Index: firmware/App/Services/PIControllers.c
===================================================================
diff -u -rd64ce68a34e7a2fc8cdc67cecb7269dec440305d -rc282822f36836a8127f447c8ac5b8a50e851be63
--- firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision d64ce68a34e7a2fc8cdc67cecb7269dec440305d)
+++ firmware/App/Services/PIControllers.c	(.../PIControllers.c)	(revision c282822f36836a8127f447c8ac5b8a50e851be63)
@@ -27,7 +27,7 @@
 
 // ********** private definitions **********
 
-/// minimum integral coefficient - cannot be zero.
+/// Minimum integral coefficient - cannot be zero.
 #define MIN_KI                      NEARLY_ZERO
 
 /// Enumeration of PI controller direction.
@@ -38,25 +38,25 @@
     NUM_OF_CONTROLLELR_DIRECTIONS           ///< Number of PI controllers directions
 } PI_CONTROLLER_DIRECTIONS_T;
 
-/// record for PI controller.
+/// Record for PI controller.
 typedef struct {
     // -- PI's parameters --
     F32 Kp;                                 ///< Proportional Value.
     F32 Ki;                                 ///< Integral Value.
     F32 uMax;                               ///< Maximum control signal.
     F32 uMin;                               ///< Minimum control signal.
     // -- PI's signals --
-    F32 referenceSignal;                    ///< reference signal.
-    F32 measuredSignal;                     ///< measured signal.
-    F32 errorSignal;                        ///< reference - measured signal.
-    F32 errorSumBeforeWindUp;               ///< error signal before windup correction.
-    F32 errorSum;                           ///< error integral after windup correction.
-    F32 controlSignal;                      ///< actual control signal.
-    F32 maxErrorSumStep;                    ///< maximum change in I (error sum) for a single control interval.
+    F32 referenceSignal;                    ///< Reference signal.
+    F32 measuredSignal;                     ///< Measured signal.
+    F32 errorSignal;                        ///< Reference - measured signal.
+    F32 errorSumBeforeWindUp;               ///< Error signal before windup correction.
+    F32 errorSum;                           ///< Error integral after windup correction.
+    F32 controlSignal;                      ///< Actual control signal.
+    F32 maxErrorSumStep;                    ///< maximum change in I (error sum) for a single control interval.
     PI_CONTROLLER_DIRECTIONS_T direction;   ///< PI controller control direction.
 } PI_CONTROLLER_T;
-
-/// macro to set a local controller pointer to a given piController.
+
+/// Macro to set a local controller pointer to a given piController.
 #define SET_CONTROLLER( c, id )     ((c) = &piControllers[id])
 
 // ********** private data **********
@@ -95,7 +95,7 @@
         SET_CONTROLLER( controller, controllerID );
 
         controller->Kp = kP;
-        if ( fabs( kI ) > MIN_KI )      // ensure kI is not zero
+        if ( fabs( kI ) > MIN_KI )      // Ensure kI is not zero
         {
             controller->Ki = kI;
         }
@@ -168,7 +168,7 @@
         controller->referenceSignal = referenceSignal;
         controller->measuredSignal = measuredSignal;
 
-        // calculate error signal
+        // Calculate error signal
         if ( controller->direction == CONTROLLER_UNIDIRECTIONAL )
         {
             controller->errorSignal = fabs( referenceSignal ) - ( referenceSignal < 0.0 ? ( measuredSignal * -1.0 ) : measuredSignal );
@@ -178,7 +178,7 @@
             controller->errorSignal = referenceSignal - measuredSignal;
         }
 
-        // limit error sum step size
+        // Limit error sum step size
         if ( fabs( controller->errorSignal ) > controller->maxErrorSumStep )
         {
             if ( controller->errorSignal < 0.0 )
@@ -276,10 +276,10 @@
             default:
                 SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_SIGNAL, (U32)signalID )
                 break;
-        } // end of switch
+        } // End of switch
     }
     else
-    {   // invalid controller given
+    {   // Invalid controller given
         SET_ALARM_WITH_2_U32_DATA( ALARM_ID_HD_SOFTWARE_FAULT, SW_FAULT_ID_PI_CTRL_INVALID_CONTROLLER, (U32)controllerID )
     }