From 70b082c8c62a0351339a8fce539ba8b0163e62dd Mon Sep 17 00:00:00 2001
From: Benjamin Vedder <benjamin@vedder.se>
Date: Fri, 9 Oct 2015 12:27:26 +0200
Subject: [PATCH] Made the code build with the C89 standard and changed to
 tickless kernel mode

---
 Makefile         | 2 +-
 bldc_interface.c | 3 ++-
 chconf.h         | 4 ++--
 packet.c         | 3 ++-
 4 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/Makefile b/Makefile
index 9bbf844..ac9b796 100644
--- a/Makefile
+++ b/Makefile
@@ -5,7 +5,7 @@
 
 # Compiler options here.
 ifeq ($(USE_OPT),)
-  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99
+  USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16
 endif
 
 # C specific options here (added to USE_OPT).
diff --git a/bldc_interface.c b/bldc_interface.c
index a20e112..ae5f3f1 100644
--- a/bldc_interface.c
+++ b/bldc_interface.c
@@ -109,6 +109,7 @@ void bldc_interface_process_packet(unsigned char *data, unsigned int len) {
 	}
 
 	int32_t ind = 0;
+	int i = 0;
 	unsigned char id = data[0];
 	data++;
 	len--;
@@ -304,7 +305,7 @@ void bldc_interface_process_packet(unsigned char *data, unsigned int len) {
 		ind = 0;
 		detect_cycle_int_limit = buffer_get_float32(data, 1000.0, &ind);
 		detect_coupling_k = buffer_get_float32(data, 1000.0, &ind);
-		for (int i = 0;i < 8;i++) {
+		for (i = 0;i < 8;i++) {
 			detect_hall_table[i] = (const signed char)(data[ind++]);
 		}
 		detect_hall_res = (const signed char)(data[ind++]);
diff --git a/chconf.h b/chconf.h
index 668d3b2..9711b83 100644
--- a/chconf.h
+++ b/chconf.h
@@ -59,7 +59,7 @@
  *          The value one is not valid, timeouts are rounded up to
  *          this value.
  */
-#define CH_CFG_ST_TIMEDELTA                 0
+#define CH_CFG_ST_TIMEDELTA                 2
 
 /** @} */
 
@@ -82,7 +82,7 @@
  * @note    The round robin preemption is not supported in tickless mode and
  *          must be set to zero in that case.
  */
-#define CH_CFG_TIME_QUANTUM                 4
+#define CH_CFG_TIME_QUANTUM                 0
 
 /**
  * @brief   Managed RAM size.
diff --git a/packet.c b/packet.c
index fb61adf..f4292db 100644
--- a/packet.c
+++ b/packet.c
@@ -80,7 +80,8 @@ void packet_send_packet(unsigned char *data, unsigned int len, int handler_num)
  * Call this function every millisecond.
  */
 void packet_timerfunc(void) {
-	for (int i = 0;i < PACKET_HANDLERS;i++) {
+	int i = 0;
+	for (i = 0;i < PACKET_HANDLERS;i++) {
 		if (handler_states[i].rx_timeout) {
 			handler_states[i].rx_timeout--;
 		} else {
-- 
2.24.1