Index: firmware/App/Controllers/Heaters.c
===================================================================
diff -u -r8c3db9c2d3957a1a9d53ad5d20d9594a09bc21be -rf308cc4c35eab630ebbbde405cfe47d049afeafb
--- firmware/App/Controllers/Heaters.c	(.../Heaters.c)	(revision 8c3db9c2d3957a1a9d53ad5d20d9594a09bc21be)
+++ firmware/App/Controllers/Heaters.c	(.../Heaters.c)	(revision f308cc4c35eab630ebbbde405cfe47d049afeafb)
@@ -15,6 +15,8 @@
 *
 ***************************************************************************/
 
+#include <math.h>
+
 #include "etpwm.h"
 
 #include "AlarmMgmt.h"
@@ -191,7 +193,7 @@
  * @details
  * Inputs : none
  * Outputs : primaryHeaterTargetTemperature
- * @param targetTemp
+ * @param targetTemp target temperature for the primary heater
  * @return none
  *************************************************************************/
 void setPrimaryHeaterTargetTemperature ( F32 targetTemp )
@@ -206,7 +208,7 @@
  * @details
  * Inputs : trimmerHeaterTargetTemperature
  * Outputs : none
- * @param targetTemp : targetTemp
+ * @param targetTemp target temperature for the trimmer heater
  * @return none
  *************************************************************************/
 void setTrimmerHeaterTargetTemperature ( F32 targetTemp )
@@ -222,7 +224,6 @@
  * Inputs : mainPrimaryHeaterDutyCycle, primaryHeaterTargetTemperature,
  * hasStartPrimaryHeaterRequested
  * Outputs : hasStartPrimaryHeaterRequested
- * @param none
  * @return status
  *************************************************************************/
 BOOL startPrimaryHeater ( void )
@@ -249,7 +250,6 @@
  * Inputs : trimmerHeaterDutyCycle, trimmerHeaterTargetTemperature,
  * trimmerHeaterTargetTemperature
  * Outputs : trimmerHeaterTargetTemperature
- * @param none
  * @return status
  *************************************************************************/
 BOOL startTrimmerHeater ( void )
@@ -274,7 +274,6 @@
  * @details
  * Inputs : isPrimaryHeaterOn
  * Outputs : isPrimaryHeaterOn
- * @param none
  * @return none
  *************************************************************************/
 void stopPrimaryHeater ( void )
@@ -292,7 +291,6 @@
  * @details
  * Inputs : isTrimmerHeaterOn
  * Outputs : isTrimmerHeaterOn
- * @param none
  * @return none
  *************************************************************************/
 void stopTrimmerHeater ( void )
@@ -330,7 +328,6 @@
  * @details
  * Inputs : heatersSelfTestState
  * Outputs : none
- * @param none
  * @return heatersSelfTestState
  *************************************************************************/
 SELF_TEST_STATUS_T execHeatersSelfTest ( void )
@@ -369,7 +366,6 @@
  * @details
  * Inputs : primaryHeatersExecState
  * Outputs : primaryHeatersExecState
- * @param none
  * @return none
  *************************************************************************/
 void execPrimaryHeaters ( void )
@@ -398,7 +394,6 @@
  * @details
  * Inputs : trimmerHeaterExecState
  * Outputs : trimmerHeaterExecState
- * @param none
  * @return none
  *************************************************************************/
 void execTrimmerHeater ( void )
@@ -430,7 +425,6 @@
  * @details
  * Inputs : heatersSelfTestResult, selfTestElapsedTime
  * Outputs : heatersSelfTestResult, selfTestElapsedTime
- * @param none
  * @return state (HEATERS_SELF_TEST_STATES_T)
  *************************************************************************/
 static HEATERS_SELF_TEST_STATES_T handleHeatersSelfTestStart ( void )
@@ -461,7 +455,6 @@
  * @details
  * Inputs : heatersSelfTestResult, selfTestElapsedTime
  * Outputs : heatersSelfTestResult, selfTestElapsedTime
- * @param none
  * @return state (HEATERS_SELF_TEST_STATES_T)
  *************************************************************************/
 static HEATERS_SELF_TEST_STATES_T handleHeatersSelfTestSmallPrimaryAndTrimmerHeaters ( void )
@@ -502,7 +495,6 @@
  * @details
  * Inputs : heatersSelfTestResult
  * Outputs : heatersSelfTestResult
- * @param none
  * @return state (HEATERS_SELF_TEST_STATES_T)
  *************************************************************************/
 static HEATERS_SELF_TEST_STATES_T handleHeatersSelfTestMainPrimaryHeater ( void )
