X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=main.c;h=f06bc44b4f92191d8be816fe52afd4c7a8d0ccb0;hb=5d39ce22b6dc5693c52e402491cd1dcaf968c6b4;hp=e434690b0d80b115296eb201e27d4621fd1a0e4b;hpb=5dec35802d72ab8ed3e63a46b3ea8829a2c6a3bf;p=protos%2Frc_servos.git

diff --git a/main.c b/main.c
index e434690..f06bc44 100644
--- a/main.c
+++ b/main.c
@@ -120,7 +120,7 @@ static void poll_spi(void)
 		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 */
@@ -173,16 +173,16 @@ static void poll_input_capture(void)
 	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;