Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r03e051ef654a1bff100da02483645c4e9d0b7a30 -r7d4711edd7b40cd3e29f43e766f79a8a09586fe9
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 03e051ef654a1bff100da02483645c4e9d0b7a30)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 7d4711edd7b40cd3e29f43e766f79a8a09586fe9)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2020-2024 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
+* @file    PIControllers.c
 *
-* @author (last) Quang Nguyen
-* @date (last) 24-Aug-2020
+* @author  (last)      Dara Navaei
+* @date    (last)      11-Jan-2023
 *
-* @author (original) Sean
-* @date (original) 04-Feb-2020
+* @author  (original)  Sean
+* @date    (original)  04-Feb-2020
 *
 ***************************************************************************/
 
@@ -27,6 +27,8 @@
 
 // ********** private definitions **********
 
+#define MAX_ILIMIT              1.0F       ///< Controller max Ilimit/maxErrorSumStep.
+
 /// Enumeration of PI controller direction.
 typedef enum controller_Directions
 {
@@ -60,8 +62,8 @@
 
 /// 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
-    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,  CONTROLLER_UNIDIRECTIONAL },  // PI_CONTROLLER_ID_RO_PUMP
+{   // Kp   Ki  uMax  uMin  ref meas err  esw esum ctrl Ilimit  controller type
+    { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5,  CONTROLLER_UNIDIRECTIONAL },  // PI_CONTROLLER_ID_RO_PUMP
     { 0.0, 0.0, 3000, 300, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 10.0, CONTROLLER_BIDIRECTIONAL },   // PI_CONTROLLER_ID_DRAIN_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 },  // PI_CONTROLLER_ID_RO_PUMP_MAX_PRES
 };
@@ -166,8 +168,8 @@
         // Calculate error signal
         if ( controller->direction == CONTROLLER_UNIDIRECTIONAL )
         {
-            // To make sure that the outcome will be positive
-            controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0 ? ( measuredSignal * -1.0 ) : measuredSignal );
+            // Control should always be positive
+            controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0F ? ( measuredSignal * -1.0F ) : measuredSignal );
         }
         else
         {
@@ -177,9 +179,9 @@
         // Limit error sum step size
         if ( fabs( controller->errorSignal ) > controller->maxErrorSumStep )
         {
-            if ( controller->errorSignal < 0.0 )
+            if ( controller->errorSignal < 0.0F )
             {
-                controller->errorSum += ( controller->maxErrorSumStep * -1.0 );
+                controller->errorSum += ( controller->maxErrorSumStep * -1.0F );
             }
             else
             {
@@ -281,5 +283,37 @@
 
     return output;
 }
+/*********************************************************************//**
+ * @brief
+ * The getPIControllerSignals function returns the latest requested signal sample.
+ * @details Inputs: none
+ * @details Outputs: maxErrorSumStep of controller ID
+ * @param controllerID ID filter number
+ * @param stepLimit maximum step limit
+ * @return latest sample requested
+ *************************************************************************/
+void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit )
+{
+    PI_CONTROLLER_T *controller;
 
+    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
+    {
+        SET_CONTROLLER( controller, controllerID );
+
+        if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < MAX_ILIMIT ) )
+        {
+            controller->maxErrorSumStep = stepLimit;
+        }
+        else
+        {
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
+        }
+
+    }
+    else
+    {   // Invalid controller given
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+    }
+}
+
 /**@}*/