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Rev 2120 Rev 2148
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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;
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  static unsigned char motorindex, oldcommand = 255;
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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;
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                break;
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                break;
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        }
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        }
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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.Command != oldcommand) NaviDataOkay = 250;
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        NaviDataOkay = 250;
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        oldcommand = FromNaviCtrl.Command;
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        CalculateCompassTimer = 1;
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        CalculateCompassTimer = 1;
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        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
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        if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV))
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        {
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        {
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                GPS_Nick = FromNaviCtrl.GPS_Nick;
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                GPS_Nick = FromNaviCtrl.GPS_Nick;