X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Favr%2Fao_pwmin.c;h=73a153b2e4cc67332b879e18b02febe1333687c5;hp=84397357a7ee89ee4967b3300f0e2b49950cb62f;hb=294b1ec85a37e375a0ac70cbffc6398309d63a7f;hpb=ec9e1186dce079a2f2b7be8050216ddb1bc1af66

diff --git a/src/avr/ao_pwmin.c b/src/avr/ao_pwmin.c
index 84397357..73a153b2 100644
--- a/src/avr/ao_pwmin.c
+++ b/src/avr/ao_pwmin.c
@@ -25,40 +25,20 @@
  * project payload developed at Challenger Middle School.  
  */
 
-volatile __data uint16_t ao_icp3_count = 0;
-volatile __data uint16_t ao_icp3_last = 0;
-
-uint16_t ao_icp3(void)
-{
-	uint16_t	v;
-	ao_arch_critical(
-		v = ao_icp3_count;
-		);
-	return v;
-}
+volatile __data uint16_t ao_icp3_count;
 
 static void
 ao_pwmin_display(void) __reentrant
 {
 	/* display the most recent value */
-	printf("icp 3: %5u\n", ao_icp3());
+	printf("icp 3: %5u\n", ao_icp3_count);
 
 }
-
-
 ISR(TIMER3_CAPT_vect)
 {
-	
 	uint8_t lo = ICR3L; 
 	uint8_t hi = ICR3H;
-	uint16_t ao_icp3_this = (hi <<8) | lo;
-	
-	/* handling counter rollovers */
-	if (ao_icp3_this >= ao_icp3_last)
-		ao_icp3_count = ao_icp3_this - ao_icp3_last;
-	else 
-		ao_icp3_count = ao_icp3_this + (65536 - ao_icp3_last);
-	ao_icp3_last = ao_icp3_this;
+	ao_icp3_count = (hi <<8) | lo;
 }
 
 __code struct ao_cmds ao_pwmin_cmds[] = {
@@ -76,7 +56,7 @@ ao_pwmin_init(void)
                   (0 << ICES3) |        /* input capture on falling edge (don't care) */
                   (0 << WGM33) |        /* normal mode, OCR3A */
                   (0 << WGM32) |        /* normal mode, OCR3A */
-                  (3 << CS30));         /* clk/64 from prescaler */
+                  (4 << CS30));         /* clk/256 from prescaler */