# HG changeset patch
# User Ethan Zonca <ezonca@sealandaire.com>
# Date 2017-06-23 12:25:53
# Node ID a710d1e0fc2aa8d31cc9df829999f4efd5c76f77
# Parent  f94ab6abb81d4d21b54d46a44d32b061755468a0

Import from old therm: menus working

diff --git a/.cproject b/.cproject
--- a/.cproject
+++ b/.cproject
@@ -17,33 +17,33 @@
 				<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="${cross_rm} -rf" description="" id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1538442532" name="Debug" parent="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug">
 					<folderInfo id="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1538442532." name="/" resourcePath="">
 						<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug.1849706153" name="Cross ARM GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.elf.debug">
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+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash.2133363735" name="Create flash image" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.createflash" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize.737083294" name="Print size" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.1641379360" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
 							<builder buildPath="${workspace_loc:/S3467-MiniBuoy-BT-Sensor-Software}/Debug" id="ilg.gnuarmeclipse.managedbuild.cross.builder.1145700756" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder">
 								<outputEntries>
@@ -52,8 +52,8 @@
 								</outputEntries>
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 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.1885536253" name="Cross ARM GNU Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
-								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1335843010" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
-								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.119815874" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" valueType="includePath">
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.1335843010" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths.119815874" name="Include paths (-I)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.include.paths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/drivers/CMSIS/Include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/drivers/CMSIS/Device/ST/STM32F3xx/Include}&quot;"/>
@@ -61,7 +61,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/ldscripts/STM32F302K8_FLASH.ld}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/drivers/STM32F3xx_HAL_Driver/Inc}&quot;"/>
 								</option>
-								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs.2115290648" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs" valueType="definedSymbols">
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs.2115290648" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="STM32F302x8"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1515695785" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
@@ -116,14 +116,14 @@
 								</inputType>
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 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.226210550" name="Cross ARM C++ Linker" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker">
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+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections.1592260261" name="Remove unused sections (-Xlinker --gc-sections)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.gcsections" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.paths.1684527273" name="Library search path (-L)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.paths" useByScannerDiscovery="false"/>
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 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/ldscripts/STM32F302K8_FLASH.ld}&quot;"/>
 								</option>
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+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.useprintffloat.472439722" name="Use float with nano printf (-u _printf_float)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.useprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input.490763083" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
@@ -139,7 +139,7 @@
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 							</tool>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize.343129499" name="Cross ARM GNU Print Size" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.printsize">
-								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.1881178891" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format.1881178891" name="Size format" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.printsize.format" useByScannerDiscovery="false"/>
 							</tool>
 						</toolChain>
 					</folderInfo>
@@ -221,6 +221,7 @@
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 							<option id="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize.737083294.931072004" name="Print size" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.addtools.printsize.737083294"/>
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
 							<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.896192688" name="Cross ARM GNU Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.1885536253">
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1392942558" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
 							</tool>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1039910129683149700" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="228329417953433416" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="1105339482864355034" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="266793431193090206" id="ilg.gnuarmeclipse.managedbuild.cross.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings Cross ARM" parameter="${COMMAND} ${FLAGS} ${cross_toolchain_flags} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/inc/config.h b/inc/config.h
--- a/inc/config.h
+++ b/inc/config.h
@@ -10,6 +10,54 @@
 
 
 
+// Temperature sensor type
+#define MAX31855_TC_SENSOR
+//#define MAX31865_RTD_SENSOR
+
+
+// Virtual serial port transmit rate
+#define VCP_TX_FREQ 1000
+
+// Solid-state relay maximum on-time
+#define SSR_PERIOD 200
+
+// Interval of PID calculations
+#define PID_PERIOD 120
+
+
+
+// Pin settings
+#define LED_POWER GPIOF,GPIO_PIN_0
+#define MAX_CS GPIOA,GPIO_PIN_15
+
+#define SW_BTN  GPIOB, GPIO_PIN_4
+#define SW_UP   GPIOB, GPIO_PIN_7
+#define SW_DOWN GPIOB, GPIO_PIN_3
+#define SW_LEFT GPIOB, GPIO_PIN_5
+#define SW_RIGHT GPIOB, GPIO_PIN_6
+
+#define SSR_PIN GPIOA, GPIO_PIN_1
+
+// Visual niceness
+#define hal_init() HAL_Init()
+
+// Add bootloader option to top of idle screen menu
+#define BOOTLOADER_SHORTCUT
+
+
+#define DEFAULT_BOOT_TO_BREW 0
+#define DEFAULT_TEMP_UNITS TEMP_UNITS_FAHRENHEIT
+#define DEFAULT_WINDUP_GUARD 10
+#define DEFAULT_K_P 10
+#define DEFAULT_K_I 1
+#define DEFAULT_K_D 1
+#define DEFAULT_TEMP_OFFSET 0
+#define DEFAULT_IGNORE_ERROR 0
+#define DEFAULT_SETPOINT_BREW 70
+#define DEFAULT_SETPOINT_STEAM 70
+#define DEFAULT_HYSTERESIS 1
+
+
 
