diff --git a/firmware/README.md b/firmware/README.md
index 7682cc2..fc060d2 100644
--- a/firmware/README.md
+++ b/firmware/README.md
@@ -18,10 +18,17 @@ The scope of this setting is per TCP session.
 
 ### Commands
 
-| Syntax                                    | Function                            |
-| ---                                       | ---                                 |
-| `report`                                  | Report mode: once                   |
-| `report mode`                             | Show current report mode            |
-| `report mode <off or once or continuous>` | Set report mode                     |
-| `pwm <width> <total>`                     | Set PWM duty cycle to width / total |
-
+| Syntax                     | Function                            |
+| ---                        | ---                                 |
+| `report`                   | Show current input                  |
+| `report mode`              | Show current report mode            |
+| `report mode <off or on>`  | Set report mode                     |
+| `pwm <width> <total>`      | Set PWM duty cycle to width / total |
+| `pid target <value>`       |                                     |
+| `pid kp <value>`           |                                     |
+| `pid ki <value>`           |                                     |
+| `pid kd <value>`           |                                     |
+| `pid output_min <value>`   |                                     |
+| `pid output_max <value>`   |                                     |
+| `pid integral_min <value>` |                                     |
+| `pid integral_max <value>` |                                     |
diff --git a/firmware/src/command_parser.rs b/firmware/src/command_parser.rs
index db72ab5..26d43b7 100644
--- a/firmware/src/command_parser.rs
+++ b/firmware/src/command_parser.rs
@@ -146,6 +146,7 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
     )(input)
 }
 
+/// `pwm <width> <total>` - Set pwm duty cycle
 fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("pwm")(input)?;
     let (input, _) = whitespace(input)?;
@@ -182,6 +183,7 @@ fn pid_parameter(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     Ok((input, result))
 }
 
+/// `pid <parameter> <value>`
 fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     let (input, _) = tag("pid")(input)?;
     let (input, _) = whitespace(input)?;