Index: PIControllers.c
===================================================================
diff -u -rca1d590217b1bfd14f0e0682f88e04de076ff199 -r8d437a49a2eb86dfb38674f18a1e514998b3931f
--- PIControllers.c	(.../PIControllers.c)	(revision ca1d590217b1bfd14f0e0682f88e04de076ff199)
+++ PIControllers.c	(.../PIControllers.c)	(revision 8d437a49a2eb86dfb38674f18a1e514998b3931f)
@@ -7,8 +7,8 @@
 *
 * @file    PIControllers.c
 *
-* @author  (last)      “rkallala”
-* @date    (last)      09-Dec-2025
+* @author  (last)      Vinayakam Mani
+* @date    (last)      14-Apr-2026
 *
 * @author  (original)  Vinayakam Mani
 * @date    (original)  07-Oct-2024
@@ -71,11 +71,14 @@
     { 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
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 15.0, CONTROLLER_BIDIRECTIONAL, TRUE, 0.0 },     // PI_CONTROLLER_ID_D5_HEAT
+    { 0.0, 0.0, 55.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 100.0, CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 },   // PI_CONTROLLER_ID_D5_HEAT_OUTER_LOOP
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 5.0,  CONTROLLER_BIDIRECTIONAL, FALSE, 0.0 },    // PI_CONTROLLER_ID_D45_HEAT
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 25.0,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_RO_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, FALSE, 0.0 },   // PI_CONTROLLER_ID_RO_PUMP_MAX_PRES
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },   // PI_CONTROLLER_ID_BOOST_PUMP_FLOW
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },   // PI_CONTROLLER_ID_BOOST_PUMP_PRES
+    { 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 75.0,   CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_BICARB_VOL
+    { 0.0, 0.0, 0.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0,  CONTROLLER_UNIDIRECTIONAL, FALSE, 0.0 },  // PI_CONTROLLER_ID_ACID_VOL
 #endif
 };
 
@@ -340,38 +343,83 @@
 
     return output;
 }
+
 /*********************************************************************//**
  * @brief
  * The getPIControllerSignals function returns the latest requested signal sample.
  * @details \b Inputs: none
- * @details \b Outputs: maxErrorSumStep of controller ID
+ * @details \b Outputs: none
  * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller
  * Id is passed.
  * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller
- * stemp limit is passed.
+ * signal is passed.
  * @param controllerID ID filter number
- * @param stepLimit maximum step limit
+ * @param signalID signal sample ID request
  * @return latest sample requested
  *************************************************************************/
-void setPIControllerStepLimit( PI_CONTROLLER_ID_T controllerID, F32 stepLimit )
+PI_CONTROLLER_SIGNALS_DATA getDebugPIControllerSignals( PI_CONTROLLER_ID_T controllerID )
 {
     PI_CONTROLLER_T *controller;
+    PI_CONTROLLER_SIGNALS_DATA signals;
 
     if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
     {
         SET_CONTROLLER( controller, controllerID );
 
-        if ( ( stepLimit > NEARLY_ZERO ) && ( stepLimit < MAX_ILIMIT ) )
+        signals.controlSignalReference              = controller->referenceSignal;
+        signals.controlSignalMeasured               = controller->measuredSignal;
+        signals.controlSignalError                  = controller->errorSignal;
+        signals.controlSignalErrorSum               = controller->errorSumBeforeWindUp;
+        signals.controlSignalErrorSumAfterWindup    = controller->errorSum;
+        signals.controlSignalProportionalOutput     = controller->Kp * controller->errorSignal;
+        signals.controlSignalIntegralOutput         = controller->Ki * controller->errorSum;
+        signals.controlSignalFeedDorwardOutput      = controller->feedForward;
+        signals.controlSingalControl                = controller->controlSignal;
+    }
+    else
+    {   // 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
+    }
+
+    return signals;
+}
+
+/*********************************************************************//**
+ * @brief
+ * The setPIControllerFeedForward function sets the latest feed forward value
+ * to the corresponding PI controller.
+ * @details \b Inputs: none
+ * @details \b Outputs: feedforward of controller ID
+ * @details \b Alarms: ALARM_ID_XX_SOFTWARE_FAULT when invalid PI controller
+ * Id is passed.
+ * @param controllerID ID filter number
+ * @param feedforward calculated feed forward control value
+ * @return none
+ *************************************************************************/
+void setPIControllerFeedForward( PI_CONTROLLER_ID_T controllerID, F32 feedforward )
+{
+    PI_CONTROLLER_T *controller;
+
+    if ( controllerID < NUM_OF_PI_CONTROLLERS_IDS )
+    {
+        SET_CONTROLLER( controller, controllerID );
+
+        if ( ( feedforward > controller->uMin ) && ( feedforward < controller->uMax ) )
         {
-            controller->maxErrorSumStep = stepLimit;
+            controller->feedForward = feedforward;
         }
         else
         {
 #ifdef _DD_
-            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_STEP_LIMIT, (U32)stepLimit )
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_FEED_FORWARD_LIMIT, (U32)feedforward )
 #endif
         }
-
     }
     else
     {