Correct JSON and unused variables.

library.json

@@ -25,11 +25,6 @@
       }
     ],
     "license": "LGPLV2",
-    "homepage": "https://www.owntech.org/",
-    "dependencies": {
-      "owntech/core": "~1.0"
-    },
-    "frameworks": "zephyr",
-    "platforms": "ststm32@14.2.0"
+    "homepage": "https://www.owntech.org/"
   }
-  
+

src/opalib_control_pid.c

@@ -58,7 +58,6 @@ static uint32_t pid_period_us; 			  	// Period duration of the PID calculation l
 
 static float32_t prev_pid_out = 0.1; 		// Stores the previous unsaturated output
 static float32_t pid_out;        			// Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_reset; 			// Counter to reset the PID when calculation is off 
 
 // Anti-Windup variables
 static float32_t pid_out_windUp = 0.1;     	// Stores the current pid output after anti windup and before saturation
@@ -77,11 +76,9 @@ static float32_t saturation_pid_interleaved_high = 1;
 // Leg1 PID variables--------------------------------------------------------------------------------------------------------------
 static arm_pid_instance_f32 PID_1_variables;    // PID structure
 static float32_t error_pid_1;					// PID error
-static uint32_t pid_1_period_us; 			  	// Period duration of the PID calculation loop in µs (used for Ki calculation)
 
 static float32_t prev_pid_1_out = 0.1; 		// Stores the previous unsaturated output
 static float32_t pid_1_out;        			// Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_1_reset; 			// Counter to reset the PID when calculation is off 
 
 // Anti-Windup variables
 static float32_t pid_1_out_windUp = 0.1;     	// Stores the current pid output after anti windup and before saturation
@@ -100,11 +97,9 @@ static float32_t saturation_pid_leg1_high = 1;
 // Leg2 PID variables--------------------------------------------------------------------------------------------------------------
 static arm_pid_instance_f32 PID_2_variables;    // PID structure
 static float32_t error_pid_2;					// PID error
-static uint32_t pid_2_period_us; 			  	// Period duration of the PID calculation loop in µs (used for Ki calculation)
 
 static float32_t prev_pid_2_out = 0.1; 		// Stores the previous unsaturated output
 static float32_t pid_2_out;        			// Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_2_reset; 			// Counter to reset the PID when calculation is off 
 
 // Anti-Windup variables
 static float32_t pid_2_out_windUp = 0.1;     	// Stores the current pid output after anti windup and before saturation
@@ -129,7 +124,6 @@ static uint32_t pid_motor_period_us; 			  	// Period duration of the PID calcula
 
 static float32_t prev_pid_motor_out = 0.1; 		// Stores the previous unsaturated output
 static float32_t pid_motor_out;        			// Stores the current pid_output after saturation and anti windUp (the effective duty cycle)
-static uint32_t Count_pid_motor_reset; 			// Counter to reset the PID when calculation is off 
 
 // Anti-Windup variables
 static float32_t pid_motor_out_windUp = 0.1;     	// Stores the current pid output after anti windup and before saturation
@@ -221,7 +215,7 @@ void opalib_control_init_motor_pid(float32_t kp, float32_t ki, float32_t kd, uin
 
 
 /**
- * This function update the voltage reference of the  
+ * This function update the voltage reference of the
  * control task.
  */
 
@@ -231,7 +225,7 @@ void opalib_control_update_saturation_interleaved(float32_t new_saturation_value
 }
 
 /**
- * This function update the voltage reference of the  
+ * This function update the voltage reference of the
  * control task.
  */
 
@@ -242,7 +236,7 @@ void opalib_control_update_saturation_leg1(float32_t new_saturation_value)
 
 
 /**
- * This function update the voltage reference of the  
+ * This function update the voltage reference of the
  * control task.
  */
 void opalib_control_update_saturation_leg2(float32_t new_saturation_value)
@@ -251,7 +245,7 @@ void opalib_control_update_saturation_leg2(float32_t new_saturation_value)
 }
 
 /**
- * This function update the voltage reference of the  
+ * This function update the voltage reference of the
  * control task.
  */
 
@@ -262,16 +256,16 @@ void opalib_control_update_saturation_motor(float32_t new_saturation_value)
 
 
 /**
- * This function does the PID calculation 
- * The PID has an anti-windup that permits to avoid 
+ * This function does the PID calculation
+ * The PID has an anti-windup that permits to avoid
  * loosing control.
  */
 
 float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float32_t measurement){
-	
+
 	if (measurement <= saturation_interleaved){
-		
-		arm_sub_f32(&reference, &measurement, &error_pid, 1);		// CALCULATING THE ERROR BASED ON THE REFERENCE	
+
+		arm_sub_f32(&reference, &measurement, &error_pid, 1);		// CALCULATING THE ERROR BASED ON THE REFERENCE
 		pid_out = arm_pid_f32(&PID_variables, error_pid);	        // PID CALCULATIONS
 
 		if(pid_out>saturation_pid_interleaved_high){
@@ -285,7 +279,7 @@ float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float3
 		arm_add_f32(&WindUp_mult, &pid_out, &pid_out_windUp, 1);
 
 		PID_variables.state[2] = pid_out_windUp;
-		pwm_duty_cycle = pid_out_windUp;	
+		pwm_duty_cycle = pid_out_windUp;
 		prev_pid_out = pid_out;
 	}
 
@@ -293,8 +287,8 @@ float32_t opalib_control_interleaved_pid_calculation(float32_t reference, float3
 }
 
 /**
- * This function does the PID_1 calculation 
- * The PID has an anti-windup that permits to avoid 
+ * This function does the PID_1 calculation
+ * The PID has an anti-windup that permits to avoid
  * loosing control.
  */
 
@@ -327,8 +321,8 @@ float32_t opalib_control_leg1_pid_calculation(float32_t reference, float32_t mea
 
 
 /**
- * This function does the PID_2 calculation 
- * The PID has an anti-windup that permits to avoid 
+ * This function does the PID_2 calculation
+ * The PID has an anti-windup that permits to avoid
  * loosing control.
  */
 
@@ -360,16 +354,16 @@ float32_t opalib_control_leg2_pid_calculation(float32_t reference, float32_t mea
 }
 
 /**
- * This function does the PID calculation 
- * The PID has an anti-windup that permits to avoid 
+ * This function does the PID calculation
+ * The PID has an anti-windup that permits to avoid
  * loosing control.
  */
 
 float32_t opalib_control_motor_pid_calculation(float32_t reference, float32_t measurement){
-	
+
 	if (measurement <= saturation_motor){
-		
-		arm_sub_f32(&reference, &measurement, &error_pid_motor, 1);		// CALCULATING THE ERROR BASED ON THE REFERENCE	
+
+		arm_sub_f32(&reference, &measurement, &error_pid_motor, 1);		// CALCULATING THE ERROR BASED ON THE REFERENCE
 		pid_motor_out = arm_pid_f32(&PID_motor_variables, error_pid_motor);	        // PID CALCULATIONS
 
 		if(pid_motor_out>saturation_pid_motor_high){
@@ -402,7 +396,7 @@ void opalib_control_motor_pid_ki_update(float32_t new_ki){
 
 
 /**
- * This function resets the states of the pid  
+ * This function resets the states of the pid
  */
 void opalib_control_pid_reset_state()
 {