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diff --git a/digital/io-hub/src/guybrush/pressure.c b/digital/io-hub/src/guybrush/pressure.c
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+/* pressure.c */
+/* guybrush - Eurobot 2012 AI. {{{
+ *
+ * Copyright (C) 2012 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 "pressure.h"
+
+#include "modules/adc/adc.h"
+
+#include "output.h"
+#include "mimot.h"
+
+/** Hysteresis margin. */
+#define PRESSURE_MARGIN (1024 / 8)
+
+/** Pressure sensor connected ADC. */
+#define PRESSURE_SENSOR_ADC 4
+
+/** Pressure FSM states. */
+enum
+{
+ /** Start state, circuit is closed, no pressure. */
+ PRESSURE_INITIAL,
+ /** Idle, pressure is OK, circuit is open. */
+ PRESSURE_IDLE,
+ /** Starting the pump, with open circuit. */
+ PRESSURE_STARTING,
+ /** Pumping until the pressure is OK, circuit is closed. */
+ PRESSURE_PUMPING,
+};
+
+/** Global context. */
+struct pressure_t
+{
+ /** Pressure sensor threshold values (initialized to 0). */
+ uint16_t low, high;
+ /** Pressure FSM current state. */
+ uint8_t state;
+ /** Wait counter before the next action. */
+ uint8_t wait;
+};
+static struct pressure_t pressure;
+
+/** Interval at which the sensor is read. */
+#define PRESSURE_INTERVAL 25
+
+/** Rest duration after a pumping session. */
+#define PRESSURE_REST 250
+
+/** Wait duration before the pump is started. */
+#define PRESSURE_OPEN_WAIT 125
+
+/** Wait duration after the pump has been started before circuit is closed. */
+#define PRESSURE_START_WAIT 50
+
+void
+pressure_update (void)
+{
+ if (pressure.wait)
+ {
+ pressure.wait--;
+ }
+ else
+ {
+ switch (pressure.state)
+ {
+ case PRESSURE_INITIAL:
+ if (pressure.low)
+ {
+ /* Open circuit. */
+ IO_SET (OUTPUT_PNEUM_OPEN);
+ pressure.state++;
+ pressure.wait = PRESSURE_OPEN_WAIT;
+ }
+ break;
+ case PRESSURE_IDLE:
+ if (pressure_get () < pressure.low)
+ {
+ /* Start pump. */
+ mimot_motor_output_set (1, 0x3ff);
+ pressure.state++;
+ pressure.wait = PRESSURE_START_WAIT;
+ }
+ else
+ pressure.wait = PRESSURE_INTERVAL;
+ break;
+ case PRESSURE_STARTING:
+ /* Started, close circuit. */
+ IO_CLR (OUTPUT_PNEUM_OPEN);
+ pressure.state++;
+ break;
+ case PRESSURE_PUMPING:
+ /* Pump until high. */
+ if (pressure_get () > pressure.high)
+ {
+ /* Done. Stop. Open circuit. */
+ mimot_motor1_free ();
+ IO_SET (OUTPUT_PNEUM_OPEN);
+ pressure.state = PRESSURE_IDLE;
+ pressure.wait = PRESSURE_REST;
+ }
+ else
+ pressure.wait = PRESSURE_INTERVAL;
+ break;
+ }
+ }
+}
+
+void
+pressure_set (uint16_t low)
+{
+ pressure.low = low;
+ pressure.high = low + PRESSURE_MARGIN;
+}
+
+uint16_t
+pressure_get (void)
+{
+ adc_start (PRESSURE_SENSOR_ADC);
+ while (!adc_checkf ())
+ ;
+ return adc_read ();
+}
+