Revision 57:7b3dec9349db, committed 2021-10-05

Comitter:

jianghan1913

Date:

Tue Oct 05 07:18:13 2021 +0000

Parent:

56:fe5056ac6740

Commit message:

motor

Changed in this revision

diff -r fe5056ac6740 -r 7b3dec9349db main.cpp
--- a/main.cpp	Thu Oct 10 15:03:12 2019 +0000
+++ b/main.cpp	Tue Oct 05 07:18:13 2021 +0000
@@ -20,10 +20,10 @@
 #include "mbed.h"
 #include "PositionSensor.h"
 #include "structs.h"
-#include "foc.h" 
+#include "foc.h"
 #include "calibration.h"
 #include "hw_setup.h"
-#include "math_ops.h" 
+#include "math_ops.h"
 #include "current_controller_config.h"
 #include "hw_config.h"
 #include "motor_config.h"
@@ -33,7 +33,7 @@
 #include "PreferenceWriter.h"
 #include "CAN_com.h"
 #include "DRV.h"
- 
+
 PreferenceWriter prefs(6);
 
 GPIOStruct gpio;
@@ -53,42 +53,41 @@
 //DigitalOut drv_en_gate(PA_11);
 DRV832x drv(&drv_spi, &drv_cs);
 
-PositionSensorAM5147 spi(16384, 0.0, NPP);  
+PositionSensorAM5147 spi(16384, 0.0, NPP);
 
 volatile int count = 0;
 volatile int state = REST_MODE;
 volatile int state_change;
 
-void onMsgReceived() {
+void onMsgReceived()
+{
     //msgAvailable = true;
     //printf("%d\n\r", rxMsg.id);
-    can.read(rxMsg);  
-    if((rxMsg.id == CAN_ID)){
+    can.read(rxMsg);
+    if((rxMsg.id == CAN_ID)) {
         controller.timeout = 0;
-        if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){
+        if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))) {
             state = MOTOR_MODE;
             state_change = 1;
-            }
-        else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
+        } else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))) {
             state = REST_MODE;
             state_change = 1;
-            gpio.led->write(0);; 
-            }
-        else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
+            gpio.led->write(0);;
+        } else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))) {
             spi.ZeroPosition();
-            }
-        else if(state == MOTOR_MODE){
+        } else if(state == MOTOR_MODE) {
             unpack_cmd(rxMsg, &controller);
-            }
+        }
         pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
         can.write(txMsg);
-        }
-    
+    }
+
 }
 
-void enter_menu_state(void){
+void enter_menu_state(void)
+{
     drv.disable_gd();
-    reset_foc(&controller); 
+    reset_foc(&controller);
     //gpio.enable->write(0);
     printf("\n\r\n\r\n\r");
     printf(" Commands:\n\r");
@@ -107,9 +106,10 @@
     wait_us(10);
     state_change = 0;
     gpio.led->write(0);
-    }
+}
 
-void enter_setup_state(void){
+void enter_setup_state(void)
+{
     printf("\n\r\n\r Configuration Options \n\r\n\n");
     wait_us(10);
     printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
@@ -133,9 +133,10 @@
     printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
     wait_us(10);
     state_change = 0;
-    }
-    
-void enter_torque_mode(void){
+}
+
+void enter_torque_mode(void)
+{
     drv.enable_gd();
     //gpio.enable->write(1);
     controller.ovp_flag = 0;
@@ -146,9 +147,10 @@
     gpio.led->write(1);                                                     // Turn on status LED
     state_change = 0;
     printf("\n\r Entering Motor Mode \n\r");
-    }
-    
-void calibrate(void){
+}
+
+void calibrate(void)
+{
     drv.enable_gd();
     //gpio.enable->write(1);
     gpio.led->write(1);                                                    // Turn on status LED
@@ -161,77 +163,77 @@
     //printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
     //drv.disable_gd();
     //state_change = 0;
-     
-    }
-    
-void print_encoder(void){
+
+}
+
+void print_encoder(void)
+{
     printf(" Mechanical Angle:  %f    Electrical Angle:  %f    Raw:  %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
     //printf("%d\n\r", spi.GetRawPosition());
     wait(.001);
-    }
+}
 
