add draft for thermostat usage guide

- Breaking changes

docs/thermostat.md

@@ -0,0 +1,56 @@
+# Thermostat
+Kirdy incorporates a single channel thermostat circuitry like Sinara-hw [Thermostat](https://github.com/sinara-hw/Thermostat) with improved noise. It can deliver more than 9W of cooling/heating power with better than +-1mK temperature stability.
+
+## Power Input
+If you use Kirdy with a PoE (IEEE 802.3af Class 3) PSE, Kirdy may experience power failure due to power limit. If you need more power on Thermostat, you can plug in additional Power supply on the 12V power Jack(Recommend: 12V 2A). Although the TEC Driver has a very high 165 degree thermal shutdown threshold, it is highly recommended to provide active cooling to the TEC Driving Circuitry.
+
+## Control Mode
+Like Sinara-hw [Thermostat](https://github.com/sinara-hw/Thermostat), they both share the same control mode and algorithm, namely constant  Current Control Mode
+
+### Constant Current Control Mode
+You can drive a constant current to the load. The end user to connect an external control loop. If end user wants to use it with an external control loop, it is recommended to retrieve reports via the ActiveReportMode instead of polling status report for better consistency and higher maximum update rate.
+
+### PID Control Mode
+Thermostat uses the [PID algorithm](https://hackmd.io/IACbwcOTSt6Adj3_F9bKuw) derived by Quartiq. The included Pid Autotune Algorithm can already achieve the specified +-1mK stability.
+
+During autotuning, Theremstat drives a user-specified step current into the load to calculate the pid parameters. Improper usage can damage the connected device.
+
+#### Important Notes
+1. Configure all the protection mechanisms correctly before running the pid autotune algorithm. 
+2. Supervise the PID autotune process.
+3. PID Autotune algorithm sometimes can produce unstable PID parameters. Do evaluate the PID performance after autotune is completed
+4. For best performance, you should do the autotune with Kirdy installed in the environment that it is gonna be used.
+5. If you are using the GUI, you need to set a high enough polling rate for PID autotune to function correctly. 
+
+#### Usage Guide
+
+You can run pid autotune via the standalone auto
+
+1. Target Temperature
+- Set it to the intended operating temperature for the connected device to operate in. You can still change temperature setpoint afterwards.
+2. Test Current
+- Set it to the maximum recommended operating current specified on the TEC/Resistive load.
+3. Update Rate
+- This can be set by configuring the filter settings in the Temperature ADC. High Update Rate can yield faster loop response with temperature regulation noise as the trade-off. Higher update rate can be useful if the load is actively cooled.
+4. Temperature Swing
+- Lower value can damp the control loop response.
+5. Lookback Period
+- Larger value can damp the control loop response. Do note that the larger lookback period also increases the autotune completion time.
+
+You can give your system a try with the following parameters.
+1. Target Temperature: (User-Specified)
+2. Test Current: (User-Specified)
+3. Update Rate: 16.67Hz (Sinc5Sinc1 Filter with 50Hz and 60Hz Rejection)
+4. Temperature Swing: 0 Degree
+5. Lookback Period: 5s
+
+Once autotune is successful, you can improve its stability by increasing the lookback period.
+
+#### Troubleshooting
+If you obtain unstable PID parameters, 
+1. Check if the polling rate is close to the PID update rate. If not, increase the polling rate
+2. Increase the lookback period and try again.
+
+If the autotune does not finish running or faikls, you should 
+1. Check if the thermostat has a hard time heating or cooling the connected device to the targe temperature. If yes, you should consider adjust the target temperature accordingly.
+2. Check if the polling rate is close to the PID update rate. If not, increase the polling rate.

pykirdy/asyncio_exmaple.py

@@ -85,21 +85,22 @@ async def ld_thermostat_cfg(kirdy: Kirdy):
     await kirdy.thermostat.set_temp_mon_upper_limit(70)
     await kirdy.thermostat.set_temp_mon_lower_limit(0)
 
-    # Configure the thermostat PID parameters.
-    # You can configure the PID parameter by the included autotune script.
-    await kirdy.thermostat.set_temperature_setpoint(25)
-    await kirdy.thermostat.set_pid_kp(0.15668282198105507)
-    await kirdy.thermostat.set_pid_ki(0.002135962407793784)
-    await kirdy.thermostat.set_pid_kd(0.829254515277143)
-    await kirdy.thermostat.set_pid_output_max(1.0)
-    await kirdy.thermostat.set_pid_output_min(-1.0)
-
     # Configure the thermostat ADC Filter Setting / PID Update Rate / Report Rate.
     # The ADC sampling rate determines the report and pid update rate.
     # The chosen filter and sampling rate affects the noise of the readings.
     # For details, please refer to the AD7172 datasheet.
     await kirdy.thermostat.config_temp_adc_filter(FilterConfig.Sinc5Sinc1With50hz60HzRejection.f16sps)
 
+    # Configure the thermostat PID parameters.
+    # You can configure the PID parameter by the included autotune script.
+    # You should configure the filter sampling rate first before applying pid parameters.
+    await kirdy.thermostat.set_temperature_setpoint(25)
+    await kirdy.thermostat.set_pid_kp(0.15668282198105507)
+    await kirdy.thermostat.set_pid_ki(0.0001281321)
+    await kirdy.thermostat.set_pid_kd(13.82367)
+    await kirdy.thermostat.set_pid_output_max(1.0)
+    await kirdy.thermostat.set_pid_output_min(-1.0)
+
     # Configure thermostat to run in PID control mode
     await kirdy.thermostat.set_pid_control_mode()
     

pykirdy/driver/kirdy.py

@@ -66,6 +66,7 @@ class CmdList:
         SetPidOutMin = _dt.f32,
         SetPidOutMax = _dt.f32,
         ConfigTempAdcFilter = _dt.temp_adc_filter,
+        GetPollInterval = _dt.none,
         SetTempMonUpperLimit = _dt.f32,
         SetTempMonLowerLimit = _dt.f32,
         ClearAlarm = _dt.none,
@@ -79,13 +80,19 @@ class FilterConfig:
         f21sps = "F21SPS"
         f20sps = "F20SPS"
         f16sps = "F16SPS"
-
-        def _odr_type(self):
-            return "sinc5sinc1postfilter"
+        _odr_type = "sinc5sinc1postfilter"
 
         def _filter_type(self):
             return "Sinc5Sinc1With50hz60HzRejection"
 
