AP_HAL: Fix some typos

Fixed some typos found in the code.

libraries/AP_HAL/AP_HAL_Boards.h

@@ -1,5 +1,5 @@
 /**
- * C preprocesor enumeration of the boards supported by the AP_HAL.
+ * C preprocessor enumeration of the boards supported by the AP_HAL.
  * This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
  * can be used to exclude HAL boards from the build when appropriate.
  * It's not an elegant solution but we can improve it in future.

libraries/AP_HAL/AP_HAL_Namespace.h

@@ -51,7 +51,7 @@ namespace AP_HAL {
     /* Typdefs for function pointers (Procedure, Member Procedure)
 
        For member functions we use the FastDelegate delegates class
-       which allows us to encapculate a member function as a type
+       which allows us to encapsulate a member function as a type
      */
     typedef void(*Proc)(void);
     FUNCTOR_TYPEDEF(MemberProc, void);

libraries/AP_HAL/CANIface.h

@@ -179,7 +179,7 @@ public:
     // fill read select with true if a frame is available in Rx buffer
     // fill write select with true if space is available in Tx buffer
     // Also waits for Rx or Tx event depending on read_select and write_select values
-    // passed to the method until timeout. Returns true if the Rx/Tx even occured
+    // passed to the method until timeout. Returns true if the Rx/Tx even occurred
     // while waiting, false if timedout
     virtual bool select(bool &read_select, bool &write_select,
                         const CANFrame* const pending_tx, uint64_t timeout)
@@ -192,11 +192,11 @@ public:
         return true;
     }
 
-    // Put frame in queue to be sent, return negative if error occured, 0 if no space, and 1 if successful
+    // Put frame in queue to be sent, return negative if error occurred, 0 if no space, and 1 if successful
     // must be called on child class
     virtual int16_t send(const CANFrame& frame, uint64_t tx_deadline, CanIOFlags flags);
 
-    // Non blocking receive frame that pops the frames received inside the buffer, return negative if error occured, 
+    // Non blocking receive frame that pops the frames received inside the buffer, return negative if error occurred, 
     // 0 if no frame available, 1 if successful
     // must be called on child class
     virtual int16_t receive(CANFrame& out_frame, uint64_t& out_ts_monotonic, CanIOFlags& out_flags);

libraries/AP_HAL/Device.cpp

@@ -30,7 +30,7 @@
   Periodically (say at 50Hz) you should then call
   check_next_register(). If that returns false then the sensor has had
   a corrupted register value. Marking the sensor as unhealthy is
-  approriate. The bad value will be corrected
+  appropiate. The bad value will be corrected
  */
 
 /*

libraries/AP_HAL/GPIO.h

@@ -82,7 +82,7 @@ public:
     //    ret indicates the functor must return void
     //    pin is the pin which has triggered the interrupt
     //    state is the new state of the pin
-    //    timestamp is the time in microseconds the interrupt occured
+    //    timestamp is the time in microseconds the interrupt occurred
     FUNCTOR_TYPEDEF(irq_handler_fn_t, void, uint8_t, bool, uint32_t);
     virtual bool    attach_interrupt(uint8_t pin,
                                      irq_handler_fn_t fn,

libraries/AP_HAL/RCOutput.h

@@ -332,7 +332,7 @@ public:
 
     const static uint32_t ALL_CHANNELS = 255;
     /*
-      Send a dshot command, if command timout is 0 then 10 commands are sent
+      Send a dshot command, if command timeout is 0 then 10 commands are sent
       chan is the servo channel to send the command to
      */
     virtual void send_dshot_command(uint8_t command, uint8_t chan = ALL_CHANNELS, uint32_t command_timeout_ms = 0, uint16_t repeat_count = 10, bool priority = false) {}

libraries/AP_HAL/WSPIDevice.h

@@ -143,7 +143,7 @@ public:
     virtual bool transfer(const uint8_t *send, uint32_t send_len,
                           uint8_t *recv, uint32_t recv_len) override = 0;
 
-    // Set command header for upcomming transfer call(s)
+    // Set command header for upcoming transfer call(s)
     virtual void set_cmd_header(const CommandHeader& cmd_hdr) override = 0;
 
     virtual bool is_busy() = 0;

libraries/AP_HAL/examples/AnalogIn/AnalogIn.cpp

@@ -22,7 +22,7 @@ void loop();     //declaration of the loop() function
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();    //create a reference to AP_HAL::HAL object to get access to hardware specific functions. For more info see <https://ardupilot.org/dev/docs/learning-ardupilot-the-example-sketches.html/>  
 
-AP_HAL::AnalogSource* chan;    //delare a pointer to AnalogSource object. AnalogSource class can be found in : AP_HAL->AnalogIn.h
+AP_HAL::AnalogSource* chan;    //declare a pointer to AnalogSource object. AnalogSource class can be found in : AP_HAL->AnalogIn.h
 
