Formatting cleanup of quiet sources

Formatting for code-folding plus minor style changes to less active
code.

Marlin/Servo.cpp

@@ -44,6 +44,7 @@
 #include "Configuration.h" 
 
 #ifdef NUM_SERVOS
+
 #include <avr/interrupt.h>
 #include <Arduino.h>
 
@@ -52,7 +53,6 @@
 #define usToTicks(_us)    (( clockCyclesPerMicrosecond()* _us) / 8)     // converts microseconds to tick (assumes prescale of 8)  // 12 Aug 2009
 #define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
 
-
 #define TRIM_DURATION       2                               // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
 
 //#define NBR_TIMERS        (MAX_SERVOS / SERVOS_PER_TIMER)
@@ -74,24 +74,23 @@ uint8_t ServoCount = 0;                                     // the total number
 
 /************ static functions common to all instances ***********************/
 
-static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
-{
-  if( Channel[timer] < 0 )
+static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA) {
+  if (Channel[timer] < 0)
     *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
-  else{
-    if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
+  else {
+    if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive)
       digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
   }
 
   Channel[timer]++;    // increment to the next channel
-  if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+  if (SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
     *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
-    if(SERVO(timer,Channel[timer]).Pin.isActive == true)     // check if activated
+    if (SERVO(timer,Channel[timer]).Pin.isActive)     // check if activated
       digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
   }
   else {
     // finished all channels so wait for the refresh period to expire before starting over
-    if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed
+    if ( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed
       *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
     else
       *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
@@ -100,142 +99,126 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t
 }
 
 #ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
-// Interrupt handlers for Arduino
-#if defined(_useTimer1)
-SIGNAL (TIMER1_COMPA_vect)
-{
-  handle_interrupts(_timer1, &TCNT1, &OCR1A);
-}
-#endif
-
-#if defined(_useTimer3)
-SIGNAL (TIMER3_COMPA_vect)
-{
-  handle_interrupts(_timer3, &TCNT3, &OCR3A);
-}
-#endif
 
-#if defined(_useTimer4)
-SIGNAL (TIMER4_COMPA_vect)
-{
-  handle_interrupts(_timer4, &TCNT4, &OCR4A);
+  // Interrupt handlers for Arduino
+  #if defined(_useTimer1)
+    SIGNAL (TIMER1_COMPA_vect) { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
+  #endif
+
+  #if defined(_useTimer3)
+    SIGNAL (TIMER3_COMPA_vect) { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
+  #endif
+
+  #if defined(_useTimer4)
+    SIGNAL (TIMER4_COMPA_vect) { handle_interrupts(_timer4, &TCNT4, &OCR4A); }
+  #endif
+
+  #if defined(_useTimer5)
+    SIGNAL (TIMER5_COMPA_vect) { handle_interrupts(_timer5, &TCNT5, &OCR5A); }
+  #endif
+
+#else //!WIRING
+
+  // Interrupt handlers for Wiring
+  #if defined(_useTimer1)
+    void Timer1Service() { handle_interrupts(_timer1, &TCNT1, &OCR1A); }
+  #endif
+  #if defined(_useTimer3)
+    void Timer3Service() { handle_interrupts(_timer3, &TCNT3, &OCR3A); }
+  #endif
+
+#endif //!WIRING
+
+
+static void initISR(timer16_Sequence_t timer) {
+  #if defined(_useTimer1)
+    if (timer == _timer1) {
+      TCCR1A = 0;             // normal counting mode
+      TCCR1B = _BV(CS11);     // set prescaler of 8
+      TCNT1 = 0;              // clear the timer count
+      #if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
+        TIFR |= _BV(OCF1A);      // clear any pending interrupts;
+        TIMSK |= _BV(OCIE1A);    // enable the output compare interrupt
+      #else
+        // here if not ATmega8 or ATmega128
+        TIFR1 |= _BV(OCF1A);     // clear any pending interrupts;
+        TIMSK1 |= _BV(OCIE1A);   // enable the output compare interrupt
+      #endif
+      #if defined(WIRING)
+        timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+      #endif
+    }
+  #endif
+
+  #if defined(_useTimer3)
+    if (timer == _timer3) {
+      TCCR3A = 0;             // normal counting mode
+      TCCR3B = _BV(CS31);     // set prescaler of 8
+      TCNT3 = 0;              // clear the timer count
+      #if defined(__AVR_ATmega128__)
+        TIFR |= _BV(OCF3A);     // clear any pending interrupts;
+      	ETIMSK |= _BV(OCIE3A);  // enable the output compare interrupt
+      #else
+        TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
+        TIMSK3 =  _BV(OCIE3A) ; // enable the output compare interrupt
+      #endif
+      #if defined(WIRING)
+        timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+      #endif
+    }
+  #endif
+
+  #if defined(_useTimer4)
+    if (timer == _timer4) {
+      TCCR4A = 0;             // normal counting mode
+      TCCR4B = _BV(CS41);     // set prescaler of 8
+      TCNT4 = 0;              // clear the timer count
+      TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+      TIMSK4 =  _BV(OCIE4A) ; // enable the output compare interrupt
+    }
+  #endif
+
+  #if defined(_useTimer5)
+    if (timer == _timer5) {
+      TCCR5A = 0;             // normal counting mode
+      TCCR5B = _BV(CS51);     // set prescaler of 8
+      TCNT5 = 0;              // clear the timer count
+      TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+      TIMSK5 =  _BV(OCIE5A) ; // enable the output compare interrupt
+    }
+  #endif
 }
-#endif
 