 /// Current Sampling Interrupt ///
 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
 //float testing[1000];
 //float testing2[1000];
-extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
-  if (TIM1->SR & TIM_SR_UIF ) {
+extern "C" void TIM1_UP_TIM10_IRQHandler(void)
+{
+    if (TIM1->SR & TIM_SR_UIF ) {
         //gpio.led->write(1);
         ///Sample current always ///
         ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
-        //volatile int delay;   
+        //volatile int delay;
         //for (delay = 0; delay < 55; delay++);
-        
+
         spi.Sample(DT);                                                           // sample position sensor
         /*
         if(count < 10){printf("%d\n\r", spi.GetRawPosition());}
         count ++;
-        */        
+        */
         controller.adc2_raw = ADC2->DR;                                         // Read ADC Data Registers
         controller.adc1_raw = ADC1->DR;
         controller.adc3_raw = ADC3->DR;
         controller.theta_elec = spi.GetElecPosition();
         controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
-        controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();  
+        controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
         controller.dtheta_elec = spi.GetElecVelocity();
         controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
-        
+
+
 
-        
         ///
-        
+
         /// Check state machine state, and run the appropriate function ///
-        switch(state){
+        switch(state) {
             case REST_MODE:                                                     // Do nothing
-                if(state_change){
+                if(state_change) {
                     enter_menu_state();
-                    }
+                }
                 update_observer(&controller, &observer);
                 break;
-            
+
             case CALIBRATION_MODE:                                              // Run encoder calibration procedure
-                if(state_change){
+                if(state_change) {
                     calibrate();
-                    }
+                }
                 break;
             case INIT_TEMP_MODE:
-                if(state_change){
+                if(state_change) {
                     enter_torque_mode();
                     count = 0;
                     observer.resistance = 0.0f;
-                    } 
+                }
                 controller.i_d_ref = -10.0f;
                 controller.i_q_ref = 0.0f;
-                commutate(&controller, &observer, &gpio, controller.theta_elec); 
+                commutate(&controller, &observer, &gpio, controller.theta_elec);
 
-                if(count > 200)
-                {
+                if(count > 200) {
                     float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3);
                     //testing2[count-100] = controller.i_d;
                     observer.resistance += .001f*r_meas;
                 }
-                if(count > 1200)
-                {
+                if(count > 1200) {
                     count = 0;
                     state = REST_MODE;
                     state_change = 1;
@@ -239,9 +241,8 @@
                     observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
                     printf("Winding Resistance:  %f\n\r", observer.resistance);
                     printf("Winding Temperature:  %f\n\r", observer.temperature);
-                    
-                    if(R_NOMINAL==0)
-                    {
+
+                    if(R_NOMINAL==0) {
                         printf("Saving winding resistance\n\r");
                         R_NOMINAL = observer.resistance;
                         if (!prefs.ready()) prefs.open();
@@ -250,65 +251,63 @@
                     }
                     //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);}
                 }
-                
-                count++; 
+
+                count++;
                 break;
             case MOTOR_MODE:                                                   // Run torque control
-                if(state_change){
+                if(state_change) {
                     enter_torque_mode();
                     count = 0;
+                } else {
+                    /*
+                    if(controller.v_bus>28.0f){         //Turn of gate drive if bus voltage is too high, to prevent FETsplosion if the bus is cut during regen
+                        gpio.
+                        ->write(0);
+                        controller.ovp_flag = 1;
+                        state = REST_MODE;
+                        state_change = 1;
+                        printf("OVP Triggered!\n\r");
+                        }
+                        */
+
+                    if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)) {
+                        controller.i_d_ref = 0;
+                        controller.i_q_ref = 0;
+                        controller.kp = 0;
+                        controller.kd = 0;
+                        controller.t_ff = 0;
                     }
-                else{
-                /*
-                if(controller.v_bus>28.0f){         //Turn of gate drive if bus voltage is too high, to prevent FETsplosion if the bus is cut during regen
-                    gpio.
-                    ->write(0);
-                    controller.ovp_flag = 1;
-                    state = REST_MODE;
-                    state_change = 1;
-                    printf("OVP Triggered!\n\r");
-                    }
-                    */  
 
