void INIT_SPI() /* This MUST be run every time the Handyboard is turned off.*/
{
  poke(0x1009, 0x38);
  poke(0x1028, 0x54);
}

/* Register functions */

int writeReg(int address, int byte) 
{
  if(address >= 0x1000) 
    ICBwriteXReg(256*(address - 0x1000) + byte);
  
  else 
    ICBwrite0Reg(256*address + byte);
}

/* These allow clean dis/connects from the IC computer. */

void disable_pcode_serial() { poke(0x3c, 1); }

void reenable_pcode_serial() { poke(0x3c, 0); }

/* These are routines that get used alot.  */

int mainDisconnect()  
{  
  INIT_SPI();
  disable_pcode_serial();
  printf("Disconnect and  press start...\n");	
  start_press();
}

void mainDone() 
{
  chooseSonars(0);
  motForward(0);
  reenable_pcode_serial();
}