Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -racebbc372d11f4f46a64eefc36ae784cbd08880d -rab304e2ca6e3e40ed8cb12650e9855ae0b9649d8
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision acebbc372d11f4f46a64eefc36ae784cbd08880d)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision ab304e2ca6e3e40ed8cb12650e9855ae0b9649d8)
@@ -7,17 +7,15 @@
 *
 * @file PIControllers.c
 *
-* @author (last) Sean Nash
-* @date (last) 04-Jun-2020
+* @author (last) Quang Nguyen
+* @date (last) 24-Aug-2020
 *
 * @author (original) Sean
 * @date (original) 04-Feb-2020
 *
 ***************************************************************************/
 
-#ifndef _VECTORCAST_
-    #include "math.h"
-#endif
+#include "math.h"
 
 #include "SystemCommMessages.h"
 #include "PIControllers.h"
@@ -28,11 +26,8 @@
  */
 
 // ********** private definitions **********
-
-/// minimum integral coefficient - cannot be zero.
-#define MIN_KI                      NEARLY_ZERO
-
-/// record for PI controller.
+
+/// Record for PI controller.
 typedef struct {
     // -- PI's parameters --
     F32 Kp;                         ///< Proportional Value.
@@ -48,14 +43,14 @@
     F32 controlSignal;              ///< actual control signal.
 } PI_CONTROLLER_T;
 
-#define SET_CONTROLLER( c, id )     ((c) = &piControllers[id])          ///< macro to set a local controller pointer to a given piController.
+#define MIN_KI                      NEARLY_ZERO                         ///< minimum integral coefficient - cannot be zero.
+#define SET_CONTROLLER( c, id )     ( (c) = &piControllers[ id ] )      ///< macro to set a local controller pointer to a given piController.
 
 // ********** private data **********
 
-/// PI Controllers -- initial configurations.
+/// PI Controllers - initial configurations.
 static PI_CONTROLLER_T piControllers[ NUM_OF_PI_CONTROLLERS_IDS ] =
 {   // Kp   Ki  uMax  uMin  ref meas  err  esw esum ctrl
-
     { 0.0, 0.0, 1.0,  0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_RO_PUMP
     { 0.0, 0.0, 0.99, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // I_CONTROLLER_ID_RO_PUMP_RAMP_UP
     { 0.0, 0.0, 3000, 300, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },  // PI_CONTROLLER_ID_DRAIN_PUMP
@@ -65,16 +60,16 @@
 
 /*********************************************************************//**
  * @brief
- * Initialize controller before operation. Make sure to call it before
- * first call to runController function.
- *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
- * @param kP - Coefficient for proportional.
- * @param kI - Coefficient for integral.
- * @param controlMin - Minimum control output.
- * @param controlMax - Maximum control output.
- *
+ * The initializePIController function initializes controller before operation.
+ * Make sure to call it before first call to runController function.
+ * Inputs : none
+ * Outputs : PI controllers module initialized
+ * @param controllerID ID filter number
+ * @param initialControlSignal Value of the output on the first iteration
+ * @param kP Coefficient for proportional
+ * @param kI Coefficient for integral
+ * @param controlMin Minimum control output
+ * @param controlMax Maximum control output
  * @return none
  *************************************************************************/
 void initializePIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal,
@@ -107,12 +102,12 @@
 
 /*********************************************************************//**
  * @brief
- * Reset controller before new set point. Make sure to call it before first
- * call to runController function.
- *
- * @param controllerID - ID filter number
- * @param initialControlSignal - Value of the output on the first iteration
- *
+ * The resetPIController functions resets controller before new set point.
+ * Make sure to call it before first call to runController function.
+ * Inputs : none
+ * Outputs : Reset a PI controller
+ * @param controllerID ID filter number
+ * @param initialControlSignal Value of the output on the first iteration
  * @return none
  *************************************************************************/
 void resetPIController( PI_CONTROLLER_ID_T controllerID, F32 initialControlSignal )
@@ -137,12 +132,12 @@
 
 /*********************************************************************//**
  * @brief
- * Call this function whenever a new measured signal sampled is acquired.
- *
- * @param controllerID - ID filter number
- * @param referenceSignal - reference signal value
- * @param measuredSignal - latest measured sample
- *
+ * The runPIController functions executes a PI controller with a new sampled measured signal.
+ * Inputs : none
+ * Outputs : Feeds new signal to PI controller
+ * @param controllerID ID filter number
+ * @param referenceSignal reference signal value
+ * @param measuredSignal latest measured sample
  * @return value of the control signal
  *************************************************************************/
 F32 runPIController(PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal)
@@ -185,11 +180,11 @@
 
 /*********************************************************************//**
  * @brief
- * Returns the latest requested signal sample.
- *
- * @param controllerID - ID filter number
- * @param signalID -  signal sample ID request
- *
+ * The getPIControllerSignals function returns the latest requested signal sample.
+ * Inputs : none
+ * Outputs : none
+ * @param controllerID ID filter number
+ * @param signalID signal sample ID request
  * @return latest sample requested
  *************************************************************************/
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID )