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//------------------------------------------------------
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//------------------------------------------------------
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void UpdateSPI_Buffer(void)
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void UpdateSPI_Buffer(void)
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{
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{
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  signed int tmp;
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  signed int tmp;
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  static unsigned char motorindex, oldcommand = 255;
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  static unsigned char motorindex, oldcommand = SPI_NCCMD_VERSION;
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  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4));
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  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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  ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR;
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  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;
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  ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier;