diff --git a/HARDWARE/PID.c b/HARDWARE/PID.c
index f590a48..88433e0 100644
--- a/HARDWARE/PID.c
+++ b/HARDWARE/PID.c
@@ -82,15 +82,15 @@ void set_heater_power(int percent) {
 /**
  * heater power calc
 */
-int calc_hp(float t_t, float t_c, float error, int p_b, float pid_p, float pid_i) {
-	int p = p_b + pid_p * (t_t - t_c) + pid_i * error;
-	if (p > 100) {
+int calc_hp(float t_t, float t_c, float Error_calc, int p_hb, float pid_hp, float pid_hi) {
+	int p_h = p_hb + pid_hp * (t_t - t_c) + pid_hi * Error_calc;
+	if (p_h > 100) {
 		return 100;
 	}
-	if (p < 0) {
+	if (p_h < 0) {
 		return 0;
 	}
-	return p;
+	return p_h;
 }
 
 /**
@@ -124,13 +124,14 @@ int calc_compressor_speed(int percent, int v_min, int v_max) {
 void PID_Calc() // pid calc
 {
 	float Kp = 19.2;
-	float Ki = 0.02;
-	int p_base = 52;
+	float Ki = 0.08;
+	int p_hb = 52;
 	float DelEk; // The difference between the last two deviations
 	// float td;
 	float out;
 	// if (pid.C1ms < (pid.t)) // The calculation cycle has not yet arrived
 	// {
+
 	// 	return;
 	// }
 
@@ -139,9 +140,16 @@ void PID_Calc() // pid calc
 
 	pid.SEk += pid.Ek; // Total historical deviation
 
-	// SEk limit
-	if (pid.SEk < - p_base / Ki) {
-		pid.SEk = - p_base / Ki;
+	// SEk limit, updated func
+	float delta_t = pid.set_tem - pid.now_tem;
+	float pid_hp = Kp;
+	float pid_hi = Ki;
+	if (pid.SEk < - p_hb / pid_hi) {
+		pid.SEk = - p_hb / pid_hi;
+	}
+	float Error_calc = pid.SEk;
+	if (Error_calc < - (p_hb + pid_hp * delta_t) / pid_hi) {
+		Error_calc = - (p_hb + pid_hp * delta_t) / pid_hi;
 	}
 
 
@@ -179,7 +187,7 @@ void PID_Calc() // pid calc
 	pid.C1ms = 0;
 
 	// heater percent
-	int heater_percent = calc_hp(pid.set_tem, pid.now_tem, pid.SEk, p_base, Kp, Ki);
+	int heater_percent = calc_hp(pid.set_tem, pid.now_tem, Error_calc, p_hb, pid_hp, pid_hi);
 
 
 	int p_c = calc_cp(pid.set_tem, pid.now_tem, 32, Kp);
diff --git a/HARDWARE/rs485.c b/HARDWARE/rs485.c
index 6962b61..6ef1135 100644
--- a/HARDWARE/rs485.c
+++ b/HARDWARE/rs485.c
@@ -463,8 +463,8 @@ void RS485_1_Send_Data_2(void)
 	// sendbuf[28] = (int)pid.Kd % 256;			  // Td 340
 
 	// TODO::temp
-	sendbuf[23] = (int)pid.SEk / 256; // SEk
-	sendbuf[24] = (int)pid.SEk % 256;			  
+	sendbuf[23] = (int)(-pid.SEk) / 256; // SEk
+	sendbuf[24] = (int)(-pid.SEk) % 256;			  
 	sendbuf[25] = (int)pid.Ki / 256; // compressor speed
 	sendbuf[26] = (int)pid.Ki % 256;
 	sendbuf[27] = (int)pid.Kd / 256;			  //  heater percent
diff --git a/USER/control.uvguix.Administrator b/USER/control.uvguix.Administrator
index 9a64680..429a459 100644
--- a/USER/control.uvguix.Administrator
+++ b/USER/control.uvguix.Administrator
@@ -77,8 +77,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -95,7 +95,7 @@
       <RegID>0</RegID>
       <MDITabState>
         <Len>1454</Len>
-        <Data>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</Data>
+        <Data>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</Data>
       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1690,7 +1690,7 @@
         <Name>File</Name>
         <Buttons>
           <Len>2021</Len>
-          <Data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ata>
+          <Data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ata>
         </Buttons>
         <OriginalItems>
           <Len>1423</Len>
@@ -1722,7 +1722,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2373</Len>
-          <Data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ata>
+          <Data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ata>
         </Buttons>
         <OriginalItems>
           <Len>898</Len>
@@ -1746,12 +1746,12 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>0</ActiveTab>
+      <ActiveTab>2</ActiveTab>
       <Doc>
         <Name>../myfreertos/myfreertos.c</Name>
-        <ColumnNumber>22</ColumnNumber>
+        <ColumnNumber>21</ColumnNumber>
         <TopLine>198</TopLine>
-        <CurrentLine>209</CurrentLine>
+        <CurrentLine>220</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
@@ -1767,9 +1767,9 @@
       </Doc>
       <Doc>
         <Name>../HARDWARE/PID.c</Name>
-        <ColumnNumber>3</ColumnNumber>
-        <TopLine>143</TopLine>
-        <CurrentLine>168</CurrentLine>
+        <ColumnNumber>18</ColumnNumber>
+        <TopLine>157</TopLine>
+        <CurrentLine>176</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/USER/control.uvoptx b/USER/control.uvoptx
index 3949b68..83b52e2 100644
--- a/USER/control.uvoptx
+++ b/USER/control.uvoptx
@@ -115,6 +115,11 @@
         <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U16004A002933353739303541 -O239 -S0 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>UL2CM3</Key>
diff --git a/USER/control.uvprojx b/USER/control.uvprojx
index 22db6b3..998e614 100644
--- a/USER/control.uvprojx
+++ b/USER/control.uvprojx
@@ -48,7 +48,7 @@
             <InvalidFlash>1</InvalidFlash>
           </TargetStatus>
           <OutputDirectory>.\build\Keil\</OutputDirectory>
-          <OutputName>control</OutputName>
+          <OutputName>apk</OutputName>
           <CreateExecutable>1</CreateExecutable>
           <CreateLib>0</CreateLib>
           <CreateHexFile>1</CreateHexFile>