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diff --git a/digital/io-hub/src/common/contact.avr.c b/digital/io-hub/src/common/contact.avr.c
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+/* contact.avr.c */
+/* robospierre - Eurobot 2011 AI. {{{
+ *
+ * Copyright (C) 2011 Nicolas Schodet
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "contact.h"
+
+/** Filter depth. */
+#define CONTACT_JACK_FILTER_DEPTH 50
+
+/** Contact context. */
+struct contact_t
+{
+ /** Jack current state. */
+ uint8_t jack_state;
+ /** Jack filter, number of updates before state can change. */
+ uint8_t jack_filter;
+};
+
+/** Global context. */
+struct contact_t contact_global;
+#define ctx contact_global
+
+void
+contact_init (void)
+{
+ /* Pull-up. */
+#define CONTACT(io) IO_SET_ (io);
+ CONTACT (CONTACT_COLOR);
+ CONTACT (CONTACT_JACK);
+ CONTACT_LIST
+#undef CONTACT
+ /* Default to jack out. */
+ ctx.jack_state = 1;
+}
+
+void
+contact_update (void)
+{
+ uint8_t jack_now = IO_GET (CONTACT_JACK);
+ /* If state is unchanged, reset filter. */
+ if (jack_now == ctx.jack_state)
+ ctx.jack_filter = 0;
+ /* If state changed, should be stable for CONTACT_JACK_FILTER_DEPTH before
+ * it goes through the filter. */
+ else if (ctx.jack_filter++ == CONTACT_JACK_FILTER_DEPTH)
+ {
+ ctx.jack_state = jack_now;
+ ctx.jack_filter = 0;
+ }
+}
+
+enum team_color_e
+contact_get_color (void)
+{
+ return !IO_GET (CONTACT_COLOR) ? TEAM_COLOR_LEFT : TEAM_COLOR_RIGHT;
+}
+
+uint8_t
+contact_get_jack (void)
+{
+ return ctx.jack_state;
+}
+
+uint32_t
+contact_all (void)
+{
+ uint32_t contacts = 0, bit = 1;
+#define CONTACT(io) do { \
+ contacts |= (IO_GET_ (io) ? bit : 0); \
+ bit <<= 1; \
+} while (0);
+ CONTACT (CONTACT_COLOR);
+ CONTACT (CONTACT_JACK);
+ CONTACT_LIST
+#undef CONTACT
+ return contacts;
+}