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diff --git a/peripheral/libupm/src/servo/servo.h b/peripheral/libupm/src/servo/servo.h
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+/*
+ * Author: Yevgeniy Kiveisha <yevgeniy.kiveisha@intel.com>
+ * Copyright (c) 2014 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <string>
+#include <mraa/pwm.h>
+
+namespace upm {
+
+#define MIN_PULSE_WIDTH             600
+#define MAX_PULSE_WIDTH             2500
+#define PERIOD                      20000
+
+#define HIGH                        1
+#define LOW                         0
+
+#define DEFAULT_WAIT_DISABLE_PWM    0
+
+/**
+ * @brief Servo library 
+ *
+ * The base Servo class provides routines for setting the angle of the shaft
+ * as well as setting and getting the minimum and maximum pulse width and 
+ * the maximum period.
+ *
+ * @defgroup servo libupm-servo
+ * @ingroup seeed emax pwm servos gsk
+ */
+class Servo {
+    public:
+        /**
+         * Instantiates a Servo object
+         *
+         * @param pin Servo pin number
+         */
+        Servo (int pin);
+
+        /**
+         * Instantiates a Servo object
+         *
+         * @param pin Servo pin number
+         * @param minPulseWidth Minimum pulse width, in microseconds
+         * @param maxPulseWidth Maximum pulse width, in microseconds
+         */
+        Servo (int pin, int minPulseWidth, int maxPulseWidth);
+
+        /**
+         * Instantiates a Servo object
+         *
+         * @param pin Servo pin number
+         * @param minPulseWidth Minimum pulse width, in microseconds
+         * @param maxPulseWidth Maximum pulse width, in microseconds
+         * @param waitAndDisablePwm If 1, PWM is enabled only during the setAngle() execution
+         * for a period of 1 second, and then turned back off. If 0, PWM remains on afterward.
+         */
+        Servo (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm);
+
+        /**
+         * Servo object destructor
+         */
+        ~Servo();
+
+        /**
+         * Sets the angle of the servo engine.
+         *
+         * @param angle Number between 0 and 180
+         * @return 0 if successful, non-zero otherwise
+         */
+        mraa_result_t setAngle (int angle);
+
+        /**
+         * Halts PWM for this servo and allows it to move freely.
+         */
+        mraa_result_t haltPwm ();
+
+        /**
+         * Returns the name of the component
+         *
+         * @return Name of the component
+         */
+        std::string name()
+        {
+            return m_name;
+        }
+
+        /**
+         * Sets the minimum pulse width
+         *
+         * @param width Minimum HIGH signal width
+         */
+        void setMinPulseWidth (int width);
+
+        /**
+         * Sets the maximum pulse width
+         *
+         * @param width Maximum HIGH signal width
+         */
+        void setMaxPulseWidth (int width);
+
+        /**
+         * Sets the maximum period width
+         *
+         * @param period PWM period width
+         */
+        void setPeriod (int period);
+
+        /**
+         * Returns the minimum pulse width
+         *
+         * @return Minimum pulse width
+         */
+        int getMinPulseWidth ();
+
+        /**
+         * Returns the maximum pulse width
+         *
+         * @return Maximum pulse width
+         */
+        int getMaxPulseWidth ();
+
+        /**
+         * Returns the maximum PWM period width
+         *
+         * @return Maximum PWM period width
+         */
+        int getPeriod ();
+
+    protected:
+        int calcPulseTraveling (int value);
+
+        std::string         m_name;
+        int                 m_servoPin;
+        float               m_maxAngle;
+        mraa_pwm_context    m_pwmServoContext;
+        int                 m_currAngle;
+
+        int                 m_minPulseWidth;
+        int                 m_maxPulseWidth;
+        int                 m_period;
+
+        int                 m_waitAndDisablePwm;
+
+    private:
+        void init (int pin, int minPulseWidth, int maxPulseWidth, int waitAndDisablePwm);
+};
+
+}