-                if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
-                    controller.i_d_ref = 0;
-                    controller.i_q_ref = 0;
-                    controller.kp = 0;
-                    controller.kd = 0;
-                    controller.t_ff = 0;
-                    } 
-    
-                torque_control(&controller);
-                update_observer(&controller, &observer);
-                field_weaken(&controller);
-                commutate(&controller, &observer, &gpio, controller.theta_elec);           // Run current loop
-                controller.timeout++;
+                    torque_control(&controller);
+                    update_observer(&controller, &observer);
+                    field_weaken(&controller);
+                    commutate(&controller, &observer, &gpio, controller.theta_elec);           // Run current loop
+                    controller.timeout++;
 
-                if(controller.otw_flag)
-                { 
-                    state = REST_MODE;
-                    state_change = 1;
-                    gpio.led->write(0);
+                    if(controller.otw_flag) {
+                        state = REST_MODE;
+                        state_change = 1;
+                        gpio.led->write(0);
+                    }
+
+                    count++;
                 }
-                
-                count++; 
-                }   
-                
-                  
+
+
                 break;
-            
+
             case SETUP_MODE:
-                if(state_change){
+                if(state_change) {
                     enter_setup_state();
                 }
                 break;
             case ENCODER_MODE:
                 print_encoder();
                 break;
-                }                 
-      }
-      //gpio.led->write(0);
-  TIM1->SR = 0x0;                                                               // reset the status register
+        }
+    }
+    //gpio.led->write(0);
+    TIM1->SR = 0x0;                                                               // reset the status register
 }
 