-#if defined(_useTimer5)
-SIGNAL (TIMER5_COMPA_vect)
-{
-  handle_interrupts(_timer5, &TCNT5, &OCR5A);
+static void finISR(timer16_Sequence_t timer) {
+  // Disable use of the given timer
+  #if defined(WIRING)
+    if (timer == _timer1) {
+      #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+        TIMSK1
+      #else
+        TIMSK
+      #endif
+          &= ~_BV(OCIE1A);    // disable timer 1 output compare interrupt
+      timerDetach(TIMER1OUTCOMPAREA_INT);
+    }
+    else if (timer == _timer3) {
+      #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__)
+        TIMSK3
+      #else
+        ETIMSK
+      #endif
+          &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+      timerDetach(TIMER3OUTCOMPAREA_INT);
+    }
+  #else //!WIRING
+    // For arduino - in future: call here to a currently undefined function to reset the timer
+  #endif
 }
-#endif
 
-#elif defined WIRING
-// Interrupt handlers for Wiring
-#if defined(_useTimer1)
-void Timer1Service()
-{
-  handle_interrupts(_timer1, &TCNT1, &OCR1A);
-}
-#endif
-#if defined(_useTimer3)
-void Timer3Service()
-{
-  handle_interrupts(_timer3, &TCNT3, &OCR3A);
-}
-#endif
-#endif
-
-
-static void initISR(timer16_Sequence_t timer)
-{
-#if defined (_useTimer1)
-  if(timer == _timer1) {
-    TCCR1A = 0;             // normal counting mode
-    TCCR1B = _BV(CS11);     // set prescaler of 8
-    TCNT1 = 0;              // clear the timer count
-#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
-    TIFR |= _BV(OCF1A);      // clear any pending interrupts;
-    TIMSK |=  _BV(OCIE1A) ;  // enable the output compare interrupt
-#else
-    // here if not ATmega8 or ATmega128
-    TIFR1 |= _BV(OCF1A);     // clear any pending interrupts;
-    TIMSK1 |=  _BV(OCIE1A) ; // enable the output compare interrupt
-#endif
-#if defined(WIRING)
-    timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
-#endif
-  }
-#endif
-
-#if defined (_useTimer3)
-  if(timer == _timer3) {
-    TCCR3A = 0;             // normal counting mode
-    TCCR3B = _BV(CS31);     // set prescaler of 8
-    TCNT3 = 0;              // clear the timer count
-#if defined(__AVR_ATmega128__)
-    TIFR |= _BV(OCF3A);     // clear any pending interrupts;
-	ETIMSK |= _BV(OCIE3A);  // enable the output compare interrupt
-#else
-    TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
-    TIMSK3 =  _BV(OCIE3A) ; // enable the output compare interrupt
-#endif
-#if defined(WIRING)
-    timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
-#endif
-  }
-#endif
-
-#if defined (_useTimer4)
-  if(timer == _timer4) {
-    TCCR4A = 0;             // normal counting mode
-    TCCR4B = _BV(CS41);     // set prescaler of 8
-    TCNT4 = 0;              // clear the timer count
-    TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
-    TIMSK4 =  _BV(OCIE4A) ; // enable the output compare interrupt
-  }
-#endif
-
-#if defined (_useTimer5)
-  if(timer == _timer5) {
-    TCCR5A = 0;             // normal counting mode
-    TCCR5B = _BV(CS51);     // set prescaler of 8
-    TCNT5 = 0;              // clear the timer count
-    TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
-    TIMSK5 =  _BV(OCIE5A) ; // enable the output compare interrupt
-  }
-#endif
-}
-
-static void finISR(timer16_Sequence_t timer)
-{
-    //disable use of the given timer
-#if defined WIRING   // Wiring
-  if(timer == _timer1) {
-    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
-    TIMSK1 &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
-    #else
-    TIMSK &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
-    #endif
-    timerDetach(TIMER1OUTCOMPAREA_INT);
-  }
-  else if(timer == _timer3) {
-    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
-    TIMSK3 &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
-    #else
-    ETIMSK &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
-    #endif
-    timerDetach(TIMER3OUTCOMPAREA_INT);
-  }
-#else
-    //For arduino - in future: call here to a currently undefined function to reset the timer
-#endif
-}
-
-static boolean isTimerActive(timer16_Sequence_t timer)
-{
+static boolean isTimerActive(timer16_Sequence_t timer) {
   // returns true if any servo is active on this timer
   for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
-    if(SERVO(timer,channel).Pin.isActive == true)
+    if (SERVO(timer,channel).Pin.isActive)
       return true;
   }
   return false;
@@ -244,70 +227,59 @@ static boolean isTimerActive(timer16_Sequence_t timer)
 
