1 files changed, 54 insertions, 0 deletions
diff --git a/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Servo.h b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Servo.h
new file mode 100644
index 0000000..1ed6c78
--- /dev/null
+++ b/OpenModelicaArduino/Firmware/Tiva C/StandardFirmata/Servo.h
@@ -0,0 +1,54 @@
+#ifndef SERVO_H
+#define SERVO_H
+
+#include "Energia.h"
+#include <inttypes.h>
+
+// Hardware limitations information
+#define MIN_SERVO_PULSE_WIDTH 		544
+#define MAX_SERVO_PULSE_WIDTH 		2400
+#define DEFAULT_SERVO_PULSE_WIDTH   1500
+#define REFRESH_INTERVAL 		    20000
+
+// Aliases for timer config and loading
+#define SERVO_TIMER				TIMER2_BASE
+#define SERVO_TIME_CFG			TIMER_CFG_PERIODIC
+#define SERVO_TIMER_TRIGGER		TIMER_TIMA_TIMEOUT
+#define SERVO_TIMER_INTERRUPT	INT_TIMER2A
+#define SERVO_TIMER_A			TIMER_A
+#define SERVO_TIMER_PERIPH		SYSCTL_PERIPH_TIMER2
+
+// Other defines
+#define SERVOS_PER_TIMER 	8
+#define INVALID_SERVO 		255
+#define MAX_SERVOS 8
+
+
+typedef struct
+{
+    unsigned int pin_number;
+    unsigned int pulse_width;
+    bool enabled;
+} servo_t;
+
+class Servo
+{
+private:
+    unsigned int index;
+    int min;
+    int max;
+public:
+    Servo();
+    unsigned int attach(unsigned int pin, int min = MIN_SERVO_PULSE_WIDTH, int max = MAX_SERVO_PULSE_WIDTH);
+    void detach();
+    void writeMicroseconds(int value);
+    int readMicroseconds();
+    void write(int value);
+    int read();
+    bool attached();
+
+};
+
+extern "C" void ServoIntHandler(void);
+
+#endif // SERVO_H