On the freeware diagramming side you can take a look at Dia, it's similar to Visio.
Dia is roughly inspired by the commercial Windows program 'Visio', though more geared towards informal diagrams for casual use. It can be used to draw many different kinds of diagrams. It currently has special objects to help draw entity relationship diagrams, UML diagrams, flowcharts, network diagrams, and many other diagrams. It is also possible to add support for new shapes by writing simple XML files, using a subset of SVG to draw the shape.
Another handy freeware tool I use to actually discover/map the devices is MikroTik's The Dude:
The Dude network monitor is a new application by MikroTik which can dramatically improve the way you manage your network environment. It will automatically scan all devices within specified subnets, draw and layout a map of your networks, monitor services of your devices and alert you in case some service has problems.