Fix typos in memory_management.md

docs/development/memory_management.md

@@ -8,17 +8,17 @@ The RAM is a limiting resource and has to be managed to be used as efficiently a
 ## Static VS dynamic allocation
 
 Static memory allocation is done at compile time and the build system checks that the amount of memory that is required
-actually is available in the Crazyflie. Dynamic memory on the other hand, is requested and allocated in runtime using
+actually is available in the Crazyflie. Dynamic memory, on the other hand, is requested and allocated in runtime using
 the `malloc()` function. Dynamic memory allocation may fail (if there is not enough memory) and the error must be
 handled in some way (currently by failing an assert which will reboot the Crazyflie).
 
 In the Crazyflie firmware, we prefer static allocation over dynamic, mainly because it is checked at compile time and no
-more error handling is required. Some calls to FreeRTOS do allocate a limited amount dynamic of RAM, but this is usually done
+more error handling is required. Some calls to FreeRTOS do allocate a limited amount of dynamic RAM, but this is usually done
 in the initialization phase and out of memory conditions should be detected quickly when booting the system.
 
 ## Static allocation
 
-Static allocation of RAM memory happens when a variable is declared on a global scope (variables
+Static allocation of RAM happens when a variable is declared on a global scope (variables
 declared in a function will end up on the stack). The actual allocation is done by the linker by
 reserving space in the memory map in the appropriate location.
 
@@ -35,7 +35,7 @@ void aFunction() {
 Variables that are declared without an assignment will be set to zero at start up,
 while variables with an assignment will be initialized to that value. The
 values to use for initialized variables are stored in flash together with the
-code and is copied to RAM at start up.
+code and are copied to RAM at start up.
 
 ```
 int zeroInitialized;
@@ -45,7 +45,7 @@ int initializedWithAValue = 17;
 ### RAM types
 
 The MCU in the Crazyflie has two types of RAM, "normal" RAM and CCM (Core Coupled Memory).
-The CCM and normal ram are attached to different buses internally which gives them
+The CCM and normal RAM are attached to different buses internally which gives them
 different properties. The most significant difference is that the CCM can not be
 used for DMA transfers, since the DMA unit does not have access to the bus used by CCM. The
 normal RAM can be used for all types of tasks and should be used for normal development,
@@ -67,8 +67,8 @@ zero initialization is supported for CCM.
 
 ```
 int variableInNormalRam;  // Initialized to 0
-int alsoVariableInNormalRam = 17;  // Initialize to 17
-NO_DMA_CCM_SAFE_ZERO_INIT int variableInCcm; // Initialized ot 0
+int alsoVariableInNormalRam = 17;  // Initialized to 17
+NO_DMA_CCM_SAFE_ZERO_INIT int variableInCcm; // Initialized to 0
 NO_DMA_CCM_SAFE_ZERO_INIT int dontDoThisInCcm = 17; // WARNING! Will not work, will be initialized to 0! Will be silently accepted without warning.
 ````
 
@@ -81,6 +81,6 @@ to stack memory will be used for DMA transfers, it is possible to
 also allocate the stack in CCM by using the `STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE()`
 macro instead.
 
-Code that uses DMA through a public API should verify verify that pointers
+Code that uses DMA through a public API should verify that pointers
 passed in through the API do not point to CCM. Use `ASSERT_DMA_SAFE` for this
 purpose to fail fast and indicate what the reason for the failed is.