Index: firmware/App/Services/PIControllers.h
===================================================================
diff -u -r2bb8d48b499b9124aa983b5d952b5a261f6efed7 -rd32847d87534b3273deb7362f598aba60877e7b8
--- firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 2bb8d48b499b9124aa983b5d952b5a261f6efed7)
+++ firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision d32847d87534b3273deb7362f598aba60877e7b8)
@@ -7,8 +7,8 @@
 *
 * @file    PIControllers.h
 *
-* @author  (last)      Dara Navaei
-* @date    (last)      02-Nov-2021
+* @author  (last)      Michael Garthwaite
+* @date    (last)      21-Nov-2022
 *
 * @author  (original)  Sean
 * @date    (original)  04-Feb-2020
@@ -54,13 +54,25 @@
     NUM_OF_CONTROLLER_SIGNAL                        ///< Number of PI controller signals
 } PI_CONTROLLER_SIGNALS_ID;
 
+/// Data structure for PI control profiles.
+typedef struct ControllerProfile
+{
+    F32 Kp;                                 ///< Proportional Value
+    F32 Ki;                                 ///< Integral Value
+    F32 uMin;                               ///< Minimum control signal
+    F32 uMax;                               ///< Maximum control signal
+    F32 maxErrorSumStep;                    ///< Maximum change in I (error sum) for a single control interval.
+    U32 controlInterval;                    ///< Control interval value
+} PI_CONTROLLER_PROFILE_DATA_T;
+
 // ********** 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 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 );
 
 /**@}*/