/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program 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 General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

/**
 * The class Servo uses the PWM class to implement it's functions
 *
 * The PWM1 module is only used to generate interrups at specified times. It
 * is NOT used to directly toggle pins. The ISR writes to the pin assigned to
 * that interrupt
 *
 * All PWMs use the same repetition rate - 20mS because that's the normal servo rate
 *
 */

#ifndef LPC1768_SERVO_h
  #define LPC1768_SERVO_h

  #ifdef TARGET_LPC1768
    #include <inttypes.h>


    class Servo {
      public:
        Servo();
        int8_t attach(int pin);            // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail)
        int8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes.
        void detach();
        void write(int value);             // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
        void writeMicroseconds(int value); // write pulse width in microseconds
        void move(int value);              // attach the servo, then move to value
                                           // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds
                                           // if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach
        int read();                        // returns current pulse width as an angle between 0 and 180 degrees
        int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
        bool attached();                   // return true if this servo is attached, otherwise false

      private:
        uint8_t servoIndex;               // index into the channel data for this servo
        int min;
        int max;
    };


    #define HAL_SERVO_LIB Servo

  #endif
#endif