 // the setup function runs once when the board powers up
 void setup(void) {

libraries/AP_HAL/examples/RCOutput2/RCOutput.cpp

@@ -28,12 +28,12 @@ void drive(uint16_t hz_speed);
 class Menu_Commands {
 public:
     /* Menu commands to drive a SERVO type with
-     * repective PWM output freq defined by SERVO_HZ
+     * respective PWM output freq defined by SERVO_HZ
      */
     int8_t menu_servo(uint8_t argc, const Menu::arg *argv);
 
     /* Menu commands to drive a ESC type with
-     * repective PWM output freq defined by ESC_HZ
+     * respective PWM output freq defined by ESC_HZ
      */
     int8_t menu_esc(uint8_t argc, const Menu::arg *argv);
 };
@@ -45,7 +45,7 @@ Menu_Commands commands;
 static uint16_t pwm = 1500;
 static int8_t delta = 1;
 
-/* Function to drive a RC output TYPE especified */
+/* Function to drive a RC output TYPE specified */
 void drive(uint16_t hz_speed) {
     hal.rcout->set_freq(0xFF, hz_speed);
 

libraries/AP_HAL/examples/Storage/Storage.cpp

@@ -20,7 +20,7 @@ void setup(void)
     st->init();
 
     /*
-      Calculate XOR of the full conent of memory
+      Calculate XOR of the full content of memory
       Do it by block of 8 bytes
     */
     unsigned char buff[8], XOR_res = 0;
@@ -35,7 +35,7 @@ void setup(void)
     /*
       print XORed result
      */
-    hal.console->printf("XORed ememory: %u\r\n", (unsigned) XOR_res);
+    hal.console->printf("XORed memory: %u\r\n", (unsigned) XOR_res);
 }
 
 // In main loop do nothing

libraries/AP_HAL/utility/ftoa_engine.cpp

@@ -131,7 +131,7 @@ int16_t ftoa_engine(float val, char *buf, uint8_t precision, uint8_t maxDecimals
     int64_t prod = (int64_t)frac * (int64_t)factorTable[idx];
 
     // The expConvFactorTable are factor are correct iff the lower 3 exponent
-    // bits are 1 (=7). Else we need to compensate by divding frac.
+    // bits are 1 (=7). Else we need to compensate by dividing frac.
     // If the lower 3 bits are 7 we are right.
     // If the lower 3 bits are 6 we right-shift once
     // ..

libraries/AP_HAL/utility/srxl.cpp

@@ -17,7 +17,7 @@
   Andrew Tridgell, September 2016
 
   Co author: Roman Kirchner, September 2016
-   - 2016.10.23: SRXL variant V1 sucessfully (Testbench and Pixhawk/MissionPlanner) tested with RX-9-DR M-LINK (SW v1.26)
+   - 2016.10.23: SRXL variant V1 successfully (Testbench and Pixhawk/MissionPlanner) tested with RX-9-DR M-LINK (SW v1.26)
  */
 
 #include "srxl.h"
@@ -49,7 +49,7 @@
 #define SRXL_HEADER_V1          0xA1U    /* Headerbyte for:  Mpx SRXLv1 or XBUS Mode B */
 #define SRXL_HEADER_V2          0xA2U    /* Headerbyte for:  Mpx SRXLv2  */
 #define SRXL_HEADER_V5          0xA5U    /* Headerbyte for:  Spk AR7700 etc. */
-#define SRXL_HEADER_NOT_IMPL    0xFFU    /* Headerbyte for non impemented srxl header*/
+#define SRXL_HEADER_NOT_IMPL    0xFFU    /* Headerbyte for non implemented srxl header*/
 
 
 

libraries/AP_HAL/utility/st24.cpp

@@ -125,7 +125,7 @@ typedef struct {
  */
 typedef struct {
 	uint16_t t;			///< packet counter or clock
-	int32_t	lat;			///< lattitude (degrees)	+/- 90 deg
+	int32_t	lat;			///< latitude (degrees)	+/- 90 deg
 	int32_t	lon;			///< longitude (degrees)	+/- 180 deg
 	int32_t	alt;			///< 0.01m resolution, altitude (meters)
 	int16_t	vx, vy, vz; 		///< velocity 0.01m res, +/-320.00 North-East- Down

libraries/AP_HAL/utility/sumd.h

@@ -50,7 +50,7 @@
  *
  * @param byte current char to read
  * @param rssi pointer to a byte where the RSSI value is written back to
- * @param rx_count pointer to a byte where the receive count of packets signce last wireless frame is written back to
+ * @param rx_count pointer to a byte where the receive count of packets since last wireless frame is written back to
  * @param channels pointer to a datastructure of size max_chan_count where channel values (12 bit) are written back to
  * @param max_chan_count maximum channels to decode - if more channels are decoded, the last n are skipped and success (0) is returned
  * @return 0 for success (a decoded packet), 1 for no packet yet (accumulating), 2 for unknown packet, 3 for out of sync, 4 for checksum error