rewrote init to use ucos2.
checked commands.c

I wanted to make sure that there was not anything that could do
something dangerous when used with ucos2 here, such as interrupt
disable.

also fixed it to conform to coding guidelines.
removed the part about contributing.

It was only meaningful for mercurial.
Fixed whitespace before starting work.
removed dump_error who was not used anymore.
fixed whitespace and removed useless prototype.
creates the control tasks using ucos-2 now.