Fix typo

Author: rashedtalukder

components/mpu6050/include/mpu6050.h

@@ -102,7 +102,7 @@ typedef struct {
 typedef struct {
     float roll;
     float pitch;
-} complimentary_angle_t;
+} complementary_angle_t;
 
 typedef void *mpu6050_handle_t;
 
@@ -385,14 +385,14 @@ esp_err_t mpu6050_get_temp(mpu6050_handle_t sensor, mpu6050_temp_value_t *const
  * @param sensor object handle of mpu6050
  * @param acce_value accelerometer measurements
  * @param gyro_value gyroscope measurements
- * @param complimentary_angle complimentary angle
+ * @param complementary_angle complementary angle
  *
  * @return
  *     - ESP_OK Success
  *     - ESP_FAIL Fail
  */
 esp_err_t mpu6050_complimentory_filter(mpu6050_handle_t sensor, const mpu6050_acce_value_t *const acce_value,
-                                       const mpu6050_gyro_value_t *const gyro_value, complimentary_angle_t *const complimentary_angle);
+                                       const mpu6050_gyro_value_t *const gyro_value, complementary_angle_t *const complementary_angle);
 
 #ifdef __cplusplus
 }

components/mpu6050/mpu6050.c

@@ -441,7 +441,7 @@ esp_err_t mpu6050_get_temp(mpu6050_handle_t sensor, mpu6050_temp_value_t *const
 }
 
 esp_err_t mpu6050_complimentory_filter(mpu6050_handle_t sensor, const mpu6050_acce_value_t *const acce_value,
-                                       const mpu6050_gyro_value_t *const gyro_value, complimentary_angle_t *const complimentary_angle)
+                                       const mpu6050_gyro_value_t *const gyro_value, complementary_angle_t *const complementary_angle)
 {
     float acce_angle[2];
     float gyro_angle[2];
@@ -452,8 +452,8 @@ esp_err_t mpu6050_complimentory_filter(mpu6050_handle_t sensor, const mpu6050_ac
     if (sens->counter == 1) {
         acce_angle[0] = (atan2(acce_value->acce_y, acce_value->acce_z) * RAD_TO_DEG);
         acce_angle[1] = (atan2(acce_value->acce_x, acce_value->acce_z) * RAD_TO_DEG);
-        complimentary_angle->roll = acce_angle[0];
-        complimentary_angle->pitch = acce_angle[1];
+        complementary_angle->roll = acce_angle[0];
+        complementary_angle->pitch = acce_angle[1];
         gettimeofday(sens->timer, NULL);
         return ESP_OK;
     }
@@ -472,8 +472,8 @@ esp_err_t mpu6050_complimentory_filter(mpu6050_handle_t sensor, const mpu6050_ac
     gyro_angle[0] = gyro_rate[0] * sens->dt;
     gyro_angle[1] = gyro_rate[1] * sens->dt;
 
-    complimentary_angle->roll = (ALPHA * (complimentary_angle->roll + gyro_angle[0])) + ((1 - ALPHA) * acce_angle[0]);
-    complimentary_angle->pitch = (ALPHA * (complimentary_angle->pitch + gyro_angle[1])) + ((1 - ALPHA) * acce_angle[1]);
+    complementary_angle->roll = (ALPHA * (complementary_angle->roll + gyro_angle[0])) + ((1 - ALPHA) * acce_angle[0]);
+    complementary_angle->pitch = (ALPHA * (complementary_angle->pitch + gyro_angle[1])) + ((1 - ALPHA) * acce_angle[1]);
 
     return ESP_OK;
 }

components/mpu6886/README.md

@@ -8,7 +8,7 @@ C driver for MPU-6886 6-axis gyroscope and accelerometer based on I2C communicat
 - 3-axis accelerometer data (raw 16-bit or floating-point g values)
 - 3-axis gyroscope data (raw 16-bit or floating-point dps values)
 - Internal temperature sensor
-- Complimentary filter for roll and pitch angle estimation
+- complementary filter for roll and pitch angle estimation
 
 ### Configuration
 - Accelerometer full-scale range: ±2g, ±4g, ±8g, ±16g
@@ -237,7 +237,7 @@ mpu6886_set_gyro_low_power(sensor, true, MPU6886_GYRO_AVG_32);
 | `mpu6886_get_raw_acce` / `mpu6886_get_acce` | Read accelerometer data |
 | `mpu6886_get_raw_gyro` / `mpu6886_get_gyro` | Read gyroscope data |
 | `mpu6886_get_temp` | Read temperature |
-| `mpu6886_complimentary_filter` | Compute roll/pitch angles |
+| `mpu6886_complementary_filter` | Compute roll/pitch angles |
 
 ## See Also
 * [MPU-6886 datasheet](https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf)

components/mpu6886/include/mpu6886.h

@@ -181,7 +181,7 @@ typedef struct {
 typedef struct {
     float roll;
     float pitch;
-} mpu6886_complimentary_angle_t;
+} mpu6886_complementary_angle_t;
 
 typedef void *mpu6886_handle_t;
 