+        @classmethod
+        def get_list_of_settings(cls):
+            ret = []
+            for e in cls:
+                if e not in [cls._odr_type]:
+                    ret.append(e)
+            return ret
+
     class Sinc5Sinc1(StrEnum):
         f31250_0sps = "F31250_0SPS"
         f15625_0sps = "F15625_0SPS"
@@ -105,13 +112,19 @@ class FilterConfig:
         f5_0sps     = "F5_0SPS"    
         f2_5sps     = "F2_5SPS"    
         f1_25sps    = "F1_25SPS"   
-
-        def _odr_type(self):
-            return "sinc5sinc1odr"
+        _odr_type = "sinc5sinc1odr"
         
         def _filter_type(self):
             return "Sinc5Sinc1"
 
+        @classmethod
+        def get_list_of_settings(cls):
+            ret = []
+            for e in cls:
+                if e not in [cls._odr_type]:
+                    ret.append(e)
+            return ret
+
     class Sinc3(StrEnum):
         f31250_0sps = "F31250_0SPS"
         f15625_0sps = "F15625_0SPS"
@@ -131,20 +144,27 @@ class FilterConfig:
         f5_0sps     = "F5_0SPS"    
         f2_5sps     = "F2_5SPS"    
         f1_25sps    = "F1_25SPS"
-
-        def _odr_type(self):
-            return "sinc3odr"
+        _odr_type = "sinc3odr"
         
         def _filter_type(self):
             return "Sinc3"
         
-    class Sinc3WithFineODR():
-        def __init__(self, rate):
-            assert rate >= 1.907465 and rate <= 31250
-            self.rate = float(rate)
+        @classmethod
+        def get_list_of_settings(cls):
+            ret = []
+            for e in cls:
+                if e not in [cls._odr_type]:
+                    ret.append(e)
+            return ret
 
-        def _odr_type(self):
-            return "sinc3fineodr"
+    class Sinc3WithFineODR():
+        upper_limit = 31250
+        lower_limit = 1.907465
+        _odr_type = "sinc3fineodr"
+
+        def __init__(self, rate):
+            assert rate >= self.lower_limit and rate <= self.upper_limit
+            self.rate = float(rate)
         
         def _filter_type(self):
             return "Sinc3WithFineODR"
@@ -289,19 +309,19 @@ class Device:
                     'tec_settings': {
                         'i_set': {                  # Current TEC Current Set by PID Controller/User (A)
                             'value': 0.04330516,        # Value Set
-                            'max': 1.0                  # Max Value Settable
+                            'max': 3.0                  # Max Value Settable
                         }, 
                         'max_v': {                  # Max Voltage Across Tec Terminals (V)
-                            'value': 4.990857,          # Value Set
-                            'max': 5.0                  # Max Value Settable
+                            'value': 4.00000000,          # Value Set
+                            'max': 4.3                  # Max Value Settable
                         }, 
                         'max_i_pos': {              # Max Cooling Current Across Tec Terminals (A)
                             'value': 0.99628574,        # Value Set
-                            'max': 1.0                  # Max Value Settable
+                            'max': 3.0                  # Max Value Settable
                         }, 
                         'max_i_neg': {              # Max Heating Current Across Tec Terminals (A)
                             'value': 0.99628574,        # Value Set
-                            'max': 1.0                  # Max Value Settable
+                            'max': 3.0                  # Max Value Settable
                         }
                     }, 
                     'pid_params': {                 # PID Controller Parameters
@@ -473,21 +493,21 @@ class Thermostat:
 
     async def set_tec_max_cooling_i(self, max_i_pos):
         """
-            Set Tec maximum cooling current (Settable Range: 0.0 - 1.0)
+            Set Tec maximum cooling current (Settable Range: 0.0 - 3.0)
                 - max_i_pos: A
         """
         return await self._send_cmd(self._cmd._target, self._cmd.SetTecMaxIPos, max_i_pos)
 
     async def set_tec_max_heating_i(self, max_i_neg):
         """
-            Set Tec maximum heating current (Settable Range: 0.0 - 1.0)
+            Set Tec maximum heating current (Settable Range: 0.0 - 3.0)
                 - max_i_neg: A
         """
         return await self._send_cmd(self._cmd._target, self._cmd.SetTecMaxINeg, max_i_neg)
 
     async def set_tec_i_out(self, i_out):
         """
-            Set Tec Output Current (Settable Range: 0.0 - 1.0)
+            Set Tec Output Current (Settable Range: 0.0 - 3.0)
             This cmd is only effective in constant current control mode 
             or your newly set value will be overwritten by PID Controller Output
                 - i_out: A
@@ -611,15 +631,19 @@ class Thermostat:
         if hasattr(filter_config, 'rate'):
             cmd[self._cmd.ConfigTempAdcFilter] = { 
                 "filter_type": filter_config._filter_type(),
-                filter_config._odr_type(): filter_config.rate,
+                filter_config._odr_type: filter_config.rate,
             }
         else:
             cmd[self._cmd.ConfigTempAdcFilter] = { 
                 "filter_type": filter_config._filter_type(),
-                filter_config._odr_type(): filter_config,
+                filter_config._odr_type: filter_config,
             }
 
         return await self._send_raw_cmd(cmd)
+
+    async def get_poll_interval(self):
+        return await self._send_cmd(self._cmd._target, self._cmd.GetPollInterval, msg_type="Interval")
+
 class Kirdy:
     def __init__(self):
         self.device = Device(self._send_cmd, self._send_raw_cmd)
@@ -754,7 +778,11 @@ class Kirdy:
             Enqueue a task to be handled by the handler.
         """
         if self.connected():
-            self._task_queue.put_nowait(lambda: awaitable_fn)
+            try:
+                self._task_queue.put_nowait(lambda: awaitable_fn)
+                return True
+            except asyncio.queues.QueueFull:
+                return False
         else:
             raise ConnectionError
 

pykirdy/kirdy_qt.py

@@ -18,7 +18,7 @@ import os
 import argparse
 import logging
 import asyncio
-from driver.kirdy import Kirdy as Kirdy_Driver
+from driver.kirdy import FilterConfig, Kirdy as Kirdy_Driver
 import qasync
 from qasync import asyncClose, asyncSlot
 from collections import deque
@@ -28,6 +28,7 @@ from typing import Any, Optional, List
 from ui.ui_conn_settings_form import Ui_Conn_Settings_Form
 from ui.ui_config_pd_mon_form import Ui_Cfg_Pd_Mon_Form
 from ui.ui_update_network_settings_form import Ui_Update_Network_Settings_Form
+from ui.ui_config_adc_filter_form import Ui_Cfg_Adc_Filter_Form
 from dateutil import tz
 import math
 import socket
@@ -79,14 +80,21 @@ class Kirdy(QObject):
     def __init__(self, parent, kirdy, _poll_interval):
         super().__init__(parent)
         self._poll_interval = _poll_interval
+        self._default_poll_interval = _poll_interval
         self._kirdy = kirdy
         self._kirdy.set_connected_sig(self.connected_sig)
         self.connected_sig.connect(self.start_polling)
-        self.connected_sig.connect(self.connected_setup)
+        self._noti_info_box = QtWidgets.QMessageBox()
+        self._noti_info_box.setIcon(QtWidgets.QMessageBox.Icon.Information)
 
