Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -rdc0d9b087c609e71cacdb7f0395cccf29d749c00 -r5e0cd9b5be11ff4b2acaadbdcafc4ffe05172aa1
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision dc0d9b087c609e71cacdb7f0395cccf29d749c00)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision 5e0cd9b5be11ff4b2acaadbdcafc4ffe05172aa1)
@@ -26,10 +26,8 @@
  */
 
 // ********** private definitions **********
-
-#define MIN_KI                      NEARLY_ZERO     ///< minimum integral coefficient - cannot be zero.
-
-/// record for PI controller.
+
+/// Record for PI controller.
 typedef struct {
     // -- PI's parameters --
     F32 Kp;                         ///< Proportional Value.
@@ -45,11 +43,12 @@
     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
@@ -59,16 +58,16 @@
 
 /*********************************************************************//**
  * @brief
- * Initialize controller before operation. Make sure to call it before
- * first call to runController function.
- *
+ * 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,
@@ -101,12 +100,12 @@
 
 /*********************************************************************//**
  * @brief
- * Reset controller before new set point. Make sure to call it before first
- * call to runController function.
- *
+ * 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 )
@@ -131,12 +130,12 @@
 
 /*********************************************************************//**
  * @brief
- * Call this function whenever a new measured signal sampled is acquired.
- *
+ * 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)
@@ -179,11 +178,11 @@
 
 /*********************************************************************//**
  * @brief
- * Returns the latest requested signal sample.
- *
+ * 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 )