 // Internal macros
 #define hal_init HAL_Init
diff --git a/inc/display.h b/inc/display.h
new file mode 100644
--- /dev/null
+++ b/inc/display.h
@@ -0,0 +1,13 @@
+#ifndef DISPLAY_H
+#define DISPLAY_H
+
+#include "states.h"
+
+#ifdef MAX31865_RTD_SENSOR
+#include "max31865.h"
+#endif
+
+void display_startup_screen();
+void display_process(therm_settings_t* set, therm_status_t* status);
+
+#endif
diff --git a/inc/gpio.h b/inc/gpio.h
--- a/inc/gpio.h
+++ b/inc/gpio.h
@@ -7,12 +7,19 @@
 // Define button push
 #define SW_D_Pin GPIO_PIN_4
 #define SW_D_GPIO_Port GPIOA
+#define SW_RIGHT SW_D_GPIO_Port, SW_D_Pin
+
 #define SW_B_Pin GPIO_PIN_5
 #define SW_B_GPIO_Port GPIOA
+#define SW_UP SW_B_GPIO_Port, SW_B_Pin
+
 #define SW_A_Pin GPIO_PIN_6
 #define SW_A_GPIO_Port GPIOA
+#define SW_LEFT SW_A_GPIO_Port, SW_A_Pin
+
 #define SW_C_Pin GPIO_PIN_7
 #define SW_C_GPIO_Port GPIOA
+#define SW_DOWN SW_C_GPIO_Port, SW_C_Pin
 
 #define SW_BTN_Pin GPIO_PIN_0
 #define SW_BTN_GPIO_Port GPIOB
@@ -22,6 +29,10 @@
 #define LED_GPIO_Port GPIOB
 #define LED LED_GPIO_Port, LED_PIN
 
+
+void user_input(uint16_t* to_modify);
+void user_input_signed(int32_t* to_modify);
+
 void gpio_init(void);
 void gpio_led_blueblink(uint8_t num_blinks);
 
diff --git a/inc/pid.h b/inc/pid.h
new file mode 100644
--- /dev/null
+++ b/inc/pid.h
@@ -0,0 +1,16 @@
+#ifndef PIDS_H
+#define PIDS_H
+
+#include "stm32f3xx_hal.h"
+#include "states.h"
+
+typedef struct {
+	int16_t last_pid_temp;
+	uint8_t last_pid_temp_frac;
+	int32_t i_state;
+} pid_state_t;
+
+void pid_init(pid_state_t* state);
+int16_t pid_update(therm_settings_t* set, therm_status_t* status, pid_state_t* state);
+
+#endif
diff --git a/inc/states.h b/inc/states.h
new file mode 100644
--- /dev/null
+++ b/inc/states.h
@@ -0,0 +1,93 @@
+#ifndef STATES_H
+#define STATES_H
+
+#include "stm32f3xx_hal.h"
+#include "config.h"
+
+typedef struct {
+    int32_t temp;
+    uint8_t temp_frac;
+    uint8_t state_resume;
+    uint8_t state;
+    int32_t setpoint;
+    uint8_t pid_enabled;
+    uint8_t error_code;
+} therm_status_t;
+
+typedef union
+{
+     struct {
+        uint32_t boottobrew;
+        uint32_t temp_units;
+        uint32_t windup_guard;
+        uint32_t k_p;
+        uint32_t k_i;
+        uint32_t k_d;
+        int32_t temp_offset;
+        uint32_t ignore_error;
+        int32_t setpoint_brew;
+        int32_t setpoint_steam;
+        uint32_t control_mode;
+        uint32_t plant_type;
+        uint32_t hysteresis;
+    } val;
+
+    uint16_t data[128];
+} therm_settings_t;
+
+enum tempunits {
+    TEMP_UNITS_CELSIUS = 0,
+    TEMP_UNITS_FAHRENHEIT,
+};
+
+enum state {
+    STATE_IDLE = 0,
+    
+    STATE_SETMODE,
+    STATE_SETPLANTTYPE,
+    STATE_SETHYSTERESIS,
+    STATE_SETP,
+    STATE_SETI,
+    STATE_SETD,
+    STATE_SETSTEPS,
+    STATE_SETWINDUP,
+    STATE_SETBOOTTOBREW,
+    STATE_SETUNITS,
+    STATE_SETTEMPOFFSET,
+
+    STATE_PREHEAT,
+    STATE_MAINTAIN,
+
+    STATE_TC_ERROR,
+	STATE_RESET,
+};
+
+enum control_mode {
+    MODE_PID = 0,
+    MODE_THERMOSTAT,
+};
+
+enum plant_type {
+    PLANT_HEATER = 0,
+    PLANT_COOLER,
+};
+
+enum GOTO_MODE {
+	#ifdef BOOTLOADER_SHORTCUT
+	MODE_BOOTLOADER,
+	#endif
+	MODE_HEAT,
+	MODE_SETUP,
+	MODE_RESET,
+	MODE_SIZE,
+};
+
+enum RESET_MODE {
+	RESET_REBOOT = 0,
+	RESET_DEFAULTS,
+	RESET_BOOTLOADER,
+	RESET_EXIT,
+	RESET_SIZE,
+};
+
+#endif
diff --git a/inc/system/stringhelpers.h b/inc/system/stringhelpers.h
new file mode 100644
--- /dev/null
+++ b/inc/system/stringhelpers.h
@@ -0,0 +1,7 @@
+#ifndef STRINGHELPERS_H 
+#define STRINGHELPERS_H
+
+char* zitoa(int16_t i, char b[]);
+char* itoa_fp(int16_t i, uint8_t frac, char b[]);
+
+#endif
diff --git a/src/display.c b/src/display.c
new file mode 100644
--- /dev/null
+++ b/src/display.c
@@ -0,0 +1,690 @@
+#include "display.h"
+#include "gpio.h"
+#include "ssd1306.h"
+#include "system/stringhelpers.h"
+#include "flash.h"
+
+// Private function prototypes
+static void draw_setpoint(therm_status_t* status);
+
+
+// Button transition variables
+static uint8_t sw_btn_last = 0;
+static uint8_t sw_up_last = 0;
+static uint8_t sw_down_last = 0;
+static uint8_t sw_left_last = 0;
+static uint8_t sw_right_last = 0;
+
+
+// Buttonpress macros
+#define SW_BTN_PRESSED (sw_btn_last == 0 && sw_btn == 1) // rising edge on buttonpress
+#define SW_UP_PRESSED (sw_up_last == 0 && sw_up == 1)
+#define SW_DOWN_PRESSED (sw_down_last == 0 && sw_down == 1)
+#define SW_LEFT_PRESSED (sw_left_last == 0 && sw_left == 1)
+#define SW_RIGHT_PRESSED (sw_right_last == 0 && sw_right == 1)
+
+
+// States
+static uint8_t trigger_drawsetpoint = 1;
+static int16_t last_temp = 21245;
+static int16_t last_temp_frac = 21245;
+static int16_t last_state = 123;
+static uint8_t goto_mode = MODE_HEAT;
+static uint8_t reset_mode = RESET_REBOOT;
+
+
+
+// Display state machine
+void display_process(therm_settings_t* set, therm_status_t* status)
+{
+    uint8_t state_changed = status->state != last_state;
+    last_state = status->state;
+    
+    uint8_t temp_changed = status->temp != last_temp || status->temp_frac != last_temp_frac;
+    last_temp = status->temp;
+    last_temp_frac = status->temp_frac;
+
+    uint8_t sw_btn = !HAL_GPIO_ReadPin(SW_BTN);
+    uint8_t sw_up = !HAL_GPIO_ReadPin(SW_UP);
+    uint8_t sw_down = !HAL_GPIO_ReadPin(SW_DOWN);
+    uint8_t sw_left = !HAL_GPIO_ReadPin(SW_LEFT);
+    uint8_t sw_right = !HAL_GPIO_ReadPin(SW_RIGHT);
+
+    switch(status->state)
+    {
+        // Idle state
+        case STATE_IDLE:
+        {
+            // Write text to OLED
+            // [ therm :: idle ]
+            ssd1306_drawstring("therm :: idle ", 0, 40);
+            status->pid_enabled = 0;
+
+            if(temp_changed || state_changed) {
+                char tempstr[6];
+                itoa_fp(status->temp, status->temp_frac, tempstr);
+                ssd1306_drawstring("Temp: ", 3, 40);
+                ssd1306_drawstring("    ", 3, 72);
+                ssd1306_drawstring(tempstr, 3, 72);
+            }
+
+            if (state_changed) {
+            	ssd1306_drawlogo();
+            }
+
+            switch(goto_mode) {
+
+                case MODE_HEAT:
+                {
+                    if(set->val.plant_type == PLANT_HEATER)
+                        ssd1306_drawstring("-> heat     ", 1, 40);
+                    else
+                        ssd1306_drawstring("-> cool     ", 1, 40);
+                } break;
+
+                case MODE_SETUP:
+                {
+                    ssd1306_drawstring("-> setup    ", 1, 40);
+                } break;
+
+                case MODE_RESET:
+                {
+                    ssd1306_drawstring("-> reset    ", 1, 40);
+                } break;
+
+				#ifdef BOOTLOADER_SHORTCUT
+                case MODE_BOOTLOADER:
+                {
+                    ssd1306_drawstring("-> dfu      ", 1, 40);
+                }
+				#endif
+            }
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                switch(goto_mode) {
+                    case MODE_HEAT:
+                        status->state = STATE_PREHEAT;
+                        break;
+                    case MODE_SETUP:
+                        status->state = STATE_SETMODE;
+                        break;
+                    case MODE_RESET:
+                        status->state = STATE_RESET;
+                        reset_mode = RESET_REBOOT;
+                        break;
+					#ifdef BOOTLOADER_SHORTCUT
+                    case MODE_BOOTLOADER:
+                        ssd1306_clearscreen();
+                        ssd1306_drawstring("Bootloader Entered", 0, 0);
+                        ssd1306_drawstring("Device won't boot", 2, 0);
+                        ssd1306_drawstring("until reflashed!", 3, 0);
+//                        bootloader_enter(); // Resets into bootloader
+                        status->state = STATE_RESET; // Just in case
+                        break;
+					#endif
+                    default:
+                        status->state = STATE_PREHEAT;
+                }
+            }
+            else if(SW_DOWN_PRESSED && goto_mode < (MODE_SIZE - 1)) {
+                goto_mode++;
+            }
+            else if(SW_UP_PRESSED && goto_mode > 0) {
+                goto_mode--;
+            }
+
+
+            // Event Handler
+            // N/A
+
+        } break;
+
+
+
+        case STATE_SETMODE:
+        {
+            // Write text to OLED
+            // [ therm :: set mode ]
+            // [ m =          ]
+            ssd1306_drawstring("Control Mode", 0, 40);
+            ssd1306_drawlogo();
+
+            if(set->val.control_mode == MODE_PID)