 
@@ -318,19 +317,22 @@
 
 /// Manage state machine with commands from serial terminal or configurator gui ///
 /// Called when data received over serial ///
-void serial_interrupt(void){
-    while(pc.readable()){
+void serial_interrupt(void)
+{
+    while(pc.readable()) {
         char c = pc.getc();
-        if(c == 27){
-                state = REST_MODE;
-                state_change = 1;
-                char_count = 0;
-                cmd_id = 0;
-                gpio.led->write(0);;
-                for(int i = 0; i<8; i++){cmd_val[i] = 0;}
-                }
-        if(state == REST_MODE){
-            switch (c){
+        if(c == 27) {
+            state = REST_MODE;
+            state_change = 1;
+            char_count = 0;
+            cmd_id = 0;
+            gpio.led->write(0);;
+            for(int i = 0; i<8; i++) {
+                cmd_val[i] = 0;
+            }
+        }
+        if(state == REST_MODE) {
+            switch (c) {
                 case 'c':
                     state = CALIBRATION_MODE;
                     state_change = 1;
@@ -353,19 +355,18 @@
                     wait_us(20);
                     M_OFFSET = spi.GetMechPosition();
                     if (!prefs.ready()) prefs.open();
-                        prefs.flush();                                                  // Write new prefs to flash
-                        prefs.close();    
-                        prefs.load(); 
+                    prefs.flush();                                                  // Write new prefs to flash
+                    prefs.close();
+                    prefs.load();
                     spi.SetMechOffset(M_OFFSET);
                     printf("\n\r  Saved new zero position:  %.4f\n\r\n\r", M_OFFSET);
-                    
+
                     break;
-                }
-                
-                }
-        else if(state == SETUP_MODE){
-            if(c == 13){
-                switch (cmd_id){
+            }
+
+        } else if(state == SETUP_MODE) {
+            if(c == 13) {
+                switch (cmd_id) {
                     case 'b':
                         I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
                         break;
@@ -393,52 +394,53 @@
                     default:
                         printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
                         break;
-                    }
-                    
+                }
+
                 if (!prefs.ready()) prefs.open();
                 prefs.flush();                                                  // Write new prefs to flash
-                prefs.close();    
-                prefs.load();                                              
+                prefs.close();
+                prefs.load();
                 state_change = 1;
                 char_count = 0;
                 cmd_id = 0;
-                for(int i = 0; i<8; i++){cmd_val[i] = 0;}
+                for(int i = 0; i<8; i++) {
+                    cmd_val[i] = 0;
                 }
-            else{
-                if(char_count == 0){cmd_id = c;}
-                else{
+            } else {
+                if(char_count == 0) {
+                    cmd_id = c;
+                } else {
                     cmd_val[char_count-1] = c;
-                    
+
                 }
                 pc.putc(c);
                 char_count++;
-                }
             }
-        else if (state == ENCODER_MODE){
-            switch (c){
+        } else if (state == ENCODER_MODE) {
+            switch (c) {
                 case 27:
                     state = REST_MODE;
                     state_change = 1;
                     break;
-                    }
             }
-        else if (state == MOTOR_MODE){
-            switch (c){
+        } else if (state == MOTOR_MODE) {
+            switch (c) {
                 case 'd':
                     controller.i_q_ref = 0;
                     controller.i_d_ref = 0;
-                }
             }
-            
         }
+
     }
-       
-int main() {
+}
+
+int main()
+{
     controller.v_bus = V_BUS;
     controller.mode = 0;
     Init_All_HW(&gpio);                                                         // Setup PWM, ADC, GPIO
     wait_us(100);
-    
+
     gpio.enable->write(1);
     wait_us(100);
     drv.calibrate();
@@ -447,58 +449,83 @@
     wait_us(100);
     drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0);   // calibrate shunt amplifiers
     wait_us(100);
-    zero_current(&controller.adc1_offset, &controller.adc2_offset); 
+    zero_current(&controller.adc1_offset, &controller.adc2_offset);
     wait_us(100);
     drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0);
     wait_us(100);
     drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88);
-    
+
     //drv.enable_gd();
     drv.disable_gd();
     //zero_current(&controller.adc1_offset, &controller.adc2_offset);             // Measure current sensor zero-offset
     //drv.enable_gd();
 
     wait_us(100);
-    
+
     reset_foc(&controller);                                                     // Reset current controller
     reset_observer(&observer);                                                 // Reset observer
     //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
-    
+
     wait_us(100);
     NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2);                                             // commutation > communication
     NVIC_SetPriority(CAN1_RX0_IRQn, 3);
-                                   // attach 'CAN receive-complete' interrupt handler    
-    
-    // If preferences haven't been user configured yet, set defaults 
+    // attach 'CAN receive-complete' interrupt handler
+
+    // If preferences haven't been user configured yet, set defaults
     prefs.load();                                                               // Read flash
-    can.filter(CAN_ID , 0xFFF, CANStandard, 0);                                                         
+    can.filter(CAN_ID, 0xFFF, CANStandard, 0);
     txMsg.id = CAN_MASTER;
     txMsg.len = 6;
     rxMsg.len = 8;
-    can.attach(&onMsgReceived);  
-    
-    if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
-    if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
-    if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
-    if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
-    if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=12;}
-    if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
-    if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
-    if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 1000;}
-    if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;}
-    if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;}
-    if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;}
+    can.attach(&onMsgReceived);
+
+    if(isnan(E_OFFSET)) {
+        E_OFFSET = 0.0f;
+    }
+    if(isnan(M_OFFSET)) {
+        M_OFFSET = 0.0f;
+    }
+    if(isnan(I_BW) || I_BW==-1) {
+        I_BW = 1000;
+    }
+    if(isnan(I_MAX) || I_MAX ==-1) {
+        I_MAX=40;
+    }
+    if(isnan(I_FW_MAX) || I_FW_MAX ==-1) {
+        I_FW_MAX=12;
+    }
+    if(isnan(CAN_ID) || CAN_ID==-1) {
+        CAN_ID = 1;
+    }
+    if(isnan(CAN_MASTER) || CAN_MASTER==-1) {
+        CAN_MASTER = 0;
+    }
+    if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1) {
+        CAN_TIMEOUT = 1000;
+    }
+    if(isnan(R_NOMINAL) || R_NOMINAL==-1) {
+        R_NOMINAL = 0.0f;
+    }
+    if(isnan(TEMP_MAX) || TEMP_MAX==-1) {
+        TEMP_MAX = 125.0f;
+    }
+    if(isnan(I_MAX_CONT) || I_MAX_CONT==-1) {
+        I_MAX_CONT = 14.0f;
+    }
     spi.SetElecOffset(E_OFFSET);                                                // Set position sensor offset
     spi.SetMechOffset(M_OFFSET);
     spi.Sample(1.0f);
-    if(spi.GetMechPosition() > PI){spi.SetMechOffset(M_OFFSET+2.0f*PI);}        // now zeroes to +- 30 degrees about nominal, independent of rollover point
-    else if (spi.GetMechPosition() < -PI){spi.SetMechOffset(M_OFFSET-2.0f*PI);}
-    
+    if(spi.GetMechPosition() > PI) {
+        spi.SetMechOffset(M_OFFSET+2.0f*PI);   // now zeroes to +- 30 degrees about nominal, independent of rollover point
+    } else if (spi.GetMechPosition() < -PI) {
+        spi.SetMechOffset(M_OFFSET-2.0f*PI);
+    }
+
     int lut[128] = {0};
     memcpy(&lut, &ENCODER_LUT, sizeof(lut));
     spi.WriteLUT(lut);                                                          // Set potision sensor nonlinearity lookup table
     init_controller_params(&controller);
-    
+
 
     pc.baud(921600);                                                            // set serial baud rate
     wait(.01);
@@ -510,11 +537,11 @@
     printf(" Position Sensor Electrical Offset:   %.4f\n\r", E_OFFSET);
     printf(" Output Zero Position:  %.4f\n\r", M_OFFSET);
     printf(" CAN ID:  %d\n\r", CAN_ID);
-    
+
 
     TIM1->CR1 ^= TIM_CR1_UDIS;
 
-    
+
     pc.attach(&serial_interrupt);                                               // attach serial interrupt
 
 
@@ -523,18 +550,20 @@
         //drv.print_faults();
         wait(.1);
         //printf("%.3f  %.3f\n\r" , observer.temperature, observer.q_in);
-        if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
-             /*
+        if(controller.otw_flag) {
+            gpio.led->write(!gpio.led->read());
+        }
+        /*
         if(state == MOTOR_MODE)
         {
-            if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
-            //printf("%f  %f\n\r", controller.dtheta_mech, controller.i_d_ref);
-            //printf("%.3f  %.3f  %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
-            //printf("%.3f  %.3f  %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
-            //printf("%.3f  %.3f  %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
-            //printf("%.3f  %.3f\n\r" , observer.temperature, observer.temp_measured);
+        if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
+        //printf("%f  %f\n\r", controller.dtheta_mech, controller.i_d_ref);
+        //printf("%.3f  %.3f  %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
+        //printf("%.3f  %.3f  %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
+        //printf("%.3f  %.3f  %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
+        //printf("%.3f  %.3f\n\r" , observer.temperature, observer.temp_measured);
         }
-        
+
         */
 
     }

diff -r fe5056ac6740 -r 7b3dec9349db mbed-dev.lib
--- a/mbed-dev.lib	Thu Oct 10 15:03:12 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/benkatz/code/mbed-dev-f303/#36facd806e4a