Added missing server utility folder in libraries.

Former-commit-id: 0d37919

hardware/pic32/libraries/Servo/Utility/int.c

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c) 2011 Digilent
+ * Interrupt handeler for Servo Master library for PIC arduino.
+ *
+ * This file is free software; you can redistribute it and/or modify
+ * it under the terms of either the GNU General Public License version 2
+ * or the GNU Lesser General Public License version 2.1, both as
+ * published by the Free Software Foundation.
+*/
+
+#include "int.h"
+
+#define INT_T3 12
+#define INT_T4 16
+#define INT_T5 20
+
+
+void __ISR(INT_T3, ipl7) T3_IntHandler (void){
+ 	handle_interrupts(TIMER3, &TMR3, &PR3); 
+	IFS0CLR = 0x1000; // Clear timer interrupt status flag
+}
+
+
+void __ISR(INT_T4, ipl7) T4_IntHandler (void){
+ 	handle_interrupts(TIMER4, &TMR4, &PR4); 
+	IFS0CLR = 0x10000; // Clear timer interrupt status flag
+}
+
+void __ISR(INT_T5, ipl7) T5_IntHandler (void){
+ 	handle_interrupts(TIMER5, &TMR5, &PR5); 
+	IFS0CLR = 0x100000; // Clear timer interrupt status flag
+}
+
+
+
+void initISR(int timer)
+{  
+
+    INTEnableSystemMultiVectoredInt();
+    if(timer == TIMER3)
+    {
+         //timer 3 set clock period 20ms 
+        T3CON = 0x0060; // set prescalar 1:64
+        TMR3 = 0;
+        PR3 = 0x61A8;
+
+
+
+	    IFS0CLR = 0x1000;// Clear the T3 interrupt flag 
+	    IEC0SET = 0x1000;// Enable T3 interrupt 
+
+
+	    IPC3SET = 0x00001D;// Set T3 interrupt priority to 7, Subpriority to 1
+
+
+	    T3CONSET = 0x8000;// Enable Timer3
+    }
+    if(timer == TIMER4)
+    {
+        //timer 4 set clock period 20ms 
+        T4CON = 0x0060; // set prescalar 1:64
+        TMR4 = 0;
+        PR4 = 0x61A8;
+
+
+
+	    IFS0CLR = 0x10000;// Clear the T4 interrupt flag 
+	    IEC0SET = 0x10000;// Enable T4 interrupt 
+
+
+	    IPC4SET = 0x00001F;// Set T4 interrupt priority to 7, Subpriority to 3
+
+
+	    T4CONSET = 0x8000;// Enable Timer4
+
+    }
+    if(timer == TIMER5)
+    {
+         //timer 5 set clock period 20ms 
+        T5CON = 0x0060; // set prescalar 1:64
+        TMR5 = 0;
+        PR5 = 0x61A8;
+
+
+
+	    IFS0CLR = 0x100000;// Clear the T5 interrupt flag 
+	    IEC0SET = 0x100000;// Enable T5 interrupt 
+
+
+	    IPC5SET = 0x00001E;// Set T5 interrupt priority to 7, Subpriority to 2
+
+
+	    T5CONSET = 0x8000;// Enable Timer5
+    }
+
+
+
+} 
+

hardware/pic32/libraries/Servo/Utility/int.h

@@ -0,0 +1,31 @@
+/*
+ * Copyright (c) 2011 Digilent
+ * Interrupt handeler for Servo Master library for PIC arduino.
+ *
+ * This file is free software; you can redistribute it and/or modify
+ * it under the terms of either the GNU General Public License version 2
+ * or the GNU Lesser General Public License version 2.1, both as
+ * published by the Free Software Foundation.
+*/
+
+
+
+#ifndef int_h
+#define int_h
+
+
+#include <p32xxxx.h>
+#include <plib.h>
+#include <WProgram.h> 
+#include <inttypes.h>
+
+//define timer priority
+#define TIMER4 0 // timer2 is the first timer used
+#define TIMER5 1
+#define TIMER3 2
+
+
+void initISR(int timer);
+void handle_interrupts(int timer, volatile unsigned int *TMRn, volatile unsigned int* PR);
+
+#endif