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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * servo_private.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ * Copyright (c) 2009 Michael Margolis.  All right reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library 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
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#include <stdint.h>
+
+// Architecture specific include
+#ifdef __AVR__
+  #include "../AVR/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_SAM)
+  #include "../DUE/ServoTimers.h"
+#elif defined(__SAMD51__)
+  #include "../SAMD51/ServoTimers.h"
+#else
+  #error "This library only supports boards with an AVR, SAM3X or SAMD51 processor."
+#endif
+
+// Macros
+
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minimum time to refresh servos in microseconds
+
+#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer
+#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+// Convert microseconds to ticks and back (PRESCALER depends on architecture)
+#define usToTicks(_us)    (clockCyclesPerMicrosecond() * (_us) / (SERVO_TIMER_PRESCALER))
+#define ticksToUs(_ticks) (unsigned(_ticks) * (SERVO_TIMER_PRESCALER) / clockCyclesPerMicrosecond())
+
+// convenience macros
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / (SERVOS_PER_TIMER))) // returns the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER))       // returns the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel)  ((_timer*(SERVOS_PER_TIMER)) + _channel)     // macro to access servo index by timer and channel
+#define SERVO(_timer,_channel)  (servo_info[SERVO_INDEX(_timer,_channel)])       // macro to access servo class by timer and channel
+
+// Types
+
+typedef struct {
+  uint8_t nbr        : 7 ;            // a pin number from 0 to 127
+  uint8_t isActive   : 1 ;            // true if this channel is enabled, pin not pulsed if false
+} ServoPin_t;
+
+typedef struct {
+  ServoPin_t Pin;
+  unsigned int ticks;
+} ServoInfo_t;
+
+// Global variables
+
+extern uint8_t ServoCount;
+extern ServoInfo_t servo_info[MAX_SERVOS];
+
+// Public functions
+
+extern void initISR(timer16_Sequence_t timer);
+extern void finISR(timer16_Sequence_t timer);