diff --git a/library.properties b/library.properties
index 4d17a02..f4868ce 100644
--- a/library.properties
+++ b/library.properties
@@ -6,4 +6,4 @@ sentence=Allows Arduino boards to control a variety of servo motors.
paragraph=This library can control a great number of servos.
It makes careful use of timers: the library can control 12 servos using only 1 timer.
On the Arduino Due you can control up to 60 servos.
category=Device Control
url=https://www.arduino.cc/reference/en/libraries/servo/
-architectures=avr,megaavr,sam,samd,nrf52,stm32f4,mbed,mbed_nano,mbed_portenta,mbed_rp2040,renesas,renesas_portenta,renesas_uno
+architectures=avr,megaavr,sam,samd,nrf52,stm32f4,mbed,mbed_nano,mbed_portenta,mbed_rp2040,renesas,renesas_portenta,renesas_uno,psoc6
diff --git a/src/Servo.h b/src/Servo.h
index ed6f56a..4ac7857 100644
--- a/src/Servo.h
+++ b/src/Servo.h
@@ -79,8 +79,10 @@
#include "xmc/ServoTimers.h"
#elif defined(ARDUINO_ARCH_ESP32)
#include "esp32/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_PSOC6)
+#include "psoc6/ServoTimers.h"
#else
-#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas, XMC or ESP32 processor."
+#error "This library only supports boards with an AVR, SAM, SAMD, NRF52, STM32F4, Renesas, XMC, ESP32 or PSOC6 processor."
#endif
#define Servo_VERSION 2 // software version of this library
@@ -95,7 +97,7 @@
#define INVALID_SERVO 255 // flag indicating an invalid servo index
-#if !defined(ARDUINO_ARCH_STM32F4) && !defined(ARDUINO_ARCH_XMC)
+#if !defined(ARDUINO_ARCH_STM32F4) && !defined(ARDUINO_ARCH_XMC) &&!defined(ARDUINO_ARCH_PSOC6)
typedef struct {
uint8_t nbr :6 ; // a pin number from 0 to 63
diff --git a/src/psoc6/Servo.cpp b/src/psoc6/Servo.cpp
new file mode 100644
index 0000000..41b2a2f
--- /dev/null
+++ b/src/psoc6/Servo.cpp
@@ -0,0 +1,180 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2010, LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+#if defined(ARDUINO_ARCH_PSOC6)
+
+#include "ServoTimers.h"
+
+uint8_t _ServoCount = 1; // internal counter to check if max numbers of servos is reached
+static uint8_t _allowed[MAX_PWM_SERVOS] = ALLOWED_PINS; // internal array to check allowed pwm pins
+static uint8_t _servos[MAX_PWM_SERVOS]; // static array of used servo pins for checking
+
+
+/**
+ * @brief None blocking wait loop.
+ *
+ * @param uS microseconds to wait
+ */
+static void _delayUs(unsigned long uS)
+{
+ unsigned long time_now = micros();
+ while (micros() < time_now + uS)
+ ;
+}
+
+Servo::Servo()
+{
+ if(_ServoCount <= MAX_PWM_SERVOS)
+ {
+ this->servoIndex = _ServoCount++;
+
+ // Initialize the servo with default values
+ this->_minAngle = MIN_ANGLE;
+ this->_maxAngle = MAX_ANGLE;
+ this->_minPW = MIN_PULSE_WIDTH;
+ this->_maxPW = MAX_PULSE_WIDTH;
+ this->_pin = 0;
+ this->_isActive = false;
+ this->_pwm = 0;
+ this->_deg = 0.0;
+
+ for(int i = 0; i < MAX_PWM_SERVOS; i++)
+ {
+ _servos[i] = 0xFF; // Initialize all servo pins to unused state
+ }
+ }
+ else
+ {
+ this->servoIndex = INVALID_SERVO; // No more servos can be attached
+ }
+}
+
+uint8_t Servo::attach(uint8_t pin, uint16_t min, uint16_t max)
+{
+ if(this->servoIndex <= MAX_PWM_SERVOS)
+ {
+ // Validate the pin
+ bool pin_allowed = false;
+ for(int i = 0; i < MAX_PWM_SERVOS; i++)
+ {
+ // Check if pin already in use
+ if(_servos[i] == pin)
+ {
+ return INVALID_SERVO;
+ }
+ // Check if selected pin has a PWM unit on the used PSOC6 board
+ if(_allowed[i] == pin)
+ pin_allowed = true;
+ }
+
+ // Return if pin is not found in allowed pin list
+ if(!pin_allowed)
+ return INVALID_SERVO;
+
