X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fsensor.c;h=66486790c84514b23c81220aae6e9cca18b7d876;hp=473ed76472b413fdec9f31f6f05b5702ef7c9169;hb=HEAD;hpb=b022f257a5ee568737e1a684a83d0154397fffcb

diff --git a/projects/microb2010/mainboard/sensor.c b/projects/microb2010/mainboard/sensor.c
index 473ed76..6648679 100644
--- a/projects/microb2010/mainboard/sensor.c
+++ b/projects/microb2010/mainboard/sensor.c
@@ -160,8 +160,8 @@ struct sensor_filter {
 static struct sensor_filter sensor_filter[SENSOR_MAX] = {
 	[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_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 */
@@ -286,28 +286,30 @@ 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);
+#ifndef HOST_VERSION
+	if (BACKGROUND_ADC)
+		do_adc(NULL);
 	do_boolean_sensors(NULL);
+#endif
 	sensor_obstacle_update();
 }
-#endif
 
 void sensor_init(void)
 {
-#ifdef HOST_VERSION
-	return;
-#else
+#ifndef HOST_VERSION
 	adc_init();
-	adc_register_event(adc_event);
+	if (BACKGROUND_ADC)
+		adc_register_event(adc_event);
+#endif
+
 	/* CS EVENT */
 	scheduler_add_periodical_event_priority(do_sensors, NULL,
 						10000L / SCHEDULER_UNIT,
 						ADC_PRIO);
-#endif
 }