 /****************** end of static functions ******************************/
 
-Servo::Servo()
-{
-  if( ServoCount < MAX_SERVOS) {
+Servo::Servo() {
+  if ( ServoCount < MAX_SERVOS) {
     this->servoIndex = ServoCount++;                    // assign a servo index to this instance
-	servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH);   // store default values  - 12 Aug 2009
+    servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH);   // store default values  - 12 Aug 2009
   }
   else
-    this->servoIndex = INVALID_SERVO ;  // too many servos
+    this->servoIndex = INVALID_SERVO;  // too many servos
 }
 
-uint8_t Servo::attach(int pin)
-{
+uint8_t Servo::attach(int pin) {
   return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
 }
 
-uint8_t Servo::attach(int pin, int min, int max)
-{
-  if(this->servoIndex < MAX_SERVOS ) {
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+uint8_t Servo::attach(int pin, int min, int max) {
+  if (this->servoIndex < MAX_SERVOS ) {
+  #if defined(ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
     if (pin > 0) this->pin = pin; else pin = this->pin;
-#endif
-    pinMode( pin, OUTPUT) ;                                   // set servo pin to output
+  #endif
+    pinMode(pin, OUTPUT);                                   // set servo pin to output
     servos[this->servoIndex].Pin.nbr = pin;
     // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
-    this->min  = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
-    this->max  = (MAX_PULSE_WIDTH - max)/4;
+    this->min = (MIN_PULSE_WIDTH - min) / 4; //resolution of min/max is 4 uS
+    this->max = (MAX_PULSE_WIDTH - max) / 4;
     // initialize the timer if it has not already been initialized
     timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
-    if(isTimerActive(timer) == false)
-      initISR(timer);
+    if (!isTimerActive(timer)) initISR(timer);
     servos[this->servoIndex].Pin.isActive = true;  // this must be set after the check for isTimerActive
   }
-  return this->servoIndex ;
+  return this->servoIndex;
 }
 
-void Servo::detach()
-{
+void Servo::detach() {
   servos[this->servoIndex].Pin.isActive = false;
   timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
-  if(isTimerActive(timer) == false) {
-    finISR(timer);
-  }
+  if (!isTimerActive(timer)) finISR(timer);
 }
 
-void Servo::write(int value)
-{
-  if(value < MIN_PULSE_WIDTH)
-  {  // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
-    if(value < 0) value = 0;
-    if(value > 180) value = 180;
+void Servo::write(int value) {
+  if (value < MIN_PULSE_WIDTH) { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+    if (value < 0) value = 0;
+    if (value > 180) value = 180;
     value = map(value, 0, 180, SERVO_MIN(),  SERVO_MAX());
   }
   this->writeMicroseconds(value);
 }
 