-        self._kirdy.set_report_sig(self.report_update_sig)
         self._kirdy.set_err_msg_sig(self.cmd_fail_sig)
-        self._timer = QtCore.QBasicTimer()
+        self._poll_report_timer = QtCore.QTimer()
+        self._poll_report_timer.timeout.connect(self.polling_event)
+
+        self.poll_settings_timer = QtCore.QTimer()
+        self.poll_settings_timer.setInterval(100)
+        self.poll_settings_timer.timeout.connect(self.polling_settings_event)
+
 
     def connected(self):
         return self._kirdy.connected()
@@ -98,28 +106,37 @@ class Kirdy(QObject):
         self._kirdy.start_session(host=host, port=port)
 
     def end_session(self):
-        if self._timer.isActive():
-            self._timer.stop()
+        if self._poll_report_timer.isActive():
+            self._poll_report_timer.stop()
         asyncio.get_running_loop().create_task(self._kirdy.end_session())
 
-    @pyqtSlot(bool)
-    def connected_setup(self, connected):
-        if connected:
-            self._kirdy.task_dispatcher(self._kirdy.device.set_active_report_mode(True))
-            self._kirdy._report_mode_on = True
-
-    def timerEvent(self, event):
+    @pyqtSlot()
+    def polling_settings_event(self):
         self._kirdy.task_dispatcher(self._kirdy.device.get_settings_summary(sig=self.setting_update_sig))
 
+    @pyqtSlot()
+    def polling_event(self):
+        success = True
+        success &= self._kirdy.task_dispatcher(self._kirdy.device.get_status_report(sig=self.report_update_sig))
+        if not(success):
+            self._noti_info_box.setWindowTitle("Polling rate is too high")
+            self._noti_info_box.setText(f"Kirdy cannot handle {1/(self._poll_interval)} Hz polling rate. Reset to default polling rate ({1/self._default_poll_interval} Hz)")
+            self._noti_info_box.show()
+
+            self.set_update_s(self._default_poll_interval)
+
     @pyqtSlot(bool)
     def start_polling(self, start):
         if start:
-            if not(self._timer.isActive()):
-                self._timer.start(int(self._poll_interval*1000), self)
+            if not(self._poll_report_timer.isActive()):
+                self._poll_report_timer.setInterval(int(self._poll_interval*1000))
+                self._poll_report_timer.start()
+                self.poll_settings_timer.start()
             else:
                 logging.debug("Kirdy Polling Timer has been started already.")
         else:
-            self._timer.stop()
+            self._poll_report_timer.stop()
+            self.poll_settings_timer.stop()
 
     @pyqtSlot(float)
     def set_update_s(self, interval):
@@ -127,9 +144,9 @@ class Kirdy(QObject):
         self.update_polling_rate()
 
     def update_polling_rate(self):
-        if self._timer.isActive():
-            self._timer.stop()
-            self.start_polling()
+        if self._poll_report_timer.isActive():
+            self._poll_report_timer.stop()
+            self.start_polling(True)
         else:
             logging.debug("Attempt to update polling timer when it is stopped")
     
@@ -345,6 +362,38 @@ class ConnSettingsForm(QtWidgets.QDialog, Ui_Conn_Settings_Form):
         except (OSError, ValueError):
             return None
 
+class ConfigAdcFilterForm(QtWidgets.QDialog, Ui_Cfg_Adc_Filter_Form):
+    def __init__(self):
+        super().__init__()
+        self.setupUi(self)
+        self.filter_type_cbox.addItems(['Sinc5Sinc1With50hz60HzRejection', 'Sinc5Sinc1', 'Sinc3', 'Sinc3WithFineODR'])
+        self.fine_filter_sampling_rate_spinbox.setVisible(False)
+        self.fine_filter_sampling_rate_spinbox.setMinimum(FilterConfig.Sinc3WithFineODR.lower_limit)
+        self.fine_filter_sampling_rate_spinbox.setMaximum(FilterConfig.Sinc3WithFineODR.upper_limit)
+        self.filter_type_cbox.currentTextChanged.connect(self.sampling_rate_cbox_config)
+
+    @pyqtSlot(str)
+    def sampling_rate_cbox_config(self, filter_type):
+        if filter_type == "":
+            return
+        if filter_type == "Sinc3WithFineODR":
+            self.filter_sampling_rate_cbox.setVisible(False)
+            self.fine_filter_sampling_rate_spinbox.setVisible(True)
+        else:
+            self.fine_filter_sampling_rate_spinbox.setVisible(False)
+            self.filter_sampling_rate_cbox.setVisible(True)
+            self.filter_sampling_rate_cbox.clear()
+            self.filter_sampling_rate_cbox.addItems(getattr(FilterConfig, filter_type).get_list_of_settings())
+
+    def get_filter_settings(self):
+        filter_type = self.filter_type_cbox.currentText()
+        if filter_type == "Sinc3WithFineODR":
+            return getattr(FilterConfig, filter_type)(self.fine_filter_sampling_rate_spinbox.value())
+        else:
+            filter_type_val =  getattr(FilterConfig, filter_type)
+            filter_cfg = getattr(filter_type_val, self.filter_sampling_rate_cbox.currentText().lower())
+            return filter_cfg
+
 class MainWindow(QtWidgets.QMainWindow):
     """The maximum number of sample points to store."""
     DEFAULT_MAX_SAMPLES = 1000
@@ -395,28 +444,33 @@ class MainWindow(QtWidgets.QMainWindow):
         {'name': 'Output Config', 'expanded': True, 'type': 'group', 'children': [
             {'name': 'Control Method', 'type': 'mutex', 'limits': ['Constant Current', 'Temperature PID'],
                 'target_action_pair': [['thermostat', 'set_constant_current_control_mode'], ['thermostat', 'set_pid_control_mode']], 'children': [
-                {'name': 'Set Current', 'type': 'float', 'value': 0, 'step': 1, 'limits': (-1000, 1000), 'triggerOnShow': True, 'decimals': 6,
+                {'name': 'Set Current', 'type': 'float', 'value': 0, 'step': 1, 'limits': (-3000, 3000), 'triggerOnShow': True, 'decimals': 6,
                     'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_i_out', "compactHeight": False},
                 {'name': 'Set Temperature', 'type': 'float', 'value': 25, 'step': 0.0001, 'limits': (-273, 300), 'format': '{value:.4f}',
                     'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_temperature_setpoint', "compactHeight": False},
             ]},
             {'name': 'Limits', 'expanded': False, 'type': 'group', 'children': [
-                {'name': 'Max Cooling Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 1000),
+                {'name': 'Max Cooling Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 3000),
                     'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_cooling_i', "compactHeight": False},
-                {'name': 'Max Heating Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 1000),
+                {'name': 'Max Heating Current', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (0, 3000),
                     'unit': 'mA', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_heating_i', "compactHeight": False},
-                {'name': 'Max Voltage Difference', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 4),
+                {'name': 'Max Voltage Difference', 'type': 'float', 'value': 0, 'step': 0.1, 'limits': (0, 4.3),
                     'unit': 'V', 'lock': False, 'target': 'thermostat', 'action': 'set_tec_max_v', "compactHeight": False},
             ]},
             {'name': 'Default Power On', 'type': 'bool', 'value': False, 'lock': False, 'target': 'thermostat', 'action': 'set_default_pwr_on'},
         ]},
-        # TODO Temperature ADC Filter Settings
         {'name': 'Temperature Monitor Config', 'expanded': False, 'type': 'group', 'children': [
             {'name': 'Upper Limit', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
                 'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_temp_mon_upper_limit', "compactHeight": False},
             {'name': 'Lower Limit', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
                 'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_temp_mon_lower_limit', "compactHeight": False},
         ]},
+        {'name': 'Temperature ADC Filter Settings', 'expanded': False, 'type': 'group', 'children': [
+            {'name': 'Filter Type', 'type': 'list', 'limits': ['Sinc5Sinc1With50hz60HzRejection', 'Sinc5Sinc1', 'Sinc3', 'Sinc3WithFineODR'], 'readonly': True, "compactHeight": False},
+            {'name': 'Sampling Rate', 'type': 'float', 'value': 16.67, 'decimals': 4, 'unit': 'Hz', 'readonly': True, "compactHeight": False},
+            {'name': 'Recorded Sampling Rate', 'type': 'float', 'value': 16.67, 'decimals': 4, 'unit': 'Hz', 'readonly': True, "compactHeight": False},
+            {'name': 'Configure ADC Filter', 'type': 'action'},
+        ]},
         {'name': 'Thermistor Settings','expanded': False, 'type': 'group', 'children': [
             {'name': 'T₀', 'type': 'float', 'value': 0, 'step': 1, 'decimals': 6, 'limits': (-273, 300),
                 'unit': '℃', 'lock': False, 'target': 'thermostat', 'action': 'set_sh_t0', "compactHeight": False},
@@ -470,6 +524,8 @@ class MainWindow(QtWidgets.QMainWindow):
         self.update_net_settings_form = UpdateNetSettingsForm()
         self.update_net_settings_form.accepted.connect(self.update_net_settings)
 
