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+#ifndef beacon_h
+#define beacon_h
+/* beacon.h */
+/* ai - Robot Artificial Intelligence. {{{
+ *
+ * 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 "defs.h"
+
+/** Interface with beacon board using the TWI protocol. */
+
+/** Slave number in the twi_master list. */
+#define BEACON_SLAVE 2
+
+/** Beacon TWI address. */
+#define BEACON_TWI_ADDRESS 10
+
+/** Length of status buffer (not including CRC). */
+#define BEACON_STATUS_LENGTH (3 + 5 * AC_BEACON_POSITION_NB)
+
+/** Initialise module. */
+void
+beacon_init (void);
+
+/** Called when a new status buffer is received, update the beacon
+ * information. */
+void
+beacon_status_cb (uint8_t *status);
+
+/** Turn on (1) or off (0). */
+void
+beacon_on (uint8_t on_off);
+
+/** Get a detected position, return trust (0 for invalid, 100 for full
+ * trust). */
+uint8_t
+beacon_get_position (uint8_t index, vect_t *position);
+
+#endif /* beacon_h */