+                ssd1306_drawstring("PID       ", 1, 60);
+            else
+                ssd1306_drawstring("Thermostat", 1, 60);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+            
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETPLANTTYPE;
+            }
+            else if (!HAL_GPIO_ReadPin(SW_UP)) {
+                set->val.control_mode = MODE_PID;
+            }
+            else if(!HAL_GPIO_ReadPin(SW_DOWN)) {
+                set->val.control_mode = MODE_THERMOSTAT;
+            }
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+
+        case STATE_SETPLANTTYPE:
+        {
+            // Write text to OLED
+            // [ therm :: set mode ]
+            // [ m =          ]
+            ssd1306_drawstring("Plant Type", 0, 40);
+            ssd1306_drawlogo();
+
+            if(set->val.plant_type == PLANT_HEATER)
+                ssd1306_drawstring("Heater", 1, 60);
+            else
+                ssd1306_drawstring("Cooler", 1, 60);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+            
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                if(set->val.control_mode == MODE_PID)
+                    status->state = STATE_SETP;
+                else
+                    status->state = STATE_SETHYSTERESIS;
+            }
+            else if (!HAL_GPIO_ReadPin(SW_UP)) {
+                set->val.plant_type = PLANT_COOLER;
+            }
+            else if(!HAL_GPIO_ReadPin(SW_DOWN)) {
+                set->val.plant_type = PLANT_HEATER;
+            }
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+
+
+        case STATE_SETHYSTERESIS:
+        {
+            // Write text to OLED
+            ssd1306_drawstring("Hysteresis", 0, 40);
+            ssd1306_drawlogo();
+
+            char tempstr[6];
+            itoa(set->val.hysteresis, tempstr, 10);
+            ssd1306_drawstring("H=", 1, 45);
+            ssd1306_drawstring("    ", 1, 57);
+            ssd1306_drawstring(tempstr, 1, 57);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+            
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETBOOTTOBREW;
+            }
+            else {
+                user_input((uint16_t*)&set->val.hysteresis);
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+
+        case STATE_SETP:
+        {
+            // Write text to OLED
+            // [ therm :: set p ]
+            // [ p = 12         ]
+            ssd1306_drawstring("Proportional", 0, 40);
+            ssd1306_drawlogo();
+
+            char tempstr[6];
+            itoa(set->val.k_p, tempstr, 10);
+            ssd1306_drawstring("P=", 1, 45);
+            ssd1306_drawstring("    ", 1, 57);
+            ssd1306_drawstring(tempstr, 1, 57);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+            
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETI;
+            }
+            else {
+                user_input((uint16_t*)&set->val.k_p);
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+        case STATE_SETI:
+        {
+            // Write text to OLED
+            // [ therm :: set i ]
+            // [ i = 12         ]
+            ssd1306_drawstring("Integral", 0, 40);
+            ssd1306_drawlogo();
+
+            char tempstr[6];
+            itoa(set->val.k_i, tempstr, 10);
+            ssd1306_drawstring("I=", 1, 45);
+            ssd1306_drawstring("    ", 1, 57);
+            ssd1306_drawstring(tempstr, 1, 57);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+            
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETD;
+            }
+            else {
+                user_input((uint16_t*)&set->val.k_i);
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+        case STATE_SETD:
+        {
+            // Write text to OLED
+            // [ therm :: set d ]
+            // [ d = 12         ]
+            ssd1306_drawstring("Derivative", 0, 40);
+            ssd1306_drawlogo();
+
+            char tempstr[6];
+            itoa(set->val.k_d, tempstr, 10);
+            ssd1306_drawstring("D=", 1, 45);
+            ssd1306_drawstring("    ", 1, 57);
+            ssd1306_drawstring(tempstr, 1, 57);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETWINDUP;
+            }
+            else {
+                user_input((uint16_t*)&set->val.k_d);
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+        case STATE_SETWINDUP:
+        {
+            // Write text to OLED
+            // [ therm :: set windup ]
+            // [ g = 12         ]
+            ssd1306_drawstring("Windup Guard", 0, 40);
+            ssd1306_drawlogo();
+
+            char tempstr[6];
+            itoa(set->val.windup_guard, tempstr, 10);
+            ssd1306_drawstring("G=", 1, 45);
+            ssd1306_drawstring("    ", 1, 57);
+            ssd1306_drawstring(tempstr, 1, 57);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETBOOTTOBREW;
+            }
+            else {
+                user_input((uint16_t*)&set->val.windup_guard);
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+        case STATE_SETBOOTTOBREW:
+        {
+            // Write text to OLED
+            // [ therm :: set windup ]
+            // [ g = 12         ]
+            ssd1306_drawstring("Start on Boot", 0, 40);
+            ssd1306_drawlogo();
+
+            ssd1306_drawstring("sob=", 1, 45);
+            
+            if(set->val.boottobrew)
+                ssd1306_drawstring("Enabled ", 1, 70);
+            else
+                ssd1306_drawstring("Disabled", 1, 70);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETUNITS;
+            }
+            else if(!HAL_GPIO_ReadPin(SW_UP)) {
+                set->val.boottobrew = 1;
+            }
+            else if(!HAL_GPIO_ReadPin(SW_DOWN)) {
+                set->val.boottobrew = 0;
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+        case STATE_SETUNITS:
+        {
+            // Write text to OLED
+            // [ therm :: set windup ]
+            // [ g = 12         ]
+            ssd1306_drawstring("Units: ", 0, 40);
+            ssd1306_drawlogo();
+
+            if(set->val.temp_units == TEMP_UNITS_FAHRENHEIT)
+                ssd1306_drawstring("Fahrenheit", 1, 60);
+            else
+                ssd1306_drawstring("Celsius   ", 1, 60);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_SETTEMPOFFSET;
+            }
+            else if(!HAL_GPIO_ReadPin(SW_UP)) {
+                set->val.temp_units = TEMP_UNITS_FAHRENHEIT;
+            }
+            else if(!HAL_GPIO_ReadPin(SW_DOWN)) {
+                set->val.temp_units = TEMP_UNITS_CELSIUS;
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+
+        case STATE_SETTEMPOFFSET:
+        {
+            // Write text to OLED
+            // [ therm :: set temp offset ]
+            // [ g = 12         ]
+            ssd1306_drawstring("Temp Cal Offset", 0, 40);
+            ssd1306_drawlogo();
+
+            char tempstr[6];
+            itoa(set->val.temp_offset, tempstr, 10);
+            ssd1306_drawstring("O=", 1, 45);
+            ssd1306_drawstring("    ", 1, 57);
+            ssd1306_drawstring(tempstr, 1, 57);
+
+            ssd1306_drawstring("Press to accept", 3, 40);
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+//                flash_save(set);
+                status->state = STATE_IDLE;
+            }
+            else {
+                user_input_signed(&set->val.temp_offset);
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+
