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Rev 805 Rev 819
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struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
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struct str_FromNaviCtrl_Value   FromNaviCtrl_Value;
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unsigned char              SPI_BufferIndex;
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unsigned char              SPI_BufferIndex;
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unsigned char              SPI_RxBufferIndex;
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unsigned char              SPI_RxBufferIndex;
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl_Value)];
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volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl_Value) + 8];
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unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum;
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unsigned char *SPI_TX_Buffer, *ToNaviCtrl_Chksum;
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  ToNaviCtrl_Value.Sync1 = 0xAA;
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  ToNaviCtrl_Value.Sync1 = 0xAA;
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  ToNaviCtrl_Value.Sync2 = 0x83;
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  ToNaviCtrl_Value.Sync2 = 0x83;
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  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
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  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
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  ToNaviCtrl_Value.IntegralNick = 12345;
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  ToNaviCtrl_Value.IntegralNick = 0;
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  ToNaviCtrl_Value.IntegralRoll = 56789;
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  ToNaviCtrl_Value.IntegralRoll = 0;
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  ToNaviCtrl_Value.StickNick = 100;
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  ToNaviCtrl_Value.StickNick = 0;
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  ToNaviCtrl_Value.StickRoll = 150;//(char) StickRoll;
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  ToNaviCtrl_Value.StickRoll = 0;//(char) StickRoll;
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  ToNaviCtrl_Value.StickGier = 200;//(char) StickGier;
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  ToNaviCtrl_Value.StickGier = 0;//(char) StickGier;
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  ToNaviCtrl_Value.CalState = 0;
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  SPI_RxDataValid = 0;
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  SPI_RxDataValid = 0;
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}
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}
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  static unsigned char i =0;
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  static unsigned char i =0;
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  cli();
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  cli();
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  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
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  ToNaviCtrl_Value.Command = SPI_CMD_VALUE;
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  ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024);
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  ToNaviCtrl_Value.IntegralNick = (int) (IntegralNick / 1024);
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  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
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  ToNaviCtrl_Value.IntegralRoll = (int) (IntegralRoll / 1024);
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  ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
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  ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc);
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
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  ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
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  ToNaviCtrl_Value.StickNick = (char) PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
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  ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
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  ToNaviCtrl_Value.StickRoll = (char) PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
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  ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
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  ToNaviCtrl_Value.StickGier = (char) PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
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  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
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  ToNaviCtrl_Value.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR;
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  ToNaviCtrl_Value.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc);
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  ToNaviCtrl_Value.AccRoll = (int) ACC_AMPLIFY * (Mittelwert_AccRoll / NaviCntAcc);
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  NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0;
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  ToNaviCtrl_Value.User1 = Parameter_UserParam1;
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  ToNaviCtrl_Value.User1 = Parameter_UserParam1;
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  ToNaviCtrl_Value.User2 = Parameter_UserParam2;
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  ToNaviCtrl_Value.User2 = Parameter_UserParam2;
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  ToNaviCtrl_Value.User3 = Parameter_UserParam3;
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  ToNaviCtrl_Value.User3 = Parameter_UserParam3;
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  ToNaviCtrl_Value.User4 = Parameter_UserParam4;
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  ToNaviCtrl_Value.User4 = Parameter_UserParam4;
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  ToNaviCtrl_Value.User5 = Parameter_UserParam5;
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  ToNaviCtrl_Value.User5 = Parameter_UserParam5;
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  ToNaviCtrl_Value.User6 = Parameter_UserParam6;
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  ToNaviCtrl_Value.User6 = Parameter_UserParam6;
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  ToNaviCtrl_Value.User7 = Parameter_UserParam7;
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  ToNaviCtrl_Value.User7 = Parameter_UserParam7;
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  ToNaviCtrl_Value.User8 = Parameter_UserParam8;
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//  ToNaviCtrl_Value.User8 = Parameter_UserParam8;
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  ToNaviCtrl_Value.CalState = WinkelOut.CalcState;
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  sei();
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  sei();
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  if (SPI_RxDataValid)
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  if (SPI_RxDataValid)
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  {
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  {
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    if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime;
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    if (FromNaviCtrl_Value.BeepTime > beeptime) beeptime = FromNaviCtrl_Value.BeepTime;
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  }
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  }
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  else
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  else
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  {
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  {
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    KompassValue = 0;
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//    KompassValue = 0;
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    KompassRichtung = 0;
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//    KompassRichtung = 0;
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        GPS_Nick = 0;
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        GPS_Nick = 0;
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    GPS_Roll = 0;
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    GPS_Roll = 0;