Index: Common.h
===================================================================
diff -u -r5522c7962c9519b92fc35ee1aac72aedf230d4b1 -rc8d764933ccdc4a185131d77bbcc106a9223ae6b
--- Common.h	(.../Common.h)	(revision 5522c7962c9519b92fc35ee1aac72aedf230d4b1)
+++ Common.h	(.../Common.h)	(revision c8d764933ccdc4a185131d77bbcc106a9223ae6b)
@@ -197,18 +197,15 @@
 #define RAD2DEG(r)                      ((r) * 180.0F / PI)                                     ///< Macro converts radians to degrees
 #define BIT(nr)                         (1UL << (nr))                                           ///< Macro for bit mask
 #define BITS_PER_LONG                   32
-#define GENMASK(h, l)            \
-                        (((~0UL) - (1UL << (l)) + 1) & (~0UL >> (BITS_PER_LONG - 1 - (h))))     ///< Macro for generating bit mask
-#define BIT0                             0
-#define BIT1                             1
-#define BIT2                             2
-#define BIT3                             3
-#define BIT4                             4
-#define BIT5                             5
-#define BIT6                             6
-#define BIT7                             7
-#define BIT8                             8
 
+#define BIT0                             0                                                      ///< Macro for bit position 0
+#define BIT1                             1                                                      ///< Macro for bit position 1
+#define BIT2                             2                                                      ///< Macro for bit position 2
+#define BIT3                             3                                                      ///< Macro for bit position 3
+#define BIT4                             4                                                      ///< Macro for bit position 4
+#define BIT5                             5                                                      ///< Macro for bit position 5
+#define BIT6                             6                                                      ///< Macro for bit position 6
+#define BIT7                             7                                                      ///< Macro for bit position 7
 
 /// Macro to set a specific alarm with 1 piece of unsigned 32-bit alarm data.
 #define SET_ALARM_WITH_1_U32_DATA(a,d1)   { \
Index: PIControllers.c
===================================================================
diff -u -r5522c7962c9519b92fc35ee1aac72aedf230d4b1 -rc8d764933ccdc4a185131d77bbcc106a9223ae6b
--- PIControllers.c	(.../PIControllers.c)	(revision 5522c7962c9519b92fc35ee1aac72aedf230d4b1)
+++ PIControllers.c	(.../PIControllers.c)	(revision c8d764933ccdc4a185131d77bbcc106a9223ae6b)
@@ -154,7 +154,6 @@
         controller->controlSignal = RANGE( initialControlSignal, controller->uMin, controller->uMax );
         controller->referenceSignal = 0.0;
         controller->errorSignal = 0.0;
-	// TODO: controller->errorSum = controller->controlSignal / ( controller->Ki + controller->Kp );
         controller->errorSum = controller->controlSignal / controller->Ki;
         controller->errorSumBeforeWindUp = controller->errorSum;
         controller->measuredSignal = 0.0;
@@ -380,6 +379,10 @@
     {   // Invalid controller given
 #ifdef _DD_
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+#elif  _TD_
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+#else
+        #error "Unsupported platform"
 #endif
     }