From: Olivier Matz <zer0@droids-corp.org>
Date: Tue, 8 Oct 2013 20:39:39 +0000 (+0200)
Subject: fix interrupt locking
X-Git-Url: http://git.droids-corp.org/?p=protos%2Frc_servos.git;a=commitdiff_plain;h=516dc48d0a1c47e354856d3f71b2e5bd0454cf4e

fix interrupt locking

cli/sei were reversed
---

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;