+        case STATE_PREHEAT:
+        {
+            // Write text to OLED
+            // [ therm : preheating brew ]
+            // [ 30 => 120 C             ]
+            if(set->val.plant_type == PLANT_HEATER)
+                ssd1306_drawstring("Preheating...", 0, 0);
+            else
+                ssd1306_drawstring("Precooling...", 0, 0);
+
+            //ssd1306_drawlogo();
+            draw_setpoint(status);
+
+            status->pid_enabled = 1;
+            status->setpoint = set->val.setpoint_brew;
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_IDLE;
+            }
+            else {
+                user_input((uint16_t*)&set->val.setpoint_brew);
+            }
+
+            // Event Handler
+            if(status->temp >= status->setpoint) {
+                status->state = STATE_MAINTAIN;
+            }
+ 
+        } break;
+
+        case STATE_MAINTAIN:
+        {
+            // Write text to OLED
+            // [ therm : ready to brew ]
+            // [ 30 => 120 C           ]
+
+            if(set->val.plant_type == PLANT_HEATER)
+                ssd1306_drawstring("Preheated!", 0, 0);
+            else
+                ssd1306_drawstring("Precooled!", 0, 0);
+
+            draw_setpoint(status);
+            status->pid_enabled = 1;
+            status->setpoint = set->val.setpoint_brew;
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_IDLE;
+            }
+            else {
+                user_input((uint16_t*)&set->val.setpoint_brew);
+            }
+
+            // Event Handler
+            // N/A
+ 
+        } break;
+
+        // Thermocouple error
+        case STATE_TC_ERROR:
+        {
+            // Write text to OLED
+            // [ therm : ready to steam ]
+            // [ 30 => 120 C            ]
+            ssd1306_drawstring("Error:              ", 0, 0);
+
+            char tempstr[6];
+            itoa(status->error_code, tempstr, 10);
+            ssd1306_drawstring(tempstr, 0, 57);
+
+            //TODO: add RTD error codes
+
+            if(status->error_code == 1)
+                ssd1306_drawstring("    TC Open Circuit", 1, 0);
+            else if(status->error_code == 4)
+                ssd1306_drawstring("    TC Short to GND", 1, 0);
+            else if(status->error_code == 8)
+                ssd1306_drawstring("    TC Short to VCC", 1, 0);
+            else
+                ssd1306_drawstring("#?, Unknown Error", 1, 0);
+            ssd1306_drawstring("                    ", 2, 0);
+
+            ssd1306_drawstring("-> to ignore all or", 2, 0);
+            ssd1306_drawstring("press to continue", 3, 0);
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                status->state = STATE_IDLE;
+				#ifdef MAX31865_RTD_SENSOR
+				max31865_clear_errors(spi_get());
+				#endif
+            }
+            else if(SW_RIGHT_PRESSED) {
+                set->val.ignore_error = 1;
+                status->state = STATE_IDLE;
+            }
+            // Event Handler
+            // Maybe handle if TC is plugged in
+            // N/A
+ 
+        } break;
+
+
+        // Reset state
+        case STATE_RESET:
+        {
+            // Write text to OLED
+            // [ therm :: reset ]
+            ssd1306_drawstring("therm :: reset ", 0, 40);
+            status->pid_enabled = 0;
+
+            ssd1306_drawlogo();
+
+            switch(reset_mode) {
+				case RESET_DEFAULTS:
+				{
+					ssd1306_drawstring("-> defaults   ", 1, 40);
+				} break;
+                case RESET_BOOTLOADER:
+                {
+                    ssd1306_drawstring("-> bootloader ", 1, 40);
+                } break;
+                case RESET_REBOOT:
+                {
+                    ssd1306_drawstring("-> reboot     ", 1, 40);
+                } break;
+                case RESET_EXIT:
+                {
+                    ssd1306_drawstring("-> exit       ", 1, 40);
+                } break;
+            }
+
+            // Button handler
+            if(SW_BTN_PRESSED) {
+                switch(reset_mode) {
+                    case RESET_BOOTLOADER:
+                    {
+                        ssd1306_clearscreen();
+                        ssd1306_drawstring("Bootloader Entered", 0, 0);
+                        ssd1306_drawstring("Device won't boot", 2, 0);
+                        ssd1306_drawstring("until reflashed!", 3, 0);
+                        HAL_Delay(1000);
+//                        bootloader_enter(); // Resets into bootloader
+                        status->state = STATE_RESET; // Just in case
+                    } break;
+                    case RESET_DEFAULTS:
+                    {
+                        status->state = STATE_RESET;
+//                        flash_load_defaults(set);
+//                        flash_save(set);
+                        NVIC_SystemReset();
+                    } break;
+                    case RESET_REBOOT:
+                    {
+                        status->state = STATE_RESET;
+                        NVIC_SystemReset();
+                    } break;
+                    case RESET_EXIT:
+                    {
+                        status->state = STATE_IDLE;
+                    } break;
+                }
+            }
+            else if(SW_DOWN_PRESSED && reset_mode < (RESET_SIZE-1)) {
+                reset_mode++;
+            }
+            else if(SW_UP_PRESSED && reset_mode > 0) {
+                reset_mode--;
+            }
+
+
+            // Event Handler
+            // N/A
+
+        } break;
+
+        // Something is terribly wrong
+        default:
+        {
+            status->state = STATE_IDLE;
+            status->pid_enabled = 0;
+
+        } break;
+            
+    }
+
+    if(last_state != status->state) {
+        // Clear screen on state change
+        goto_mode = MODE_HEAT;
+        trigger_drawsetpoint = 1;
+        ssd1306_clearscreen();
+    }
+
+    // Last buttonpress
+    sw_btn_last = sw_btn;
+    sw_up_last = sw_up;
+    sw_down_last = sw_down;
+    sw_left_last = sw_left;
+    sw_right_last = sw_right;
+}
+
+
+static int32_t temp_last = 43002;
+static int32_t temp_frac_last = 43002;
+static int32_t setpoint_last = 10023;
+
+// Draw current setpoint on display
+static void draw_setpoint(therm_status_t* status) {
+    // FIXME: need to do this when switching modes too
+    if(status->temp != temp_last || status->temp_frac != temp_frac_last || trigger_drawsetpoint) {
+        char tempstr[3];
+        itoa_fp(status->temp, status->temp_frac, tempstr);
+        ssd1306_drawstringbig("      ", 3, 0);
+        ssd1306_drawstringbig(tempstr, 3, 0);
+    }
+
+    if(trigger_drawsetpoint) 
+        ssd1306_drawstringbig(">", 3, 74);
+
+    if(status->setpoint != setpoint_last || trigger_drawsetpoint) {
+        char tempstr[3];
+        itoa(status->setpoint, tempstr, 10);
+        ssd1306_drawstringbig("   ", 3, 90);
+        ssd1306_drawstringbig(tempstr, 3, 90);
+    }
+
+    trigger_drawsetpoint = 0;
+    setpoint_last = status->setpoint;
+    temp_last = status->temp;
+    temp_frac_last = status->temp_frac;
+}
+
+void display_startup_screen() {
+    ssd1306_clearscreen();
+    ssd1306_drawstring("therm v0.4", 1, 40);
+    ssd1306_drawstring("protofusion.org/therm", 3, 0);
+}
+
+// vim:softtabstop=4 shiftwidth=4 expandtab 
diff --git a/src/gpio.c b/src/gpio.c
--- a/src/gpio.c
+++ b/src/gpio.c
@@ -6,6 +6,48 @@
 
 #include "gpio.h"
 
+#define CHANGE_PERIOD_MS 100
+#define CHANGE_ELAPSED (HAL_GetTick() - change_time_reset) > CHANGE_PERIOD_MS
+#define CHANGE_RESET change_time_reset = HAL_GetTick()
+
+// Increase on each press, and increase at a fast rate after duration elapsed of continuously holding down... somehow...
+static uint32_t change_time_reset = 0;
+
+
+// Increment/decrement unsigned variable with up/down buttons
+void user_input(uint16_t* to_modify)
+{
+    if(CHANGE_ELAPSED) {
+        if(!HAL_GPIO_ReadPin(SW_UP) ) {
+            CHANGE_RESET;
+            (*to_modify)++;
+        }
+        else if(!HAL_GPIO_ReadPin(SW_DOWN) && (*to_modify) > 0) {
+            CHANGE_RESET;
+            (*to_modify)--;
+        }
+    }
+}
+
+
+// Increment/decrement signed variable with up/down buttons
+void user_input_signed(int32_t* to_modify)
+{
+	//fixme: need to cast to 16/32 bits correctly
+    if(CHANGE_ELAPSED) {
+        if(!HAL_GPIO_ReadPin(SW_UP) ) {
+            CHANGE_RESET;
+            if (*to_modify < 32768)
+            	(*to_modify)++;
+        }
+        else if(!HAL_GPIO_ReadPin(SW_DOWN)) {
+            CHANGE_RESET;
+            if (*to_modify >= -32768)
+            	(*to_modify)--;
+        }
+    }
+}
+
 
