ELCTRKEYPADCALLBACK loop_cb_kp_follow	   = NULL;
ELCTRKEYPADCALLBACK loop_cb_kp_high_follow = NULL;
ELCTRKEYPADCALLBACK loop_cb_noevent		   = NULL;


void ctrSetCB_kp_follow( ELCTRKEYPADCALLBACK cb ){
	if(cb != NULL){
		loop_cb_kp_follow = cb;
	}
}

void ctrSetCB_kp_high_follow( ELCTRKEYPADCALLBACK cb ){
	if(cb != NULL){
		loop_cb_kp_high_follow = cb;
	}
}

void ctrSetCB_noevent( ELCTRKEYPADCALLBACK cb ){
	if(cb != NULL){
		loop_cb_noevent = cb;
	}
}



void ctrWaitTillLoopFree(void)
{

	while( ( elctr.loopbusy ) || ( elctr.event != EVT_NOTHING ) ){
		;
	}

}


void ctrDoLoopEvent( unsigned char event )
{
	ctrWaitTillLoopFree();
	elctr.event = event;
}





void ctrLoop ( char * data )
{
	unsigned char event;
		
	if( elctr.run ) {
		return;
	}



	if( ctrif_StartConnection() == 0){
		ctrif_StopConnection();
		return;
	}


	elctr.run       = 1;

	while( elctr.run ) {

	
		event = EVT_NOTHING;
		elctr.loopbusy = 0;
		
		
		if( elctr.keypad ) {
			event = read_keypad( elctr.keypad );
		}

		if( event == EVT_NOTHING ) {
			event = elctr.event;
		}

		if( event == EVT_NOTHING ){
			if(loop_cb_noevent != NULL){
				(*loop_cb_noevent)();
			}	
			continue;
		}

		elctr.loopbusy = 1;
		elctr.event    = EVT_NOTHING;




		if(event < IFEVT_ENDVALUES ) {
			
			
			switch( event ) {

			
				case IFEVT_ENDALL:
			 		 	elctr.run = 0;
					 break;


				case IFEVT_STOPMOTORS:
						if( ctrif_StopMotors() == 0 ) {
							elctr.run = 0;
						}
					 break;


				case IFEVT_STARTGUIDE:
						/*free, - key follow*/
						if(loop_cb_kp_follow != NULL){
						  (*loop_cb_kp_follow)();
						}
					 break;


				case IFEVT_GOTORADECKOORS:
						/*keys high, and follow, this is normally used for ending all from ext. prog
						( calling ctrendall )*/
												  
						if(loop_cb_kp_high_follow != NULL){
						  (*loop_cb_kp_high_follow)();
						}
					 break;



				case IFEVT_SLOWLEFT:
						if( ctrif_GoLeft_Slow() == 0 ) {
							elctr.run = 0;
							break;
						}						
					 break;

				case IFEVT_SLOWRIGHT:
						if( ctrif_GoRight_Slow( ) == 0 ) {
							elctr.run = 0;
							break;
						}						
					 break;

				case IFEVT_SLOWDOWN:
						if( ctrif_GoDown_Slow() == 0 ) {
							elctr.run = 0;
							break;
						}
					 break;

				case IFEVT_SLOWUP:
						if( ctrif_GoUp_Slow() == 0 ) {
							elctr.run = 0;
							break;
						}						
					break;

				case IFEVT_FASTLEFT:
						if( ctrif_GoLeft_Fast() == 0 ) {
							elctr.run = 0;
							break;
						}						
					 break;

				case IFEVT_FASTRIGHT:
						if( ctrif_GoRight_Fast() == 0 ) {
							elctr.run = 0;
							break;
						}
					 break;

				case IFEVT_FASTDOWN:
						if( ctrif_GoDown_Fast() == 0 ) {
							elctr.run = 0;
							break;
						}
					 break;

				case IFEVT_FASTUP:
						if( ctrif_GoUp_Fast() == 0 ) {
							elctr.run = 0;
							break;
						}						
					 break;
		
				default: break;
			}
			
			
			continue;
		}



		if(event >= PREVT_STARTVALUES ) {
			
			
			switch( event ) {


				case PREVT_INITFIELDROTATOR:					 
					 elctr.fruse = 1;				 
					 break;

				case PREVT_STOPFIELDROTATOR:
					 elctr.fruse = 0;				 
					 break;

				case PREVT_FRTURNLEFT:
						if(elctr.fruse){
							if( ctrif_FrTurnLeft() == 0 ) {
								elctr.run = 0;
							}
						}
					 break;

				case PREVT_FRTURNRIGHT:
						if(elctr.fruse){
							if( ctrif_FrTurnRight() == 0 ) {
								elctr.run = 0;
							}
						}
					 break;
					
				default: break;
			}
			
	
		}



		
	}


	ctrif_StopConnection();

}