From 3aaaeaf3a370958080bf98b93bb58b597b13c14a Mon Sep 17 00:00:00 2001
From: Chas Leichner <chas@x.team>
Date: Fri, 7 May 2021 15:27:50 -0700
Subject: [PATCH] Correct spelling, broken links, and missing parameters in
 documentation

---
 CONTRIBUTING |  6 +++---
 mcpwm_foc.c  | 10 +++++++++-
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/CONTRIBUTING b/CONTRIBUTING
index 6f987cac..3a64222e 100644
--- a/CONTRIBUTING
+++ b/CONTRIBUTING
@@ -85,8 +85,8 @@ When making updates it is easy to break things for different configurations. In
 
 === Other guidelines ===
 
-* Use single precition floating point operations, as the FPU in the STM32F4 is 32 bits only. Double precision operations can take up to 50 times (!) longer.
- - float instead if double
+* Use single precision floating point operations, as the FPU in the STM32F4 is 32 bits only. Double precision operations can take up to 50 times (!) longer.
+ - float instead of double
  - Use the math library functions ending with f (sinf, cosf, powf, fabsf etc.)
 
 * Make sure that the code compiles without warnings.
@@ -94,7 +94,7 @@ When making updates it is easy to break things for different configurations. In
 * Avoid dynamic memory allocation if possible, so that the RAM usage is known at compile time.
 
 * If the code crashed randomly, use the ChibiOS state checker:
-http://www.chibios.org/dokuwiki/doku.php?id=chibios:articles:state_checker
+https://www.chibios.org/dokuwiki/doku.php?id=chibios:documentation:books:rt:kernel_debug#system_state_checks
 
 
 === Be patient, and don't take criticism personally ===
diff --git a/mcpwm_foc.c b/mcpwm_foc.c
index 416eacba..ffff65d0 100644
--- a/mcpwm_foc.c
+++ b/mcpwm_foc.c
@@ -1399,6 +1399,10 @@ void mcpwm_foc_get_current_offsets(
  * @param current
  * The locking open loop current for the motor.
  *
+ * @param print
+ * Controls logging during the detection procedure. Set to true to enable
+ * logging.
+ *
  * @param offset
  * The detected offset.
  *
@@ -1407,6 +1411,10 @@ void mcpwm_foc_get_current_offsets(
  *
  * @param direction
  * The detected direction.
+ *
+ * @param inverted
+ * Is set to true if the encoder reports an increase in angle in the opposite
+ * direction of the motor.
  */
 void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *ratio, bool *inverted) {
 	mc_interface_lock();
@@ -1629,7 +1637,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 }
 
 /**
- * Lock the motor with a current and sample the voiltage and current to
+ * Lock the motor with a current and sample the voltage and current to
  * calculate the motor resistance.
  *
  * @param current