 // Initialize GPIOs
 void gpio_init(void)
diff --git a/src/main.c b/src/main.c
--- a/src/main.c
+++ b/src/main.c
@@ -9,7 +9,9 @@
 
 #include "watchdog.h"
 #include "system.h"
+#include "display.h"
 #include "gpio.h"
+#include "pid.h"
 #include "error.h"
 #include "flash.h"
 #include "ssd1306.h"
@@ -17,16 +19,27 @@
 #include "interrupts.h"
 #include "buttons.h"
 
+
+therm_settings_t set;
+therm_status_t status;
+pid_state_t pid_state;
+
+
 int main(void)
 {
 	sysclock_init();
 	hal_init();
 	gpio_init();
+
+
 	ssd1306_init();
+
+	// Startup screen
+    display_startup_screen();
+    HAL_Delay(2000);
+
 	ssd1306_drawlogo();
-	ssd1306_clearscreen();
 
-	flash_init();
 	watchdog_init();
 
 	//just some example code for getting flash values
@@ -37,28 +50,172 @@ int main(void)
 //	ssd1306_drawstring(const char *dataPtr, unsigned char row, unsigned char xPos)
 //	ssd1306_drawstring("[ ProtoFuse ]", 0, 0);
 
+    // Default status
+    status.temp = 0;
+    status.temp_frac = 0;
+    status.state_resume = 0;
+    status.state = STATE_IDLE;
+    status.setpoint = 70;
+    status.pid_enabled = 0;
+
+    pid_init(&pid_state);
+
+    flash_init();
+
+
 	float temp_counter = 0;
 
 	// Software timers
 	uint32_t last_screen_update_time = HAL_GetTick();
 
 
+    // Soft timers
+    uint32_t last_ssr_on = 0;
+    uint32_t last_vcp_tx = 0;
+    uint32_t last_led = 0;
+    uint32_t last_pid = 0;
+    uint32_t last_thermostat = 0;
+    int16_t ssr_output = 0; // Duty cycle of ssr, 0 to SSR_PERIOD
+    uint8_t thermostat_plant_on = 0;
+
+
 	while (1)
 	{
-		// function that checks all the buttons
-		freaking_debounce();
+
+        if(set.val.control_mode == MODE_PID && (HAL_GetTick() - last_pid > PID_PERIOD))
+        {
+
+//            #ifdef MAX31865_RTD_SENSOR
+//            max31865_readtemp(spi_get(), &set, &status);
+//			#else
+//			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
+//			#endif
+
+
+            if(status.pid_enabled)
+            {
+                // Get ssr output for next time
+                int16_t power_percent = pid_update(&set, &status, &pid_state);
+
+                if(set.val.plant_type == PLANT_HEATER)
+                    power_percent *= -1;
+
+                //power-percent is 0-1000?
+                ssr_output = power_percent; //(((uint32_t)SSR_PERIOD * (uint32_t)10 * (uint32_t)100) * power_percent) / (uint32_t)1000000;
+
+
+            	// put ssr output on display
+                ssd1306_drawstring("      ", 0, 90); //fixme: this is bad, but I can't get the old digits to clear otherwise
+                char tempstr[6];
+                itoa(ssr_output, tempstr, 10);
+                ssd1306_drawstring(tempstr, 0, 90);
+            }
+            else
+            {
+                ssr_output = 0;
+            }
+
+            last_pid = HAL_GetTick();
+        }
+
+//        // Kill SSR once the desired on-time has elapsed
+//        if(set.val.control_mode == MODE_PID && (HAL_GetTick() - last_ssr_on > ssr_output || ssr_output <= 0))
+//        {
+//            HAL_GPIO_WritePin(SSR_PIN, 0);
+//            HAL_GPIO_WritePin(LED_POWER, 0);
+//        }
+//
+//
+//        // Every 200ms, set the SSR on unless output is 0
+//        if(set.val.control_mode == MODE_PID && HAL_GetTick() - last_ssr_on > SSR_PERIOD)
+//        {
+//            // Heat or cool, if we need to
+//            if(ssr_output > 0)
+//            {
+//                HAL_GPIO_WritePin(SSR_PIN, 1);
+//                HAL_GPIO_WritePin(LED_POWER, 1);
+//                last_ssr_on = HAL_GetTick();
+//            }
+//            else {
+//                // Make sure everything is off
+//                HAL_GPIO_WritePin(SSR_PIN, 0);
+//                HAL_GPIO_WritePin(LED_POWER, 0);
+//            }
+//
+//        }
+
+
+        // Thermostatic control
+        if(set.val.control_mode == MODE_THERMOSTAT && HAL_GetTick() - last_thermostat > SSR_PERIOD)
+        {
 
-		// Grab and transmit data
-		if(HAL_GetTick() - last_screen_update_time > 100)
-		{
-			HAL_GPIO_TogglePin(LED_GPIO_Port, LED_PIN);
-			char buffer[256];
-			snprintf(buffer, 256, "Counter: %.1f", temp_counter);
-			ssd1306_drawstring(buffer, 3, 10);
-			ssd1306_drawstring("Therm Next Generation", 0, 0);
-			temp_counter = temp_counter + 0.1;
-			last_screen_update_time = HAL_GetTick();
-		}
+//            #ifdef MAX31865_RTD_SENSOR
+//            max31865_readtemp(spi_get(), &set, &status);
+//			#else
+//			max31855_readtemp(spi_get(), &set, &status); // Read MAX31855
+//			#endif
+
+            // TODO: Migrate this FxP conversion to the readtemp code or similar
+            int8_t temp_frac = status.temp_frac > 9 ? status.temp_frac / 10 : status.temp_frac;
+            temp_frac = status.temp > 0 ? temp_frac : temp_frac * -1;
+            int32_t temp = (status.temp * 10) + temp_frac;
+
+
+            // EMZ FIXME: This could be way simpler
+            if(set.val.plant_type == PLANT_HEATER && status.setpoint * 10 < temp - set.val.hysteresis * 10)
+                thermostat_plant_on = 1;
+            else if(set.val.plant_type == PLANT_HEATER && status.setpoint * 10 > temp + set.val.hysteresis * 10)
+                thermostat_plant_on = 0;
+
+            if(set.val.plant_type == PLANT_COOLER && status.setpoint * 10 > temp + set.val.hysteresis * 10)
+                thermostat_plant_on = 1;
+            else if(set.val.plant_type == PLANT_COOLER && status.setpoint * 10 < temp - set.val.hysteresis * 10)
+                thermostat_plant_on = 0;
+
+            // EMZ: TODO: Refactor to output_enabled or something
+            if(status.pid_enabled && thermostat_plant_on)
+            {
+                // EMZ TODO: functionalize this
+            	// put ssr output on display
+                ssd1306_drawstring("      ", 0, 90); //fixme: this is bad, but I can't get the old digits to clear otherwise
+                char tempstr[6];
+                itoa(ssr_output, tempstr, 10);
+                ssd1306_drawstring(tempstr, 0, 90);
+
+
+
+                HAL_GPIO_WritePin(SSR_PIN, 1);
+                HAL_GPIO_WritePin(LED_POWER, 1);
+            }
+            else
+            {
+                HAL_GPIO_WritePin(SSR_PIN, 0);
+                HAL_GPIO_WritePin(LED_POWER, 0);
+            }
+
+            last_thermostat = HAL_GetTick();
+        }
+
+
+//        // Transmit temperature over USB-CDC on a regular basis
+//        if(HAL_GetTick() - last_vcp_tx > VCP_TX_FREQ)
+//        {
+//            // Print temp to cdc
+//            char tempstr[16];
+//            itoa_fp(status.temp, status.temp_frac, tempstr);
+//            uint8_t numlen = strlen(tempstr);
+//            tempstr[numlen] = '\r';
+//            tempstr[numlen+1] = '\n';
+//
+//    //        if(set.val.usb_plugged)
+//    //            CDC_Transmit_FS(tempstr, numlen+2);
+//           // while(CDC_Transmit_FS("\r\n", 2) == USBD_BUSY);
+//
+//            last_vcp_tx = HAL_GetTick();
+//        }
+
+        // Run state machine
+        display_process(&set, &status);
 
