d25b2f2f)
+++ 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
Index: PIControllers.h
===================================================================
diff -u -r21fa2beca5bf5f6e97bbb4c3729b05f5d25b2f2f -rb50baf1398a7e6a2ac034202d05ce84a40697cb6
--- PIControllers.h	(.../PIControllers.h)	(revision 21fa2beca5bf5f6e97bbb4c3729b05f5d25b2f2f)
+++ PIControllers.h	(.../PIControllers.h)	(revision b50baf1398a7e6a2ac034202d05ce84a40697cb6)
@@ -41,6 +41,9 @@
 /// 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
Index: SystemComm.c
===================================================================
diff -u -re3a4d7c5c18dc07a6cc7fe2dc07d0d143fd92c57 -rb50baf1398a7e6a2ac034202d05ce84a40697cb6
--- SystemComm.c	(.../SystemComm.c)	(revision e3a4d7c5c18dc07a6cc7fe2dc07d0d143fd92c57)
+++ SystemComm.c	(.../SystemComm.c)	(revision b50baf1398a7e6a2ac034202d05ce84a40697cb6)
@@ -473,7 +473,7 @@
                     // Copy CRC portion of message data to the new message
                     rcvMsg.crc = *dataPtr;
                     // Set incoming buffer that message came into
-                    rcvMsg.msg.in_buffer = (COMM_BUFFER_T)i;
+                    rcvMsg.msg.in_buffer = getInBufferID( i );
                     // Add new message to queue for later processing
                     addToMsgQueue( MSG_Q_IN, &rcvMsg );
 #ifdef _TD_