// SPI - Pan
void SPI_Pan(char Pan)
{
	// Checksum berechnen
	char CSum = 0xB2^0x31^0x50^0x01^Pan;
	
	NSSMD0 = 0;				// Slave Select auf Low
	
	SPI0DAT = 0xB2;        			// Header 0xB2
   	while(!transmit_completed);		// wait end of transmission
	transmit_completed = 0;    		// clear software transfert flag

	SPI0DAT = 0x31;        			// Address
   	while(!transmit_completed);		// wait end of transmission
	transmit_completed = 0;    		// clear software transfert flag

	SPI0DAT = 0x50;        			// Command -> Absolute Position
   	while(!transmit_completed);		// wait end of transmission
	transmit_completed = 0;    		// clear software transfert flag

	SPI0DAT = 0x01;        			// Data Length
   	while(!transmit_completed);		// wait end of transmission
	transmit_completed = 0;    		// clear software transfert flag

	SPI0DAT = Pan;        			// DataByte 1 -> Position High Byte
   	while(!transmit_completed);		// wait end of transmission
	transmit_completed = 0;    		// clear software transfert flag

	SPI0DAT = CSum;        			// Checksum
   	while(!transmit_completed);		// wait end of transmission
	transmit_completed = 0;    		// clear software transfert flag 
	
	NSSMD0 = 1;				// Slave Select auf High
}


// SPI Interrupt Servie Routine
void SPI_ISR(void) interrupt 6
{
	if(SPIF==1)
	{
		transmit_completed = 1;		// set software flag
		SPIF = 0;			// Interrupt Flag löschen
	}
}