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-rw-r--r--digital/io-hub/src/guybrush/Makefile2
-rw-r--r--digital/io-hub/src/guybrush/avrconfig.h8
-rw-r--r--digital/io-hub/src/guybrush/main.c4
-rw-r--r--digital/io-hub/src/robospierre/avrconfig.h4
4 files changed, 15 insertions, 3 deletions
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 ();
diff --git a/digital/io-hub/src/robospierre/avrconfig.h b/digital/io-hub/src/robospierre/avrconfig.h
index fdd682d0..648c7438 100644
--- a/digital/io-hub/src/robospierre/avrconfig.h
+++ b/digital/io-hub/src/robospierre/avrconfig.h
@@ -128,7 +128,7 @@
/* 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. */
#define AC_IOHUB_PWM \
PWM (1, A, B, 5, D, 4) \
@@ -137,6 +137,8 @@
PWM (3, A, C, 6, C, 7) \
PWM (3, B, C, 5, C, 3) \
PWM (3, C, C, 4, C, 2)
+/** Use beacon board. */
+#define AC_AI_TWI_MASTER_BEACON 0
/* asserv. */
/** Number of auxiliary motors. */