commit 355ab4b6321b779e6a05acb694fb36285559df6f
author Brian Silverman <brians> Wed Mar 26 20:46:05 2014 -0700
committer Brian Silverman <brians> Wed Mar 26 20:46:05 2014 -0700
tree 5f4135f947e04703d1574bd263e081fd0b0cf8c6
parent bad7c8acc304676a0830f297a17b6d7a0b6b60f4

made the code run again on the robot by disabling the ultrasonic sensor

bbb_cape/src/cape/robot_comp.c

diff --git a/bbb_cape/src/cape/robot_comp.c b/bbb_cape/src/cape/robot_comp.c
index 03e529a..c33dc36 100644
--- a/bbb_cape/src/cape/robot_comp.c
+++ b/bbb_cape/src/cape/robot_comp.c
@@ -97,7 +97,7 @@
   RCC->APB2ENR |= RCC_APB2ENR_TIM11EN;
   TIM11->CCMR1 = TIM_CCMR1_CC1S_0 /* input pin 1 -> timer input 1 */;
   TIM11->PSC = 1200 - 1;  // 100KHz timer
-  timer_setup(TIM11, TIM1_TRG_COM_TIM11_IRQn, 1);
+  //timer_setup(TIM11, TIM1_TRG_COM_TIM11_IRQn, 1);
 }
 
 void robot_fill_packet(struct DataStruct *packet) {

bbb_cape/src/cape/timer.h

diff --git a/bbb_cape/src/cape/timer.h b/bbb_cape/src/cape/timer.h
index a356de1..0cca0de 100644
--- a/bbb_cape/src/cape/timer.h
+++ b/bbb_cape/src/cape/timer.h
@@ -5,7 +5,7 @@
 
 // inverted is 1 for timing low periods, 0 for high ones.
 #define timer_declare(timer, irq, input, inverted, name)                   \
-  static volatile uint32_t name##_length;                                  \
+  static volatile uint32_t name##_length = 0;                              \
   void irq(void) {                                                         \
     timer->SR = ~TIM_SR_CC##input##IF;                                     \
     const uint32_t ccer = timer->CCER;                                     \