@@ -733,19 +733,19 @@ esp_err_t mpu6886_get_gyro(mpu6886_handle_t sensor, mpu6886_gyro_value_t *const
 esp_err_t mpu6886_get_temp(mpu6886_handle_t sensor, mpu6886_temp_value_t *const temp_value);
 
 /**
- * @brief Use complimentary filter to calculate roll and pitch
+ * @brief Use complementary filter to calculate roll and pitch
  *
  * @param sensor object handle of mpu6886
  * @param acce_value accelerometer measurements
  * @param gyro_value gyroscope measurements
- * @param complimentary_angle complimentary angle
+ * @param complementary_angle complementary angle
  *
  * @return
  *     - ESP_OK Success
  *     - ESP_FAIL Fail
  */
-esp_err_t mpu6886_complimentary_filter(mpu6886_handle_t sensor, const mpu6886_acce_value_t *const acce_value,
-                                       const mpu6886_gyro_value_t *const gyro_value, mpu6886_complimentary_angle_t *const complimentary_angle);
+esp_err_t mpu6886_complementary_filter(mpu6886_handle_t sensor, const mpu6886_acce_value_t *const acce_value,
+                                       const mpu6886_gyro_value_t *const gyro_value, mpu6886_complementary_angle_t *const complementary_angle);
 
 #ifdef __cplusplus
 }

components/mpu6886/mpu6886.c

@@ -891,8 +891,8 @@ esp_err_t mpu6886_get_temp(mpu6886_handle_t sensor, mpu6886_temp_value_t *const
     return ret;
 }
 
-esp_err_t mpu6886_complimentary_filter(mpu6886_handle_t sensor, const mpu6886_acce_value_t *const acce_value,
-                                       const mpu6886_gyro_value_t *const gyro_value, mpu6886_complimentary_angle_t *const complimentary_angle)
+esp_err_t mpu6886_complementary_filter(mpu6886_handle_t sensor, const mpu6886_acce_value_t *const acce_value,
+                                       const mpu6886_gyro_value_t *const gyro_value, mpu6886_complementary_angle_t *const complementary_angle)
 {
     float acce_angle[2];
     float gyro_angle[2];
@@ -903,8 +903,8 @@ esp_err_t mpu6886_complimentary_filter(mpu6886_handle_t sensor, const mpu6886_ac
     if (sens->counter == 1) {
         acce_angle[0] = (atan2(acce_value->acce_y, acce_value->acce_z) * RAD_TO_DEG);
         acce_angle[1] = (atan2(acce_value->acce_x, acce_value->acce_z) * RAD_TO_DEG);
-        complimentary_angle->roll = acce_angle[0];
-        complimentary_angle->pitch = acce_angle[1];
+        complementary_angle->roll = acce_angle[0];
+        complementary_angle->pitch = acce_angle[1];
         gettimeofday(sens->timer, NULL);
         return ESP_OK;
     }
@@ -923,8 +923,8 @@ esp_err_t mpu6886_complimentary_filter(mpu6886_handle_t sensor, const mpu6886_ac
     gyro_angle[0] = gyro_rate[0] * sens->dt;
     gyro_angle[1] = gyro_rate[1] * sens->dt;
 
-    complimentary_angle->roll = (ALPHA * (complimentary_angle->roll + gyro_angle[0])) + ((1 - ALPHA) * acce_angle[0]);
-    complimentary_angle->pitch = (ALPHA * (complimentary_angle->pitch + gyro_angle[1])) + ((1 - ALPHA) * acce_angle[1]);
+    complementary_angle->roll = (ALPHA * (complementary_angle->roll + gyro_angle[0])) + ((1 - ALPHA) * acce_angle[0]);
+    complementary_angle->pitch = (ALPHA * (complementary_angle->pitch + gyro_angle[1])) + ((1 - ALPHA) * acce_angle[1]);
 
     return ESP_OK;
 }

components/sensors/icm42670/icm42670.c

@@ -54,7 +54,7 @@ typedef struct {
     i2c_master_dev_handle_t i2c_handle;
     bool initialized_filter;
     uint64_t previous_measurement_us;
-    complimentary_angle_t previous_measurement;
+    complementary_angle_t previous_measurement;
 } icm42670_dev_t;
 
 /*******************************************************************************
@@ -381,7 +381,7 @@ static esp_err_t icm42670_read(icm42670_handle_t sensor, const uint8_t reg_start
 }
 
 esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670_value_t *const acce_value,
-                                        const icm42670_value_t *const gyro_value, complimentary_angle_t *const complimentary_angle)
+                                        const icm42670_value_t *const gyro_value, complementary_angle_t *const complementary_angle)
 {
     icm42670_dev_t *sens = (icm42670_dev_t *) sensor;
     float measurement_delta;
@@ -410,13 +410,13 @@ esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670
     gyro_roll_angle = gyro_value->x * measurement_delta;
     gyro_pitch_angle = gyro_value->y * measurement_delta;
 
