From a750fc58646c6f1ab5319d9bcf786be7a525a77c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 22 Apr 2012 22:07:20 +0200 Subject: digital/{ai,beacon,io-hub}: add beacon simulation stub --- digital/io-hub/src/guybrush/Makefile | 2 +- digital/io-hub/src/guybrush/avrconfig.h | 8 +++++++- digital/io-hub/src/guybrush/main.c | 4 ++++ 3 files changed, 12 insertions(+), 2 deletions(-) (limited to 'digital/io-hub/src/guybrush') diff --git a/digital/io-hub/src/guybrush/Makefile b/digital/io-hub/src/guybrush/Makefile index 74423423..7a0e8bc2 100644 --- a/digital/io-hub/src/guybrush/Makefile +++ b/digital/io-hub/src/guybrush/Makefile @@ -8,7 +8,7 @@ io_hub_SOURCES = main.c top.c \ init.c fsm.host.c fsm_AI_gen.avr.c fsm_queue.c \ contact.avr.c contact.host.c \ output.c output.host.c \ - twi_master.c asserv.c mimot.c \ + twi_master.c asserv.c mimot.c beacon.c \ chrono.c timer.avr.c simu.host.c # Modules needed for IO. MODULES = proto uart twi utils \ diff --git a/digital/io-hub/src/guybrush/avrconfig.h b/digital/io-hub/src/guybrush/avrconfig.h index 7aba16dc..d846fe6a 100644 --- a/digital/io-hub/src/guybrush/avrconfig.h +++ b/digital/io-hub/src/guybrush/avrconfig.h @@ -128,9 +128,15 @@ /* io-hub - io/ai board. */ /** TWI address of the io board. */ -#define AC_IO_TWI_ADDRESS 10 +#define AC_IO_TWI_ADDRESS 8 /** PWM setting. */ #undef AC_IOHUB_PWM +/** Use beacon board. */ +#define AC_AI_TWI_MASTER_BEACON 1 + +/* beacon. */ +/** Number of beacon positions. */ +#define AC_BEACON_POSITION_NB 2 /* asserv. */ /** Number of auxiliary motors. */ diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c index 924f77e1..c7ef204a 100644 --- a/digital/io-hub/src/guybrush/main.c +++ b/digital/io-hub/src/guybrush/main.c @@ -36,6 +36,7 @@ #include "asserv.h" #include "mimot.h" +#include "beacon.h" #include "twi_master.h" #include "contact.h" @@ -97,6 +98,9 @@ main_init (void) /* TWI communications */ asserv_init (); mimot_init (); +#if AC_AI_TWI_MASTER_BEACON + beacon_init (); +#endif twi_master_init (); /* IO modules. */ contact_init (); -- cgit v1.2.3