src/psoc: Add psoc6 port for Servo Library.

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.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />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

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

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
+
+
+
+

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 <Arduino.h>
+
+#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