Servo library to the new format

Author: Fede85

hardware/arduino/sam/libraries/Servo/Servo.h

@@ -17,31 +17,6 @@
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
  */
 
-/* 
- 
- A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method.
- The servos are pulsed in the background using the value most recently written using the write() method
- 
- Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached.
- Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four.
- 
- The methods are:
- 
- Servo - Class for manipulating servo motors connected to Arduino pins.
- 
- attach(pin )  - Attaches a servo motor to an i/o pin.
- attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
- default min is 544, max is 2400  
- 
- write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
- writeMicroseconds() - Sets the servo pulse width in microseconds 
- read()      - Gets the last written servo pulse width as an angle between 0 and 180. 
- readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
- attached()  - Returns true if there is a servo attached. 
- detach()    - Stops an attached servos from pulsing its i/o pin. 
- 
-*/
-
 #include <avr/interrupt.h>
 #include <Arduino.h> 
 
@@ -100,28 +75,28 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
 #ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
 // Interrupt handlers for Arduino 
 #if defined(_useTimer1)
-ISR(TIMER1_COMPA_vect) 
+SIGNAL (TIMER1_COMPA_vect) 
 { 
   handle_interrupts(_timer1, &TCNT1, &OCR1A); 
 }
 #endif
 
 #if defined(_useTimer3)
-ISR(TIMER3_COMPA_vect) 
+SIGNAL (TIMER3_COMPA_vect) 
 { 
   handle_interrupts(_timer3, &TCNT3, &OCR3A); 
 }
 #endif
 
 #if defined(_useTimer4)
-ISR(TIMER4_COMPA_vect) 
+SIGNAL (TIMER4_COMPA_vect) 
 {
   handle_interrupts(_timer4, &TCNT4, &OCR4A); 
 }
 #endif
 
 #if defined(_useTimer5)
-ISR(TIMER5_COMPA_vect) 
+SIGNAL (TIMER5_COMPA_vect) 
 {
   handle_interrupts(_timer5, &TCNT5, &OCR5A); 
 }
@@ -335,3 +310,4 @@ bool Servo::attached()
 {
   return servos[this->servoIndex].Pin.isActive ;
 }
+

hardware/arduino/sam/libraries/Servo/examples/Knob/Knob.ino

@@ -0,0 +1,59 @@
+/*
+  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+/* 
+ * Defines for 16 bit timers used with  Servo library 
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ */
+
+/**
+ * AVR Only definitions
+ * --------------------
+ */
+
+// Say which 16 bit timers can be used and in what order
+#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
+#define _useTimer5
+#define _useTimer1 
+#define _useTimer3
+#define _useTimer4 
+typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega32U4__)  
+#define _useTimer1 
+typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
+#define _useTimer3
+#define _useTimer1
+typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+
+#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+#define _useTimer3
+#define _useTimer1
+typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+
+#else  // everything else
+#define _useTimer1
+typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;                  
+#endif
+