Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -r342b6c3de2a79fe5945d0b69aeaf9c3f46df1d8f -ra04e9df50b7cdd4e56481fc37703710fe5ca8995
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 342b6c3de2a79fe5945d0b69aeaf9c3f46df1d8f)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision a04e9df50b7cdd4e56481fc37703710fe5ca8995)
@@ -281,5 +281,47 @@
 
     return output;
 }
+/*********************************************************************//**
+ * @brief
+ * The getPIControllerSignals function returns the latest requested signal sample.
+ * @details Inputs: none
+ * @details Outputs: none
+ * @param controllerID ID filter number
+ * @param signalID signal sample ID request
+ * @return latest sample requested
+ *************************************************************************/
+void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID, F32 stepLimit )
+{
+    PI_CONTROLLER_T *controller;
+    F32 maxStepLimit = 1.0;
 
+    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
+    {
+        SET_CONTROLLER( controller, controllerID );
+
+        switch( signalID )
+        {
+            case CONTROLLER_SIGNAL_MAX_ERROR_PER_STEP:
+                if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < maxStepLimit ) )
+                {
+                    controller->maxErrorSumStep = stepLimit;
+                }
+                else
+                {
+                    SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
+                }
+                break;
+
+            default:
+                SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
+                break;
+        } // End of switch
+    }
+    else
+    {   // Invalid controller given
+        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
+    }
+
+}
+
 /**@}*/