-void Servo::writeMicroseconds(int value)
-{
+void Servo::writeMicroseconds(int value) {
   // calculate and store the values for the given channel
   byte channel = this->servoIndex;
-  if( (channel < MAX_SERVOS) )   // ensure channel is valid
-  {
-    if( value < SERVO_MIN() )          // ensure pulse width is valid
+  if (channel < MAX_SERVOS) {  // ensure channel is valid
+    if (value < SERVO_MIN())   // ensure pulse width is valid
       value = SERVO_MIN();
-    else if( value > SERVO_MAX() )
+    else if (value > SERVO_MAX())
       value = SERVO_MAX();
 
   	value = value - TRIM_DURATION;
@@ -320,25 +292,13 @@ void Servo::writeMicroseconds(int value)
   }
 }
 
-int Servo::read() // return the value as degrees
-{
-  return  map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
-}
+// return the value as degrees
+int Servo::read() { return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); }
 
-int Servo::readMicroseconds()
-{
-  unsigned int pulsewidth;
-  if( this->servoIndex != INVALID_SERVO )
-    pulsewidth = ticksToUs(servos[this->servoIndex].ticks)  + TRIM_DURATION ;   // 12 aug 2009
-  else
-    pulsewidth  = 0;
-
-  return pulsewidth;
+int Servo::readMicroseconds() {
+  return (this->servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION;
 }
 
-bool Servo::attached()
-{
-  return servos[this->servoIndex].Pin.isActive ;
-}
+bool Servo::attached() { return servos[this->servoIndex].Pin.isActive; }
 
 #endif

Marlin/Servo.h

@@ -58,35 +58,36 @@
 
 // Say which 16 bit timers can be used and in what order
 #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
-#define _useTimer5
-//#define _useTimer1
-#define _useTimer3
-#define _useTimer4
-//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
-typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+  #define _useTimer5
+  //#define _useTimer1
+  #define _useTimer3
+  #define _useTimer4
+  //typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
+  typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ;
 
 #elif defined(__AVR_ATmega32U4__)
-//#define _useTimer1
-#define _useTimer3
-//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
-typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+  //#define _useTimer1
+  #define _useTimer3
+  //typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+  typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
 
 #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
-#define _useTimer3
-//#define _useTimer1
-//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
-typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+  #define _useTimer3
+  //#define _useTimer1
+  //typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+  typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
 
 #elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__) || defined(__AVR_ATmega1284P__) ||defined(__AVR_ATmega2561__)
-#define _useTimer3
-//#define _useTimer1
-//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
-typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
+  #define _useTimer3
+  //#define _useTimer1
+  //typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ;
+  typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ;
 
 #else  // everything else
-//#define _useTimer1
-//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
-typedef enum { _Nbr_16timers } timer16_Sequence_t ;
+  //#define _useTimer1
+  //typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ;
+  typedef enum { _Nbr_16timers } timer16_Sequence_t ;
+
 #endif
 
 #define Servo_VERSION           2     // software version of this library
@@ -101,35 +102,34 @@ typedef enum { _Nbr_16timers } timer16_Sequence_t ;
 
 #define INVALID_SERVO         255     // flag indicating an invalid servo index
 
-typedef struct  {
+typedef struct {
   uint8_t nbr        :6 ;             // a pin number from 0 to 63
   uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false
-} ServoPin_t   ;
+} ServoPin_t;
 
 typedef struct {
   ServoPin_t Pin;
   unsigned int ticks;
 } servo_t;
 
-class Servo
-{
-public:
-  Servo();
-  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
-  uint8_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
-  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
-#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
-  int pin;                           // store the hardware pin of the servo
-#endif
-private:
-   uint8_t servoIndex;               // index into the channel data for this servo
-   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH
-   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH
+class Servo {
+  public:
+    Servo();
+    uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
+    uint8_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
+    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
+    #if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
+      int pin;                           // store the hardware pin of the servo
+    #endif
+  private:
+    uint8_t servoIndex;               // index into the channel data for this servo
+    int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH
+    int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH
 };
 
 #endif