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Rev 2034 Rev 2183
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#define SPI_FCCMD_MISC                  12
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#define SPI_FCCMD_MISC                  12
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#define SPI_FCCMD_PARAMETER1    13
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#define SPI_FCCMD_PARAMETER1    13
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#define SPI_FCCMD_VERSION               14
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#define SPI_FCCMD_VERSION               14
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#define SPI_FCCMD_SERVOS                15
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#define SPI_FCCMD_SERVOS                15
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#define SPI_FCCMD_ACCU                  16
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#define SPI_FCCMD_ACCU                  16
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#define SPI_FCCMD_PARAMETER2    17
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struct str_ToNaviCtrl
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struct str_ToNaviCtrl
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{
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{
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        unsigned char Sync1, Sync2;
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        unsigned char Sync1, Sync2;
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struct str_FromNaviCtrl
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struct str_FromNaviCtrl
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{
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{
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        unsigned char Command;
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        unsigned char Command;
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        signed int  GPS_Nick;
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        signed int  GPS_Nick;
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        signed int  GPS_Roll;
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        signed int  GPS_Roll;
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        signed int  GPS_Gier;
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        signed int  MagVecX;
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        signed int  CompassValue;
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        signed int  CompassValue;
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//      signed int  MagVecX;
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//      signed int  MagVecY;
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        signed int AccErrorN;
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        signed int AccErrorN;
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        signed int AccErrorR;
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        signed int AccErrorR;
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        signed int  MagVecY;
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        signed int  MagVecZ;
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        signed int  MagVecZ;
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        signed int  Status;
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        unsigned int BeepTime;
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        unsigned int BeepTime;
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        union
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        union
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        {
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        {
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                unsigned char Byte[12];
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                unsigned char Byte[12];
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                char sByte[12];
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                char sByte[12];