dont launch adc on mainboard

[aversive.git] / projects / microb2010 / mainboard / sensor.c

diff --git a/projects/microb2010/mainboard/sensor.c b/projects/microb2010/mainboard/sensor.c
index a6f85de..bda3bd5 100644 (file)
--- a/projects/microb2010/mainboard/sensor.c
+++ b/projects/microb2010/mainboard/sensor.c
@@ -158,14 +158,14 @@ struct sensor_filter {
  * CAP 1,5,6,7,8
  */
 static struct sensor_filter sensor_filter[SENSOR_MAX] = {
-       [S_CAP1] = { 1, 0, 0, 1, 0, 0 }, /* 4 */
+       [S_CAP1] = { 1, 0, 0, 1, 0, 0 }, /* 0 */
        [S_CAP2] = { 1, 0, 0, 1, 0, 0 }, /* 1 */
-       [S_COLUMN_LEFT] = { 1, 0, 0, 1, 0, 1 }, /* 2 */
-       [S_COLUMN_RIGHT] = { 1, 0, 0, 1, 0, 1 }, /* 3 */
-       [S_START_SWITCH] = { 10, 0, 3, 7, 0, 0 }, /* 0 */
-       [S_DISP_LEFT] = { 1, 0, 0, 1, 0, 1 }, /* 5 */
-       [S_DISP_RIGHT] = { 1, 0, 0, 1, 0, 1 }, /* 6 */
-       [S_CAP8] = { 1, 0, 0, 1, 0, 0 }, /* 7 */
+       [S_LFRONT] = { 1, 0, 0, 1, 0, 1 },    /* 2 */
+       [S_RFRONT] = { 1, 0, 0, 1, 0, 1 },    /* 3 */
+       [S_START_SWITCH] = { 10, 0, 3, 7, 0, 0 },  /* 4 */
+       [S_DISP_LEFT] = { 1, 0, 0, 1, 0, 1 },  /* 5 */
+       [S_RCOB_WHITE] = { 1, 0, 0, 1, 0, 0 }, /* 6 */
+       [S_LCOB_WHITE] = { 1, 0, 0, 1, 0, 0 }, /* 7 */
        [S_RESERVED1] = { 10, 0, 3, 7, 0, 0 }, /* 8 */
        [S_RESERVED2] = { 10, 0, 3, 7, 0, 0 }, /* 9 */
        [S_RESERVED3] = { 1, 0, 0, 1, 0, 0 }, /* 10 */
@@ -286,12 +286,14 @@ uint8_t sensor_obstacle_is_disabled(void)
 
 
 /************ global sensor init */
+#define BACKGROUND_ADC  0
 
 #ifndef HOST_VERSION
 /* called every 10 ms, see init below */
 static void do_sensors(void *dummy)
 {
-       do_adc(NULL);
+       if (BACKGROUND_ADC)
+               do_adc(NULL);
        do_boolean_sensors(NULL);
        sensor_obstacle_update();
 }
@@ -303,7 +305,8 @@ void sensor_init(void)
        return;
 #else
        adc_init();
-       adc_register_event(adc_event);
+       if (BACKGROUND_ADC)
+               adc_register_event(adc_event);
        /* CS EVENT */
        scheduler_add_periodical_event_priority(do_sensors, NULL,
                                                10000L / SCHEDULER_UNIT,