+        self.cfg_adc_filter_form = ConfigAdcFilterForm()
+
         self.max_samples = self.DEFAULT_MAX_SAMPLES
 
         self.autotuner = PIDAutotune(25)
@@ -516,6 +572,7 @@ class MainWindow(QtWidgets.QMainWindow):
         ]
         self._set_param_tree()
         self._set_up_pd_mon_form()
+        self._set_up_adc_filter_form()
 
         self.tec_i_graph.setTitle("TEC Current")
         self.tec_temp_graph.setTitle("TEC Temperature")
@@ -524,7 +581,7 @@ class MainWindow(QtWidgets.QMainWindow):
 
         self.connect_btn.clicked.connect(self.show_conn_settings_form)
 
-        self.kirdy_handler = Kirdy(self, self.kirdy, 1.0)
+        self.kirdy_handler = Kirdy(self, self.kirdy, 1/20.0)
         
         self.kirdy_handler.setting_update_sig.connect(self.update_ld_ctrl_panel_settings)
         self.kirdy_handler.setting_update_sig.connect(self.update_thermostat_ctrl_panel_settings)
@@ -616,6 +673,10 @@ class MainWindow(QtWidgets.QMainWindow):
         pwr_limit_unit = self.cfg_pd_mon_form.cfg_pwr_limit_spinbox.unit
         self.cfg_pd_mon_form.cfg_pwr_limit_reading.setText(f"{siConvert(ld_settings['ld_pwr_limit']['value'], pwr_limit_unit):.4f}")
 
+    def update_adc_filter_form_readings(self, filter_type, filter_rate):
+        self.cfg_adc_filter_form.filter_type_reading_lbl.setText(filter_type)
+        self.cfg_adc_filter_form.filter_sampling_rate_reading_lbl.setText(str(filter_rate))
+    
     def show_conn_settings_form(self):
         ip_addr = self.ip_addr.split(".")
         self.conn_settings_form.addr_in_0.setText(ip_addr[0])
@@ -656,6 +717,12 @@ class MainWindow(QtWidgets.QMainWindow):
             self.kirdy.task_dispatcher(self.kirdy.thermostat.clear_alarm())
         self.tec_clear_alarm_btn.clicked.connect(tec_clear_alarm)
 
+        @pyqtSlot(bool)
+        def update_polling_rate(_):
+            self.kirdy_handler.set_update_s(1/self.polling_rate_spinbox.value())
+            self.kirdy_handler.update_polling_rate()
+        self.polling_rate_apply_btn.clicked.connect(update_polling_rate)
+
     def _set_up_plot_menu(self):
         self.plot_menu = QtWidgets.QMenu()
         self.plot_menu.setTitle("Plot Settings")
@@ -742,6 +809,13 @@ class MainWindow(QtWidgets.QMainWindow):
         self.cfg_pd_mon_form.cfg_dark_current_lbl.setText(pd_dark_current_text.replace(":", f" ({pd_dark_current_unit}):"))
         self.cfg_pd_mon_form.cfg_dark_current_spinbox.unit = pd_dark_current_unit
 
+    def _set_up_adc_filter_form(self):
+        @pyqtSlot(bool)
+        def apply_adc_filter_settings():
+            filter_cfg = self.cfg_adc_filter_form.get_filter_settings()
+            self.kirdy.task_dispatcher(self.kirdy.thermostat.config_temp_adc_filter(filter_cfg))
+        self.cfg_adc_filter_form.apply_btn.clicked.connect(apply_adc_filter_settings)
+
     def _set_param_tree(self):
         status = self.ld_status
         status.setHeaderHidden(True)
@@ -790,7 +864,7 @@ class MainWindow(QtWidgets.QMainWindow):
         self.params[3].child('PID Config', 'PID Auto Tune', 'Run').sigActivated.connect(autotune)
 
         @pyqtSlot()
-        def show_pd_mon_cfg_form(parm):
+        def show_pd_mon_cfg_form(param):
             ld_pwr_limit = self.params[1].child('Photodiode Monitor Config', 'LD Power Limit').value()
             pd_responsitivity = self.params[1].child('Photodiode Monitor Config', 'Responsitivity').value()
             pd_dark_current = self.params[1].child('Photodiode Monitor Config', 'Dark Current').value()
@@ -802,6 +876,23 @@ class MainWindow(QtWidgets.QMainWindow):
             self.cfg_pd_mon_form.show()
         self.params[1].child('Photodiode Monitor Config', 'Configure Photodiode Monitor').sigActivated.connect(show_pd_mon_cfg_form)
 
+        @asyncSlot()
+        async def show_adc_filter_cfg_form(param):
+            settings = await self.kirdy.device.get_settings_summary()
+            filter_type = settings['thermostat']['temp_adc_settings']['filter_type']
+            filter_rate = settings['thermostat']['temp_adc_settings'][getattr(getattr(FilterConfig, filter_type), "_odr_type")]
+
+            self.cfg_adc_filter_form.filter_type_cbox.setCurrentIndex(self.cfg_adc_filter_form.filter_type_cbox.findText(filter_type))
+            self.cfg_adc_filter_form.sampling_rate_cbox_config(filter_type)
+            
+            if filter_type == "Sinc3WithFineODR":
+                self.cfg_adc_filter_form.fine_filter_sampling_rate_spinbox.setValue(filter_rate)
+            else:
+                self.cfg_adc_filter_form.filter_sampling_rate_cbox.setCurrentIndex(self.cfg_adc_filter_form.filter_sampling_rate_cbox.findText(filter_rate))
+            self.cfg_adc_filter_form.show()
+            
+        self.params[3].child('Temperature ADC Filter Settings', 'Configure ADC Filter').sigActivated.connect(show_adc_filter_cfg_form)
+
     @pyqtSlot(str)
     def cmd_cannot_execute(self, kirdy_msg):
         self.info_box.setText(kirdy_msg)
@@ -961,7 +1052,11 @@ class MainWindow(QtWidgets.QMainWindow):
                 self.params[3].child('Output Config', 'Limits', 'Max Heating Current').setValuewithLock(settings["tec_settings"]['max_i_neg']['value'])
                 self.params[3].child('Output Config', 'Limits', 'Max Voltage Difference').setValuewithLock(settings["tec_settings"]['max_v']['value'])
                 self.params[3].child('Output Config', 'Default Power On').setValuewithLock(settings["default_pwr_on"])
-                # TODO: Update the Temperature ADC Settings here as well
+                filter_type = settings['temp_adc_settings']['filter_type']
+                filter_rate = settings['temp_adc_settings'][getattr(getattr(FilterConfig, filter_type), "_odr_type")]
+                self.update_adc_filter_form_readings(filter_type, filter_rate)
+                self.params[3].child('Temperature ADC Filter Settings', 'Filter Type').setValue(filter_type)
+                self.params[3].child('Temperature ADC Filter Settings', 'Sampling Rate').setValue(settings['temp_adc_settings']['rate'])
                 self.params[3].child('Temperature Monitor Config', 'Upper Limit').setValuewithLock(settings["temp_mon_settings"]['upper_limit'])
                 self.params[3].child('Temperature Monitor Config', 'Lower Limit').setValuewithLock(settings["temp_mon_settings"]['lower_limit'])
                 self.params[3].child('PID Config', 'Kp').setValuewithLock(settings["pid_params"]['kp'])
@@ -996,6 +1091,9 @@ class MainWindow(QtWidgets.QMainWindow):
                 else:
                     self.params[3].child('Readings', 'Temperature').setValuewithLock(report["temperature"])
                 self.params[3].child('Readings', 'Current through TEC').setValuewithLock(report["tec_i"])
+                rate = 1 / (report['interval']['ms'] / 1e3 + report['interval']['us'] / 1e6)
+                self.params[3].child('Temperature ADC Filter Settings', 'Recorded Sampling Rate').setValue(rate)
+            self.cfg_adc_filter_form.recorded_sampling_rate_reading_lbl.setText(f"{rate:.2f}")
         except Exception as e:
             logging.error(f"Params tree cannot be updated. Data:{report}", exc_info=True)
     

pykirdy/pid_autotune.py

@@ -45,6 +45,7 @@ class PIDAutotune:
             raise ValueError('setpoint must be specified')
 
         self._inputs = deque(maxlen=round(lookback / sampletime))
+        self._sampletime = sampletime
         self._setpoint = setpoint
         self._outputstep = out_step
         self._noiseband = noiseband
@@ -69,6 +70,7 @@ class PIDAutotune:
         self._out_min = -step
         self._noiseband = noiseband
         self._inputs = deque(maxlen=round(lookback / sampletime))
+        self._sampletime = sampletime
 
     def setReady(self):
         self._state = PIDAutotuneState.STATE_READY
@@ -96,8 +98,8 @@ class PIDAutotune:
     def get_tec_pid (self):
         divisors = self._tuning_rules["tyreus-luyben"]
         kp = self._Ku * divisors[0]
-        ki = divisors[1] * self._Ku / self._Pu
-        kd = divisors[2] * self._Ku * self._Pu
+        ki = divisors[1] * self._Ku / self._Pu / (1 / self._sampletime)
+        kd = divisors[2] * self._Ku * self._Pu * (1 / self._sampletime)
         return kp, ki, kd
 
     def get_pid_parameters(self, tuning_rule='ziegler-nichols'):
@@ -109,8 +111,8 @@ class PIDAutotune:
         """
         divisors = self._tuning_rules[tuning_rule]
         kp = self._Ku * divisors[0]
-        ki = divisors[1] * self._Ku / self._Pu
-        kd = divisors[2] * self._Ku * self._Pu
+        ki = divisors[1] * self._Ku / self._Pu / (1 / self._sampletime)
+        kd = divisors[2] * self._Ku * self._Pu * (1 / self._sampletime)
         return PIDAutotune.PIDParams(kp, ki, kd)
 
     def run(self, input_val, time_input):