+ // Set min/max values according to input and check for absolute limits
+ if(min < MIN_PULSE_CHECK)
+ {
+ this->_minAngle = constrain(min, MIN_ANGLE, MAX_ANGLE);
+ this->_minPW = MIN_PULSE_WIDTH;
+ }
+ else
+ {
+ this->_minAngle = MIN_ANGLE; // TODO: has to be calculated
+ this->_minPW = constrain(min, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+ }
+
+ if(max < MIN_PULSE_CHECK)
+ {
+ this->_maxAngle = constrain(max, MIN_ANGLE, MAX_ANGLE);
+ this->_maxPW = 2 * MAX_PULSE_WIDTH;
+ }
+ else
+ {
+ this->_maxAngle = MAX_ANGLE; // TODO: has to be calculated
+ this->_maxPW = constrain(max, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+ }
+
+ this->_pin = pin;
+ this->_isActive = true;
+ _servos[this->servoIndex - 1] = pin; // Mark the pin as used
+ analogWriteResolution(RESOLUTION);
+ setAnalogWriteFrequency(this->_pin, REFRESH_FREQUENCY); // Set the default frequency for the pin
+
+ }
+ return this->servoIndex;
+}
+
+void Servo::detach()
+{
+ this->servoIndex = _ServoCount--;
+
+ this->_minAngle = MIN_ANGLE;
+ this->_maxAngle = MAX_ANGLE;
+ this->_minPW = MIN_PULSE_WIDTH;
+ this->_maxPW = MAX_PULSE_WIDTH;
+
+ this->_pin = 0;
+ this->_isActive = false;
+ this->_pwm = 0;
+ this->_deg = 0.0;
+ _servos[this->servoIndex - 1] = 0xFF; // Mark the pin as unused
+}
+
+void Servo::write(int value)
+{
+ if (value < MIN_PULSE_CHECK)
+ {
+ // angle must be inside the boundaries
+ double angle = constrain(value, this->_minAngle, this->_maxAngle);
+ double dutyCycle = ( 0.5 + ( angle / MAX_ANGLE ) * 2.0 ) * DUTYCYCLE_STEPS;
+
+ this->_deg = angle;
+ this->_pwm = uint16_t(dutyCycle);
+
+ analogWrite(this->_pin, uint16_t(dutyCycle));
+ _delayUs(50);
+ } else {
+ writeMicroseconds(value);
+ }
+}
+
+void Servo::writeMicroseconds(int value)
+{
+ // value must be inside the boundaries
+ double pw = constrain(value,this->_minPW, this->_maxPW);
+ double dutyCycle = map(pw, MIN_PULSE_WIDTH,MAX_PULSE_WIDTH, 0.5 * DUTYCYCLE_STEPS, 2.5 * DUTYCYCLE_STEPS);
+
+ this->_deg = ( dutyCycle - DUTYCYCLE_STEPS * 0.5 ) * MAX_ANGLE / ( 2 * DUTYCYCLE_STEPS );
+ this->_pwm = uint16_t(dutyCycle);
+ analogWrite(this->_pin, uint16_t(dutyCycle));
+
+ _delayUs(50);
+}
+#endif
+
+
+
+
diff --git a/src/psoc6/ServoTimers.h b/src/psoc6/ServoTimers.h
new file mode 100644
index 0000000..5bbb99e
--- /dev/null
+++ b/src/psoc6/ServoTimers.h
@@ -0,0 +1,169 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2010, LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/*
+ * @copyright Copyright (c) 2025-2026 Infineon Technologies AG
+ */
+
+#ifndef __SERVO_TIMERS_H__
+#define __SERVO_TIMERS_H__
+
+#include
+
+#define MAX_PWM_SERVOS 28
+#define ALLOWED_PINS {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30}
+
+
+#define MIN_ANGLE 0 // the minimal angle in degree
+#define MAX_ANGLE 180 // the maximal angle in degree
+#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo in microseconds
+#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo in microseconds
+
+#define MIN_PULSE_CHECK 500 // border with below = angle and above = pulse width
+#define REFRESH_FREQUENCY 50u // the refresh frequency on analog pins
+#define REFRESH_TIME 20.0 // the PWM refresh frequency for the servo motor
+#define DUTYCYCLE_STEPS 65536.0 / REFRESH_TIME // the number of duty cycle steps during one refresh period
+#define RESOLUTION 16 // the resolution of the adc during analog write
+
+#define INVALID_SERVO 255 // flag indicating an invalid servo index
+
+/** Class for interfacing with RC servomotors. */
+class Servo
+{
+public:
+ /**
+ * @brief Construct a new Servo instance.
