Index: firmware/App/Services/PIControllers.h
===================================================================
diff -u -r5217f70ca5c74bd586dc14540e6404b43feea004 -re5bb82cad756fbb10f04d576dffd499df78f6b35
--- firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision 5217f70ca5c74bd586dc14540e6404b43feea004)
+++ firmware/App/Services/PIControllers.h	(.../PIControllers.h)	(revision e5bb82cad756fbb10f04d576dffd499df78f6b35)
@@ -1,6 +1,6 @@
-/**************************************************************************
+/**********************************************************************//**
  *
- *  Copyright (c) 2019-2019 Diality Inc. - All Rights Reserved.
+ *  Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
  *
  *  THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
  *  WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
@@ -17,28 +17,38 @@
 #ifndef __PICONTROLLERS_H__
 #define __PICONTROLLERS_H__
 
-#include "Common.h"
+#include "../HDCommon.h"
 
+/**
+ *  @defgroup PIControllers PIControllers
+ *  @brief PIControllers service module.  Provides PI controllers for various actuators..
+ *
+ *  @addtogroup PIControllers
+ *  @{
+ */
+
 // ********** public definitions **********
 
+/// Enumeration of PI controllers
 typedef enum ControllerList
 {
-    PI_CONTROLLER_ID_LOAD_CELL = 0,
-    PI_CONTROLLER_ID_BLOOD_FLOW,
-    PI_CONTROLLER_ID_DIALYSATE_FLOW,
+    PI_CONTROLLER_ID_LOAD_CELL = 0,                 ///< Load cell controller for dialysate outlet pump
+    PI_CONTROLLER_ID_BLOOD_FLOW,                    ///< Flow controller for blood pump
+    PI_CONTROLLER_ID_DIALYSATE_FLOW,                ///< Flow controller for dialysate inlet pump
     NUM_OF_PI_CONTROLLERS_IDS
 } PI_CONTROLLER_ID_T;
 
+/// Enumeration of PI controller signals
 typedef enum ControllerSignals
 {
-    CONTROLLER_SIGNAL_REFERENCE = 0,
-    CONTROLLER_SIGNAL_MEASURED,
-    CONTROLLER_SIGNAL_ERROR,
-    CONTROLLER_SIGNAL_ERROR_SUM,
-    CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,
-    CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,
-    CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,
-    CONTROLLER_SIGNAL_CONTROL,
+    CONTROLLER_SIGNAL_REFERENCE = 0,                ///< Reference value
+    CONTROLLER_SIGNAL_MEASURED,                     ///< Measured value
+    CONTROLLER_SIGNAL_ERROR,                        ///< Error value
+    CONTROLLER_SIGNAL_ERROR_SUM,                    ///< Error sum before anti-windup
+    CONTROLLER_SIGNAL_ERROR_SUM_AFTER_WINDUP,       ///< Error sum after anti-windup
+    CONTROLLER_SIGNAL_PROPORTIONAL_OUTPUT,          ///< P portion of controller output signal
+    CONTROLLER_SIGNAL_INTEGRAL_OUTPUT,              ///< I portion of controller output signal
+    CONTROLLER_SIGNAL_CONTROL,                      ///< Controller output signal
     NUM_OF_CONTROLLER_SIGNAL
 } PI_CONTROLLER_SIGNALS_ID;
 
@@ -50,5 +60,7 @@
 F32 runPIController( PI_CONTROLLER_ID_T controllerID, F32 referenceSignal, F32 measuredSignal );
 F32 getPIControllerSignals( PI_CONTROLLER_ID_T controllerID, PI_CONTROLLER_SIGNALS_ID signalID );
 
+/**@}*/
+
 #endif