pykirdy/ui/config_adc_filter_form.ui

@@ -0,0 +1,210 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Cfg_Adc_Filter_Form</class>
+ <widget class="QDialog" name="Cfg_Adc_Filter_Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>786</width>
+    <height>303</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Config Temperature ADC Filter</string>
+  </property>
+  <widget class="QWidget" name="verticalLayoutWidget">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>20</y>
+     <width>731</width>
+     <height>251</height>
+    </rect>
+   </property>
+   <layout class="QVBoxLayout" name="verticalLayout">
+    <item>
+     <layout class="QHBoxLayout" name="horizontalLayout" stretch="3,4,4">
+      <item>
+       <spacer name="horizontalSpacer_3">
+        <property name="orientation">
+         <enum>Qt::Orientation::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>Value</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>Readings</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="filter_type_layout" stretch="3,4,4">
+      <item>
+       <widget class="QLabel" name="filter_type_lbl">
+        <property name="text">
+         <string>Filter Type</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QComboBox" name="filter_type_cbox">
+        <property name="editable">
+         <bool>false</bool>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="filter_type_reading_lbl">
+        <property name="text">
+         <string>Sinc5Sinc1With50hz60HzRejection</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="filter_sampling_rate_layout" stretch="3,4,4,4">
+      <item>
+       <widget class="QLabel" name="filter_sampling_rate_lbl">
+        <property name="text">
+         <string>Filter Sampling Rate</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QComboBox" name="filter_sampling_rate_cbox"/>
+      </item>
+      <item>
+       <widget class="QDoubleSpinBox" name="fine_filter_sampling_rate_spinbox">
+        <property name="maximum">
+         <double>1000.000000000000000</double>
+        </property>
+        <property name="value">
+         <double>16.670000000000002</double>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <widget class="QLabel" name="filter_sampling_rate_reading_lbl">
+        <property name="text">
+         <string>F16SPS</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="recorded_sampling_rate_layout" stretch="3,4,4">
+      <item>
+       <widget class="QLabel" name="recorded_sampling_rate_lbl">
+        <property name="text">
+         <string>Recorded Sampling Rate</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer_2">
+        <property name="orientation">
+         <enum>Qt::Orientation::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QLabel" name="recorded_sampling_rate_reading_lbl">
+        <property name="text">
+         <string>16.67</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+    <item>
+     <layout class="QHBoxLayout" name="apply_btn_layout" stretch="3,2,3,2">
+      <item>
+       <spacer name="horizontalSpacer_4">
+        <property name="orientation">
+         <enum>Qt::Orientation::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="apply_btn">
+        <property name="text">
+         <string>Apply</string>
+        </property>
+       </widget>
+      </item>
+      <item>
+       <spacer name="horizontalSpacer_5">
+        <property name="orientation">
+         <enum>Qt::Orientation::Horizontal</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>40</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item>
+       <widget class="QPushButton" name="close_btn">
+        <property name="text">
+         <string>Close</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>close_btn</sender>
+   <signal>clicked()</signal>
+   <receiver>Cfg_Adc_Filter_Form</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>677</x>
+     <y>246</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>392</x>
+     <y>151</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>

pykirdy/ui/kirdy_qt.ui

@@ -415,6 +415,13 @@
              </property>
             </spacer>
            </item>
+           <item>
+            <widget class="QLabel" name="polling_rate_lbl">
+             <property name="text">
+              <string>Polling Rate (Hz): </string>
+             </property>
+            </widget>
+           </item>
            <item>
             <widget class="QWidget" name="report_group" native="true">
              <property name="enabled">
@@ -448,9 +455,26 @@
               <property name="bottomMargin">
                <number>0</number>
               </property>
+              <item>
+               <widget class="QDoubleSpinBox" name="polling_rate_spinbox">
+                <property name="maximum">
+                 <double>1000.000000000000000</double>
+                </property>
+                <property name="value">
+                 <double>20.000000000000000</double>
+                </property>
+               </widget>
+              </item>
              </layout>
             </widget>
            </item>
+           <item>
+            <widget class="QPushButton" name="polling_rate_apply_btn">
+             <property name="text">
+              <string>Apply</string>
+             </property>
+            </widget>
+           </item>
           </layout>
          </item>
         </layout>

