SPDR = byte1_tx.u8;
}
spi_out_idx ++;
- if (spi_out_idx >= NB_SERVO)
+ if (spi_out_idx >= NB_SERVO * 2)
spi_out_idx = 0;
/* RX */
if ((TIFR1 & _BV(ICF1)) == 0)
return;
- sei();
- icp = ICR1;
cli();
+ icp = ICR1;
+ sei();
- rising = TCCR1B & _BV(ICES1);
+ rising = !!(TCCR1B & _BV(ICES1));
/* change the edge type */
TCCR1B ^= _BV(ICES1);
- /* clear the flag */
+ /* clear the flag by writing a one */
TIFR1 = TIFR1 | _BV(ICF1);
diff = icp - icp_prev;