ChibiOS/Servo is a small library which allows it to interface standard RC servos to ChibiOS/RT easily.

This library stands under the BSD license. You can use, modify and share this code in any situations. The only restriction is that you always have to keep the original license header.

To use this small library, just add the servo.c and servo.h files to your project.

First, you have to create an instance of the servo struct. The servo contains the following informations:

typedef struct Servo_t {
		ioportid_t port;			// The GPIO port on which the servo is connected
		ioportmask_t pin;			// The GPIO pin on which the servo is connected
		PWMDriver *pwm_driver;		// The PWM driver to use
		pwmchannel_t pwm_channel;	// The PWM channel to use
		uint16_t min;				// The minimum value the servo shall never go below
		uint16_t max;				// The maximum value the servo shall never go over
} Servo;

This instance will be passed to every function which controlls the servo. For nice API reasons, there are also function to set and get the maximum and minimum value.