 		watchdog_feed();
 	}
diff --git a/src/pid.c b/src/pid.c
new file mode 100644
--- /dev/null
+++ b/src/pid.c
@@ -0,0 +1,63 @@
+#include "pid.h"
+
+// PID implementation
+
+void pid_init(pid_state_t* state)
+{
+	state->i_state = 0;
+	state->last_pid_temp = 0;
+	state->last_pid_temp_frac = 0;
+}
+
+int16_t pid_update(therm_settings_t* set, therm_status_t* status, pid_state_t *state)
+{
+
+  // Convert temperature to fixed point number with 1/10th resolution
+  int8_t temp_frac = status->temp_frac > 9 ? status->temp_frac / 10 : status->temp_frac;
+  temp_frac = status->temp > 0 ? temp_frac : temp_frac * -1;
+  int32_t temp = (status->temp * 10) + temp_frac;
+
+  // Calculate instantaneous error
+  int16_t error = status->setpoint * 10 - temp; // TODO: Use fixed point fraction
+
+  // Proportional component
+  int32_t p_term = set->val.k_p * error;
+
+  // Error accumulator (integrator)
+  state->i_state += error;
+
+  // to prevent the iTerm getting huge from lots of 
+  //  error, we use a "windup guard" 
+  // (this happens when the machine is first turned on and
+  // it cant help be cold despite its best efforts)
+  // not necessary, but this makes windup guard values 
+  // relative to the current iGain
+  int32_t windup_guard_res = (set->val.windup_guard * 10) / set->val.k_i;
+
+  // Calculate integral term with windup guard 
+  if (state->i_state > windup_guard_res)
+	  state->i_state = windup_guard_res;
+  else if (state->i_state < -windup_guard_res)
+	  state->i_state = -windup_guard_res;
+
+  int32_t i_term = set->val.k_i * state->i_state;
+
+  // Calculate differential term (slope since last iteration)
+  int32_t d_term = (set->val.k_d * (temp - state->last_pid_temp));
+
+  // Save temperature for next iteration
+  state->last_pid_temp = temp;
+
+  int16_t result = (p_term + i_term - d_term) / 10;
+
+  // Put out tenths of percent, 0-1000. 
+  if(result > 1000)
+    result = 1000;
+  else if(result < -1000)
+    result = -1000;
+
+  // Return feedback
+  return result;
+}
+
+
diff --git a/src/system/stringhelpers.c b/src/system/stringhelpers.c
new file mode 100644
--- /dev/null
+++ b/src/system/stringhelpers.c
@@ -0,0 +1,72 @@
+#include <inttypes.h>
+
+char const digit[] = "0123456789";
+
+char* zitoa(int16_t i, char b[]){
+
+    char* p = b;
+    if(i<0){
+        *p++ = '-';
+        i *= -1;
+    }
+    uint16_t shifter = i;
+    do{ //Move to where representation ends
+        ++p;
+        shifter = shifter/10;
+    }while(shifter);
+    *p = '\0';
+    do{ //Move back, inserting digits as you go
+        *--p = digit[i%10];
+        i = i/10;
+    }while(i);
+    return b;
+}
+
+char* itoa_fp(int16_t i, uint8_t frac, char b[]){
+
+    // set p to beginning of char array
+    char* p = b;
+
+    // If negative, set current char to '-' and inc, unnegate number
+    if(i<0){
+        *p++ = '-';
+        i *= -1;
+    }
+
+    // Init shifter to numeric value
+    uint16_t shifter = i;
+    uint16_t frac_shifter = frac;
+
+    // Iterate through 10s places, incrementing text pointer as we go
+    do{ 
+        ++p;
+        shifter = shifter/10;
+    }while(shifter);
+    
+    ++p; // increment for decimal point
+
+    do{
+        ++p;
+        frac_shifter = frac_shifter/10;
+    }while(frac_shifter);
+        
+
+    // Null-terminate the string
+    *p = '\0';
+
+    // Go backwards and write out fractional digits 
+    do{ 
+        *--p = digit[frac%10];
+        frac = frac/10;
+    }while(frac);
+
+    *--p = '.'; // insert decimal point
+
+    // Go backwards and write out remaining digits 
+    do{ 
+        *--p = digit[i%10];
+        i = i/10;
+    }while(i);
+    return b;
+}
+