+ *
+ * The new instance will not be attached to any pin, but only PWM capable pins will run.
+ * see pin list above.
+ */
+ Servo();
+
+ /**
+ * @brief Associate this instance with a servomotor whose input is
+ * connected to pin.
+ *
+ * If this instance is already attached to a pin, it will be
+ * detached before being attached to the new pin.
+ * If the pin is not allowed for running PWM or the max number of
+ * PWM channels on the PSOC6 board is reached it will return
+ * with an INVALID_SERVO, otherwise with the servoIndex number.
+ *
+ * @param pin Pin connected to the servo pulse wave input. This
+ * pin must be capable of PWM output.
+ *
+ * @param min If this value is below MIN_PULSE_CHECK it will be associated
+ * with an angle in degree. Otherwise it will be the minimum
+ * pulse width.
+ * min as an angle must be between MIN_ANGLE < angle < MAX_ANGLE
+ * with default as MIN_ANGLE
+ * min as a pulse width must be between MIN_PULSE_WIDTH < pwm < MAX_PULSE_WIDTH
+ * with a default as MIN_PULSE_WIDTH
+ *
+ * @param max If this value is below MIN_PULSE_CHECK it will be associated
+ * with an angle in degree. Otherwise it will be the maximum
+ * pulse width.
+ * max as an angle must be between MIN_ANGLE < angle < MAX_ANGLE
+ * with default as MAX_ANGLE
+ * max as a pulse width must be between MIN_PULSE_WIDTH < pwm < MAX_PULSE_WIDTH
+ * with a default as MAX_PULSE_WIDTH
+ *
+ * @return servoIndex number or INVALID_SERVO = 255 in case of an error
+ */
+ uint8_t attach(uint8_t pin, uint16_t min = MIN_ANGLE, uint16_t max = MAX_ANGLE);
+
+
+ /**
+ * @brief Stop driving the servo pulse train.
+ *
+ * If not currently attached to a motor, this function has no effect.
+ *
+ * @return true if this call did anything, false otherwise.
+ */
+ void detach();
+
+ /**
+ * @brief Set the servomotor target angle by recalculating the duty cycle
+ * for PSOC6 PWM settings.
+ *
+ * @param value Target angle, in degrees. If the target angle is
+ * outside the range specified at attach(), it
+ * will be clamped to lie in that range.
+ *
+ * @see Servo::attach()
+ */
+ void write(int value);
+
+ /**
+ * @brief Set the pulse width, in microseconds by recalculating it for the
+ * PSOC6 PWM settings. It also calculates the angle from the pwm value.
+ *
+ * @param value Pulse width to send to the servomotor, in
+ * microseconds. If outside of the range
+ * specified at attach() time, it is clamped to
+ * lie in that range.
+ *
+ * @see Servo::attach()
+ */
+ void writeMicroseconds(int value);
+
+ /**
+ * returns the current value in degree as an angle between 0 and 189 degrees
+ *
+ * @see Servo::attach()
+ */
+ int read() const { return uint16_t(this->_deg); }
+
+ /**
+ * returns the current pwm value in microseconds.
+ *
+ * @see Servo::attach()
+ */
+ int readMicroseconds() const { return uint16_t(this->_pwm); }
+
+ /**
+ * @brief Check if this instance is attached to a servo.
+ * @return true if this instance is attached to a servo, false otherwise.
+ * @see Servo::attachedPin()
+ */
+ bool attached() const { return this->_isActive; }
+
+private:
+ uint16_t _minPW; // the initial minPulseWidth, if not set than MIN_PULSE_WIDTH
+ uint16_t _maxPW; // the initial maxPulseWidth, if not set than MAX_PULSE_WIDTH
+ int16_t _minAngle; // the initial minAngle, if not set than MIN_ANGLE
+ int16_t _maxAngle; // the initial maxAngle, if not set than MAX_ANGLE
+ int16_t _pin; // attached arduino pin number
+ double _deg; // actual angle in degree
+ double _pwm; // actual pwm signal in microseconds
+ uint8_t _isActive; // true if this pin is active, otherwise false
+
+ uint8_t servoIndex; // the actual number of Servos attached to this library
+
+
+};
+
+#endif
\ No newline at end of file