-    complimentary_angle->roll = (ALPHA * (sens->previous_measurement.roll + gyro_roll_angle)) + ((
+    complementary_angle->roll = (ALPHA * (sens->previous_measurement.roll + gyro_roll_angle)) + ((
                                     1 - ALPHA) * acc_roll_angle);
-    complimentary_angle->pitch = (ALPHA * (sens->previous_measurement.pitch + gyro_pitch_angle)) + ((
+    complementary_angle->pitch = (ALPHA * (sens->previous_measurement.pitch + gyro_pitch_angle)) + ((
                                      1 - ALPHA) * acc_pitch_angle);
 
-    sens->previous_measurement.roll = complimentary_angle->roll;
-    sens->previous_measurement.pitch = complimentary_angle->pitch;
+    sens->previous_measurement.roll = complementary_angle->roll;
+    sens->previous_measurement.pitch = complementary_angle->pitch;
 
     return ESP_OK;
 }

components/sensors/icm42670/include/icm42670.h

@@ -117,7 +117,7 @@ typedef struct {
 typedef struct {
     float roll;
     float pitch;
-} complimentary_angle_t;
+} complementary_angle_t;
 
 typedef void *icm42670_handle_t;
 
@@ -292,14 +292,14 @@ esp_err_t icm42670_get_temp_value(icm42670_handle_t sensor, float *value);
  *
  * @param acce_value accelerometer measurements
  * @param gyro_value gyroscope measurements
- * @param complimentary_angle complimentary angle
+ * @param complementary_angle complementary angle
  *
  * @return
  *     - ESP_OK Success
  *     - ESP_FAIL Fail
  */
 esp_err_t icm42670_complimentory_filter(icm42670_handle_t sensor, const icm42670_value_t *acce_value,
-                                        const icm42670_value_t *gyro_value, complimentary_angle_t *complimentary_angle);
+                                        const icm42670_value_t *gyro_value, complementary_angle_t *complementary_angle);
 
 /**
  * @brief Read a register

examples/display_rotation/main/main.c

@@ -249,7 +249,7 @@ static void app_imu_read(void)
     icm42670_get_temp_value(imu, &val);
     ESP_LOGI(TAG, "TEMP val: %.2f", val);
 
-    complimentary_angle_t angle;
+    complementary_angle_t angle;
     icm42670_complimentory_filter(imu, &acce_val, &gyro_val, &angle);
     ESP_LOGI(TAG, "Angle roll: %.2f pitch: %.2f ", angle.roll, angle.pitch);
 

examples/display_sensors/main/main.c

@@ -44,7 +44,7 @@ static uint8_t g_page_num = 0;
 
 static mpu6050_acce_value_t acce;
 static mpu6050_gyro_value_t gyro;
-static complimentary_angle_t complimentary_angle;
+static complementary_angle_t complementary_angle;
 
 static void display_show_signs(void)
 {
@@ -132,12 +132,12 @@ static void display_show_gyro_data(void)
     bsp_display_unlock();
 }
 
-static void display_show_complimentary_angle(void)
+static void display_show_complementary_angle(void)
 {
-    ESP_LOGI(TAG, "roll:%.2f, pitch:%.2f", complimentary_angle.roll, complimentary_angle.pitch);
+    ESP_LOGI(TAG, "roll:%.2f, pitch:%.2f", complementary_angle.roll, complementary_angle.pitch);
 
     bsp_display_lock(0);
-    lv_label_set_text_fmt(main_label, "Roll: %.2f\nPitch: %.2f", complimentary_angle.roll, complimentary_angle.pitch);
+    lv_label_set_text_fmt(main_label, "Roll: %.2f\nPitch: %.2f", complementary_angle.roll, complementary_angle.pitch);
     lv_obj_set_style_text_align(main_label, LV_TEXT_ALIGN_LEFT, 0);
     bsp_display_unlock();
 }
@@ -197,7 +197,7 @@ static void display_show_task(void *pvParameters)
             display_show_gyro_data();
             break;
         case 3:
-            display_show_complimentary_angle();
+            display_show_complementary_angle();
             break;
         case 4:
             display_show_barometer_data();
@@ -215,7 +215,7 @@ static void mpu6050_read(void *pvParameters)
 {
     mpu6050_get_acce(mpu6050_dev, &acce);
     mpu6050_get_gyro(mpu6050_dev, &gyro);
-    mpu6050_complimentory_filter(mpu6050_dev, &acce, &gyro, &complimentary_angle);
+    mpu6050_complimentory_filter(mpu6050_dev, &acce, &gyro, &complementary_angle);
 }
 
 static void btn_handler(void *button_handle, void *usr_data)
@@ -277,7 +277,7 @@ void app_main(void)
     q_page_num = xQueueCreate(10, sizeof(uint8_t));
     xTaskCreate(display_show_task, "display_show_task", 2048 * 2, NULL, 5, NULL);
 
-    // In order to get accurate calculation of complimentary angle we need fast reading (5ms)
+    // In order to get accurate calculation of complementary angle we need fast reading (5ms)
     // FreeRTOS resolution is 10ms, so esp_timer is used
     const esp_timer_create_args_t cal_timer_config = {
         .callback = mpu6050_read,