@@ -539,7 +531,6 @@
  * @details
  * Inputs : hasStartPrimaryHeaterRequested, isPrimaryHeaterOn
  * Outputs : state (PRIMARY_HEATERS_EXEC_STATES_T), isPrimaryHeaterOn
- * @param none
  * @return state (PRIMARY_HEATERS_EXEC_STATES_T)
  *************************************************************************/
 static PRIMARY_HEATERS_EXEC_STATES_T handlePrimaryHeaterStateOff ( void )
@@ -589,7 +580,6 @@
  * smallPrimaryHeaterDutyCycle, isPrimaryHeaterOn
  * Outputs : primaryHeaterTimerCounter, mainPrimaryHeaterDutyCycle,
  * smallPrimaryHeaterDutyCycle
- * @param none
  * @return state (PRIMARY_HEATERS_EXEC_STATES_T)
  *************************************************************************/
 static PRIMARY_HEATERS_EXEC_STATES_T handlePrimaryHeaterStateControlToTarget ( void )
@@ -656,7 +646,6 @@
  * @details
  * Inputs : hasStartTrimmerHeaterRequested, isTrimmerHeaterOn
  * Outputs : state (TRIMMER_HEATER_EXEC_STATES_T), isTrimmerHeaterOn
- * @param none
  * @return state (TRIMMER_HEATER_EXEC_STATES_T)
  *************************************************************************/
 static TRIMMER_HEATER_EXEC_STATES_T handleTrimmerHeaterStateOff ( void )
@@ -708,7 +697,6 @@
  * Inputs : trimmerHeaterTimerCounter, trimmerHeaterDutyCycle
  * Outputs : trimmerHeaterTimerCounter, trimmerHeaterDutyCycle,
  * isTrimmerHeaterOn
- * @param none
  * @return state (TRIMMER_HEATER_EXEC_STATES_T)
  *************************************************************************/
 static TRIMMER_HEATER_EXEC_STATES_T handleTrimmerHeaterControlToTarget ( void )
@@ -763,7 +751,7 @@
  * @details
  * Inputs : none
  * Outputs : none
- * @param : pwm : To set the PWM
+ * @param : pwm PWM duty cycle to set for 1st primary heater element
  * @return none
  *************************************************************************/
 static void setMainPrimaryHeaterPWM ( F32 pwm )
@@ -778,7 +766,7 @@
  * @details
  * Inputs : none
  * Outputs : none
- * @param: pwm : To set the PWM
+ * @param: pwm : PWM duty cycle to set for 2nd primary heater element
  * @return none
  *************************************************************************/
 static void setSmallPrimaryHeaterPWM ( F32 pwm )
@@ -792,7 +780,7 @@
  * @details
  * Inputs : none
  * Outputs : none
- * @param : pwm : To set the PWM
+ * @param : pwm : PWM duty cycle to set for trimmer heater
  * @return none
  *************************************************************************/
 static void setTrimmerHeaterPWM ( F32 pwm )
@@ -807,7 +795,7 @@
  * @details
  * Inputs : mainPrimaryHeaterDutyCycle, trimmerHeaterDutyCycle
  * Outputs : mainPrimaryHeaterDutyCycle, trimmerHeaterDutyCycle
- * @param : heater (NAME_OF_HEATER) : Name of the heater to reset
+ * @param : heater : Enumeration of the heater for which the PI controller will be reset
  * @return none
  *************************************************************************/
 static void resetHeaterState ( NAME_OF_HEATER_T heater )
@@ -831,7 +819,6 @@
  * @details
  * Inputs : heatersDataPublishInterval
  * Outputs : none
- * @param : none
  * @return result
  *************************************************************************/
 U32 getPublishHeatersDataInterval ( void )
@@ -853,7 +840,6 @@
  * @details
  * Inputs : dataPublicationTimerCounter
  * Outputs : dataPublicationTimerCounter
- * @param none
  * @return none
  *************************************************************************/
 static void publishHeatersData ( void )
@@ -897,7 +883,6 @@
  * @details
  * Inputs : heatersDataPublishInterval
  * Outputs : heatersDataPublishInterval
- * @param value
  * @return result
  *************************************************************************/
 BOOL testSetHeatersPublishIntervalOverride ( U32 value )
@@ -923,7 +908,6 @@
  * @details
  * Inputs : heatersDataPublishInterval
  * Outputs : heatersDataPublishInterval
- * @param none
  * @return result
  *************************************************************************/
 BOOL testResetHeatersPublishIntervalOverride ( void )