Index: firmware/App/Tasks/TaskPriority.h
===================================================================
diff -u -reff7b1575f008f81b29ef906f6346fac6012d3ab -r8e7158d8231435496fcf1d5649e51babf859ccc7
--- firmware/App/Tasks/TaskPriority.h	(.../TaskPriority.h)	(revision eff7b1575f008f81b29ef906f6346fac6012d3ab)
+++ firmware/App/Tasks/TaskPriority.h	(.../TaskPriority.h)	(revision 8e7158d8231435496fcf1d5649e51babf859ccc7)
@@ -1,28 +1,41 @@
-/**************************************************************************
- *
- *  Copyright (c) 2019-2019 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.
- *
- *  @file TaskPriority.h
- *
- *  @date 19-Sep-2019
- *  @author S. Nash
- *
- *  @brief Priority task header file.
- *
- **************************************************************************/
+/**************************************************************************
+*
+* Copyright (c) 2019-2021 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.
+*
+* @file TaskPriority.h
+*
+* @author (last) Sean Nash
+* @date (last) 24-Aug-2020
+*
+* @author (original) Dara Navaei
+* @date (original) 05-Nov-2019
+*
+***************************************************************************/
 
 #ifndef __TASK_PRIORITY_H__
 #define __TASK_PRIORITY_H__
 
+/**
+ *  @defgroup TaskPriority TaskPriority
+ *  @brief The priority task is called by RTI interrupt every 10 ms and performs
+ *  high priority and/or more urgent sensor/actuator processing as well as the
+ *  interface to the FPGA.
+ *
+ *  @addtogroup TaskPriority
+ *  @{
+ */
+
 // public definitions
 
-#define TASK_PRIORITY_INTERVAL    (5)
+#define TASK_PRIORITY_INTERVAL    (10)          ///< Priority task timer interrupt interval (in ms).
 
 // public function prototypes
 
 void taskPriority( void );
+
+/**@}*/
 
 #endif