pykirdy/ui/ui_config_adc_filter_form.py

@@ -0,0 +1,131 @@
+# Form implementation generated from reading ui file 'config_adc_filter_form.ui'
+#
+# Created by: PyQt6 UI code generator 6.6.0
+#
+# WARNING: Any manual changes made to this file will be lost when pyuic6 is
+# run again.  Do not edit this file unless you know what you are doing.
+
+
+from PyQt6 import QtCore, QtGui, QtWidgets
+
+
+class Ui_Cfg_Adc_Filter_Form(object):
+    def setupUi(self, Cfg_Adc_Filter_Form):
+        Cfg_Adc_Filter_Form.setObjectName("Cfg_Adc_Filter_Form")
+        Cfg_Adc_Filter_Form.resize(786, 303)
+        self.verticalLayoutWidget = QtWidgets.QWidget(parent=Cfg_Adc_Filter_Form)
+        self.verticalLayoutWidget.setGeometry(QtCore.QRect(20, 20, 731, 251))
+        self.verticalLayoutWidget.setObjectName("verticalLayoutWidget")
+        self.verticalLayout = QtWidgets.QVBoxLayout(self.verticalLayoutWidget)
+        self.verticalLayout.setContentsMargins(0, 0, 0, 0)
+        self.verticalLayout.setObjectName("verticalLayout")
+        self.horizontalLayout = QtWidgets.QHBoxLayout()
+        self.horizontalLayout.setObjectName("horizontalLayout")
+        spacerItem = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
+        self.horizontalLayout.addItem(spacerItem)
+        self.label_4 = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.label_4.setObjectName("label_4")
+        self.horizontalLayout.addWidget(self.label_4)
+        self.label_5 = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.label_5.setObjectName("label_5")
+        self.horizontalLayout.addWidget(self.label_5)
+        self.horizontalLayout.setStretch(0, 3)
+        self.horizontalLayout.setStretch(1, 4)
+        self.horizontalLayout.setStretch(2, 4)
+        self.verticalLayout.addLayout(self.horizontalLayout)
+        self.filter_type_layout = QtWidgets.QHBoxLayout()
+        self.filter_type_layout.setObjectName("filter_type_layout")
+        self.filter_type_lbl = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.filter_type_lbl.setObjectName("filter_type_lbl")
+        self.filter_type_layout.addWidget(self.filter_type_lbl)
+        self.filter_type_cbox = QtWidgets.QComboBox(parent=self.verticalLayoutWidget)
+        self.filter_type_cbox.setEditable(False)
+        self.filter_type_cbox.setObjectName("filter_type_cbox")
+        self.filter_type_layout.addWidget(self.filter_type_cbox)
+        self.filter_type_reading_lbl = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.filter_type_reading_lbl.setObjectName("filter_type_reading_lbl")
+        self.filter_type_layout.addWidget(self.filter_type_reading_lbl)
+        self.filter_type_layout.setStretch(0, 3)
+        self.filter_type_layout.setStretch(1, 4)
+        self.filter_type_layout.setStretch(2, 4)
+        self.verticalLayout.addLayout(self.filter_type_layout)
+        self.filter_sampling_rate_layout = QtWidgets.QHBoxLayout()
+        self.filter_sampling_rate_layout.setObjectName("filter_sampling_rate_layout")
+        self.filter_sampling_rate_lbl = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.filter_sampling_rate_lbl.setObjectName("filter_sampling_rate_lbl")
+        self.filter_sampling_rate_layout.addWidget(self.filter_sampling_rate_lbl)
+        self.filter_sampling_rate_cbox = QtWidgets.QComboBox(parent=self.verticalLayoutWidget)
+        self.filter_sampling_rate_cbox.setObjectName("filter_sampling_rate_cbox")
+        self.filter_sampling_rate_layout.addWidget(self.filter_sampling_rate_cbox)
+        self.fine_filter_sampling_rate_spinbox = QtWidgets.QDoubleSpinBox(parent=self.verticalLayoutWidget)
+        self.fine_filter_sampling_rate_spinbox.setMaximum(1000.0)
+        self.fine_filter_sampling_rate_spinbox.setProperty("value", 16.67)
+        self.fine_filter_sampling_rate_spinbox.setObjectName("fine_filter_sampling_rate_spinbox")
+        self.filter_sampling_rate_layout.addWidget(self.fine_filter_sampling_rate_spinbox)
+        self.filter_sampling_rate_reading_lbl = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.filter_sampling_rate_reading_lbl.setObjectName("filter_sampling_rate_reading_lbl")
+        self.filter_sampling_rate_layout.addWidget(self.filter_sampling_rate_reading_lbl)
+        self.filter_sampling_rate_layout.setStretch(0, 3)
+        self.filter_sampling_rate_layout.setStretch(1, 4)
+        self.filter_sampling_rate_layout.setStretch(2, 4)
+        self.filter_sampling_rate_layout.setStretch(3, 4)
+        self.verticalLayout.addLayout(self.filter_sampling_rate_layout)
+        self.recorded_sampling_rate_layout = QtWidgets.QHBoxLayout()
+        self.recorded_sampling_rate_layout.setObjectName("recorded_sampling_rate_layout")
+        self.recorded_sampling_rate_lbl = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.recorded_sampling_rate_lbl.setObjectName("recorded_sampling_rate_lbl")
+        self.recorded_sampling_rate_layout.addWidget(self.recorded_sampling_rate_lbl)
+        spacerItem1 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
+        self.recorded_sampling_rate_layout.addItem(spacerItem1)
+        self.recorded_sampling_rate_reading_lbl = QtWidgets.QLabel(parent=self.verticalLayoutWidget)
+        self.recorded_sampling_rate_reading_lbl.setObjectName("recorded_sampling_rate_reading_lbl")
+        self.recorded_sampling_rate_layout.addWidget(self.recorded_sampling_rate_reading_lbl)
+        self.recorded_sampling_rate_layout.setStretch(0, 3)
+        self.recorded_sampling_rate_layout.setStretch(1, 4)
+        self.recorded_sampling_rate_layout.setStretch(2, 4)
+        self.verticalLayout.addLayout(self.recorded_sampling_rate_layout)
+        self.apply_btn_layout = QtWidgets.QHBoxLayout()
+        self.apply_btn_layout.setObjectName("apply_btn_layout")
+        spacerItem2 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
+        self.apply_btn_layout.addItem(spacerItem2)
+        self.apply_btn = QtWidgets.QPushButton(parent=self.verticalLayoutWidget)
+        self.apply_btn.setObjectName("apply_btn")
+        self.apply_btn_layout.addWidget(self.apply_btn)
+        spacerItem3 = QtWidgets.QSpacerItem(40, 20, QtWidgets.QSizePolicy.Policy.Expanding, QtWidgets.QSizePolicy.Policy.Minimum)
+        self.apply_btn_layout.addItem(spacerItem3)
+        self.close_btn = QtWidgets.QPushButton(parent=self.verticalLayoutWidget)
+        self.close_btn.setObjectName("close_btn")
+        self.apply_btn_layout.addWidget(self.close_btn)
+        self.apply_btn_layout.setStretch(0, 3)
+        self.apply_btn_layout.setStretch(1, 2)
+        self.apply_btn_layout.setStretch(2, 3)
+        self.apply_btn_layout.setStretch(3, 2)
+        self.verticalLayout.addLayout(self.apply_btn_layout)
+
+        self.retranslateUi(Cfg_Adc_Filter_Form)
+        self.close_btn.clicked.connect(Cfg_Adc_Filter_Form.accept) # type: ignore
+        QtCore.QMetaObject.connectSlotsByName(Cfg_Adc_Filter_Form)
+
+    def retranslateUi(self, Cfg_Adc_Filter_Form):
+        _translate = QtCore.QCoreApplication.translate
+        Cfg_Adc_Filter_Form.setWindowTitle(_translate("Cfg_Adc_Filter_Form", "Config Temperature ADC Filter"))
+        self.label_4.setText(_translate("Cfg_Adc_Filter_Form", "Value"))
+        self.label_5.setText(_translate("Cfg_Adc_Filter_Form", "Readings"))
+        self.filter_type_lbl.setText(_translate("Cfg_Adc_Filter_Form", "Filter Type"))
+        self.filter_type_reading_lbl.setText(_translate("Cfg_Adc_Filter_Form", "Sinc5Sinc1With50hz60HzRejection"))
+        self.filter_sampling_rate_lbl.setText(_translate("Cfg_Adc_Filter_Form", "Filter Sampling Rate"))
+        self.filter_sampling_rate_reading_lbl.setText(_translate("Cfg_Adc_Filter_Form", "F16SPS"))
+        self.recorded_sampling_rate_lbl.setText(_translate("Cfg_Adc_Filter_Form", "Recorded Sampling Rate"))
+        self.recorded_sampling_rate_reading_lbl.setText(_translate("Cfg_Adc_Filter_Form", "16.67"))
+        self.apply_btn.setText(_translate("Cfg_Adc_Filter_Form", "Apply"))
+        self.close_btn.setText(_translate("Cfg_Adc_Filter_Form", "Close"))
+
+
+if __name__ == "__main__":
+    import sys
+    app = QtWidgets.QApplication(sys.argv)
+    Cfg_Adc_Filter_Form = QtWidgets.QDialog()
+    ui = Ui_Cfg_Adc_Filter_Form()
+    ui.setupUi(Cfg_Adc_Filter_Form)
+    Cfg_Adc_Filter_Form.show()
+    sys.exit(app.exec())

src/thermostat/pid_state.rs

@@ -142,16 +142,16 @@ impl PidState {
         self.controller.parameters = pid_params;
     }
 
