00001 // Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated. 00002 // 00003 // Permission is hereby granted, free of charge, to any person obtaining a copy 00004 // of this software and associated documentation files (the "Software"), to 00005 // deal in the Software without restriction, including without limitation the 00006 // rights to use, copy, modify, merge, publish, distribute, sublicense, and/or 00007 // sell copies of the Software, and to permit persons to whom the Software is 00008 // furnished to do so, subject to the following conditions: 00009 // 00010 // The above copyright notice and this permission notice shall be included in 00011 // all copies or substantial portions of the Software. 00012 // 00013 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00014 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00015 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 00016 // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00017 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00018 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 00019 // SOFTWARE. 00020 00021 #ifndef SSM_SPUR_HANDLER_H 00022 #define SSM_SPUR_HANDLER_H 00023 00024 #include <command.h> 00025 00026 void init_ypspurSSM(int ssm_id); 00027 void end_ypspurSSM(void); 00028 void write_ypspurSSM( 00029 int odometry_updated, int receive_count, 00030 Odometry *odm_log, int readdata_num, Short_2Char *cnt1_log, Short_2Char *cnt2_log, 00031 Short_2Char *pwm1_log, Short_2Char *pwm2_log, int ad_log[][8]); 00032 void coordinate_synchronize(Odometry *odm, SpurUserParamsPtr spur); 00033 00034 #endif // SSM_SPUR_HANDLER_H