Add writeMicroseconds() and a few keywords.

Author: Nathan Seidle

cores/arduino/ard_sup/ap3_gpio.h

@@ -45,7 +45,7 @@ extern const am_hal_gpio_pincfg_t g_AM_HAL_GPIO_INPUT_PULLDOWN;
 #define AP3_GPIO_IS_VALID(pad) ((pad >= 0) && (pad < AP3_GPIO_MAX_PADS))
 
 extern ap3_gpio_pad_t ap3_gpio_pin2pad(ap3_gpio_pin_t pin);
-#define AP3_GPIO_PAD_UNUSED (-1)
+#define AP3_GPIO_PAD_UNUSED (255)
 
 #define AP3_GPIO_DEFAULT_PINCFG AP3_GPIO_PINCFG_NULL
 

libraries/Servo/keywords.txt

@@ -17,6 +17,8 @@ read	KEYWORD2
 
 writeMicroseconds	KEYWORD2
 attached	KEYWORD2
+servoWriteResolution	KEYWORD2
+getServoResolution	KEYWORD2
 
 #######################################
 # Instances (KEYWORD2)

libraries/Servo/src/Servo.cpp

@@ -28,7 +28,6 @@ SOFTWARE.
 //Constructor
 Servo::Servo()
 {
-
 }
 
 void Servo::attach(uint8_t pinNumber, uint16_t minMicros, uint16_t maxMicros)
@@ -51,15 +50,22 @@ void Servo::write(uint8_t servoPosition)
 		_servoPosition = 180; //Bounds check
 
 	uint16_t newServoPosition = map(servoPosition, 0, 181, 0, ((uint16_t)0x01 << getServoResolution()));
-
 	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
 }
 
 void Servo::writeMicroseconds(uint16_t microSecs)
 {
-	//Convert microseconds to PWM value
-	uint16_t newServoPosition = microSecs;
-	servoWrite(_servoPinNumber, newServoPosition, _minMicros, _maxMicros);
+	uint16_t extendedMin = _minMicros;
+	uint16_t extendedMax = _maxMicros;
+
+	if (microSecs > _maxMicros)
+		extendedMax = microSecs;
+	if (microSecs < _minMicros)
+		extendedMin = microSecs;
+
+	//Map microseconds to PWM value
+	uint16_t newServoPosition = map(microSecs, extendedMin, extendedMax + 1, 0, ((uint16_t)0x01 << getServoResolution()));
+	servoWrite(_servoPinNumber, newServoPosition, extendedMin, extendedMax);
 }
 
 void Servo::detach(void)