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#include <mega2560.h>
#include <stdio.h>
#include <stdlib.h>
#include <delay.h>
#include <string.h>
#include <math.h>
//
typedef unsigned char byte;
//
long cnt_rising=0,cnt_falling=0,cnt_elev=0,cnt_aile=0,cnt_thro=0,cnt_rudd=0;
//
interrupt[EXT_INT2]void ext_int2_isr(void){ //ELEV Channel
  if(EICRA==0b11110000){ cnt_rising=TCNT1L|(long)TCNT1H<<8; EICRA=0b11100000; }
  else{ cnt_falling=TCNT1L|(long)TCNT1H<<8; cnt_elev=(40000-cnt_rising+cnt_falling)%40000; EICRA=0b11110000; }
}
//
interrupt[EXT_INT3]void ext_int3_isr(void){ //AILE Channel
  if(EICRA==0b11110000){ cnt_rising=TCNT1L|(long)TCNT1H<<8; EICRA=0b10110000; }
  else{ cnt_falling=TCNT1L|(long)TCNT1H<<8; cnt_aile=(40000-cnt_rising+cnt_falling)%40000; EICRA=0b11110000; }
}
//
interrupt[EXT_INT6]void ext_int6_isr(void){ //THRO Channel
  if(EICRB==0b11110000){ cnt_rising=TCNT1L|(long)TCNT1H<<8; EICRB=0b11100000; }
  else{ cnt_falling=TCNT1L|(long)TCNT1H<<8; cnt_thro=(40000-cnt_rising+cnt_falling)%40000; EICRB=0b11110000; }
}
//
interrupt[EXT_INT7]void ext_int7_isr(void){ //RUDD Channel
  if(EICRB==0b11110000){ cnt_rising=TCNT1L|(long)TCNT1H<<8; EICRB=0b10110000; }
  else{ cnt_falling=TCNT1L|(long)TCNT1H<<8; cnt_rudd=(40000-cnt_rising+cnt_falling)%40000; EICRB=0b11110000; }
}
//
void main(void){
  DDRB=0b11111111;
  PORTD=0b00001100;  //INT2,3
  PORTE=0b11000000;  DDRE=0b00110000;   //INT6,7
  EICRA=0b11110000;  EICRB=0b11110000;  EIMSK=0b11001100; //INT2,3 rising edge //INT6,7 rising edge
  TCCR1A=0b10100010; TCCR1B=0b00011001; ICR1H=39999>>8; ICR1L=39999&0xFF;
  TCCR3A=0b10100010; TCCR3B=0b00011001; ICR3H=39999>>8; ICR3L=39999&0xFF;
  UCSR0B|=0x18; UBRR0L=0x67;
  SREG|=0x80;
  while(1){
    printf("ELEV:%6ld / AILE:%6ld / THRO:%6ld / RUDD:%6ld\n",cnt_elev,cnt_aile,cnt_thro,cnt_rudd);
  }
}
 
16비트 레지스터를 바이트 단위로 읽거나 쓸 때에는 순서를 지켜야합니다.
 
 ICR1H=39999>>8; ICR1L=39999&0xFF; 
쓸 때는 상위바이트부터 씁니다.
 
cnt_falling=TCNT1L|(long)TCNT1H<<8;  
읽을 때는 하위 바이트부터 읽습니다.