-    pub fn set_pid_params(&mut self, param: PidSettings, val: f32) {
+    pub fn set_pid_params(&mut self, param: PidSettings, val: f32, curr_rate: f32) {
         match param {
             PidSettings::Kp => {
                 self.controller.parameters.kp = val;
             }
             PidSettings::Ki => {
-                self.controller.parameters.ki = val;
+                self.controller.parameters.ki = val * curr_rate;
             }
             PidSettings::Kd => {
-                self.controller.parameters.kd = val;
+                self.controller.parameters.kd = val / curr_rate;
             }
             PidSettings::Min => {
                 self.controller.parameters.output_min = val;
@@ -162,6 +162,18 @@ impl PidState {
         }
     }
 
+    pub fn update_pid_params_with_new_sampling_rate(&mut self, old_rate: f32, new_rate: f32) {
+        self.controller.parameters.ki = self.controller.parameters.ki * old_rate / new_rate;
+        self.controller.parameters.kd = self.controller.parameters.kd * new_rate / old_rate;
+    }
+
+    pub fn get_abs_pid_params(&mut self, curr_rate: f32) -> Parameters {
+        let mut pid_params = self.controller.parameters.clone();
+        pid_params.ki = self.controller.parameters.ki / curr_rate;
+        pid_params.kd = self.controller.parameters.kd * curr_rate;
+        pid_params
+    }
+
     pub fn reset_pid_state(&mut self) {
         self.controller.u1 = 0.0;
         self.controller.x1 = 0.0;

src/thermostat/thermostat.rs

@@ -57,14 +57,10 @@ impl TecSettings {
         units: PhantomData,
         value: 1.65,
     };
-
-    // Kirdy Design Specs:
-    // MaxV = 5.0V
-    // MAX Current = +- 1.0A
     const MAX_I_SET: ElectricCurrent = ElectricCurrent {
         dimension: PhantomData,
         units: PhantomData,
-        value: 1.0,
+        value: 3.0,
     };
     const MAX_V_DUTY_TO_VOLTAGE_RATE: ElectricPotential = ElectricPotential {
         dimension: PhantomData,
@@ -74,7 +70,7 @@ impl TecSettings {
     pub const MAX_V_MAX: ElectricPotential = ElectricPotential {
         dimension: PhantomData,
         units: PhantomData,
-        value: 5.0,
+        value: 4.3,
     };
     const MAX_V_DUTY_MAX: f64 =
         TecSettings::MAX_V_MAX.value as f64 / TecSettings::MAX_V_DUTY_TO_VOLTAGE_RATE.value as f64;
@@ -86,12 +82,12 @@ impl TecSettings {
     pub const MAX_I_POS_CURRENT: ElectricCurrent = ElectricCurrent {
         dimension: PhantomData,
         units: PhantomData,
-        value: 1.0,
+        value: 3.0,
     };
     pub const MAX_I_NEG_CURRENT: ElectricCurrent = ElectricCurrent {
         dimension: PhantomData,
         units: PhantomData,
-        value: 1.0,
+        value: 3.0,
     };
     // .get::<ratio>() is not implemented for const
     const MAX_I_POS_DUTY_MAX: f64 =
@@ -457,7 +453,8 @@ impl Thermostat {
     }
 
     pub fn set_pid(&mut self, param: PidSettings, val: f32) {
-        self.pid_ctrl_ch0.set_pid_params(param, val);
+        let curr_rate = self.ad7172.get_filter_type_and_rate(0).unwrap().3;
+        self.pid_ctrl_ch0.set_pid_params(param, val, curr_rate);
     }
 
     pub fn set_sh_beta(&mut self, beta: f32) {
@@ -496,20 +493,35 @@ impl Thermostat {
     }
 
     pub fn set_temp_adc_sinc5_sinc1_filter(&mut self, index: u8, odr: ad7172::SingleChODR) {
+        let old_rate = self.ad7172.get_filter_type_and_rate(0).unwrap().3;
+        let new_rate = odr.output_rate().unwrap();
+        self.pid_ctrl_ch0
+            .update_pid_params_with_new_sampling_rate(old_rate, new_rate);
         self.ad7172.set_sinc5_sinc1_filter(index, odr).unwrap();
     }
 
     pub fn set_temp_adc_sinc3_filter(&mut self, index: u8, odr: ad7172::SingleChODR) {
+        let old_rate = self.ad7172.get_filter_type_and_rate(0).unwrap().3;
+        let new_rate = odr.output_rate().unwrap();
+        self.pid_ctrl_ch0
+            .update_pid_params_with_new_sampling_rate(old_rate, new_rate);
         self.ad7172.set_sinc3_filter(index, odr).unwrap();
     }
 
     pub fn set_temp_adc_sinc5_sinc1_with_postfilter(&mut self, index: u8, odr: ad7172::PostFilter) {
+        let old_rate = self.ad7172.get_filter_type_and_rate(0).unwrap().3;
+        let new_rate = odr.output_rate().unwrap();
+        self.pid_ctrl_ch0
+            .update_pid_params_with_new_sampling_rate(old_rate, new_rate);
         self.ad7172
             .set_sinc5_sinc1_with_50hz_60hz_rejection(index, odr)
             .unwrap();
     }
 
     pub fn set_temp_adc_sinc3_fine_filter(&mut self, index: u8, rate: f32) {
+        let old_rate = self.ad7172.get_filter_type_and_rate(0).unwrap().3;
+        self.pid_ctrl_ch0
+            .update_pid_params_with_new_sampling_rate(old_rate, rate);
         self.ad7172.set_sinc3_fine_filter(index, rate).unwrap();
     }
 
@@ -552,7 +564,7 @@ impl Thermostat {
             pid_engaged: self.get_pid_engaged(),
             temperature_setpoint: self.pid_ctrl_ch0.get_pid_setpoint(),
             tec_settings: self.get_tec_settings(),
-            pid_params: self.get_pid_settings(),
+            pid_params: self.pid_ctrl_ch0.get_abs_pid_params(temp_adc_settings.rate.unwrap()),
             temp_adc_settings: temp_adc_settings,
             temp_mon_settings: self.get_temp_mon_settings(),
             thermistor_params: self.get_steinhart_hart(),
@@ -584,10 +596,12 @@ impl Thermostat {
 
         self.set_pid_engaged(settings.pid_engaged);
         self.pid_ctrl_ch0.apply_pid_params(settings.pid_params);
+        self.pid_ctrl_ch0.update_pid_params_with_new_sampling_rate(settings.temp_adc_settings.rate.unwrap(), 1.0);
         self.set_temperature_setpoint(settings.temperature_setpoint);
         if !settings.pid_engaged {
             self.set_i(settings.tec_settings.i_set.value);
         }
+        self.clear_temp_mon_alarm();
         self.set_default_pwr_on(settings.default_pwr_on);
         if settings.default_pwr_on {
             self.power_up();