X-Git-Url: http://git.droids-corp.org/?p=protos%2Frc_servos.git;a=blobdiff_plain;f=main.c;fp=main.c;h=923a8ea1bcd4ce553b2b089644768e77294f0b6c;hp=e434690b0d80b115296eb201e27d4621fd1a0e4b;hb=516dc48d0a1c47e354856d3f71b2e5bd0454cf4e;hpb=5dec35802d72ab8ed3e63a46b3ea8829a2c6a3bf

diff --git a/main.c b/main.c
index e434690..923a8ea 100644
--- a/main.c
+++ b/main.c
@@ -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);
 
 	/* 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;