Made the code build with the C89 standard and changed to tickless kernel mode

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).

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++]);

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.

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 {