/*!
 *  @file Adafruit_PWMServoDriver.h
 *
 *  This is a library for our Adafruit 16-channel PWM & Servo driver.
 *
 *  Designed specifically to work with the Adafruit 16-channel PWM & Servo
 * driver.
 *
 *  Pick one up today in the adafruit shop!
 *  ------> https://www.adafruit.com/product/815
 *
 *  These driver use I2C to communicate, 2 pins are required to interface.
 *  For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4.
 *
 *  Adafruit invests time and resources providing this open source code,
 *  please support Adafruit andopen-source hardware by purchasing products
 *  from Adafruit!
 *
 *  Limor Fried/Ladyada (Adafruit Industries).
 *
 *  BSD license, all text above must be included in any redistribution
 */
#ifndef _ADAFRUIT_PWMServoDriver_H
#define _ADAFRUIT_PWMServoDriver_H

#include <Arduino.h>
#include <Wire.h>

// REGISTER ADDRESSES
#define PCA9685_MODE1      0x00 /**< Mode Register 1 */
#define PCA9685_MODE2      0x01 /**< Mode Register 2 */
#define PCA9685_SUBADR1    0x02 /**< I2C-bus subaddress 1 */
#define PCA9685_SUBADR2    0x03 /**< I2C-bus subaddress 2 */
#define PCA9685_SUBADR3    0x04 /**< I2C-bus subaddress 3 */
#define PCA9685_ALLCALLADR 0x05 /**< LED All Call I2C-bus address */
#define PCA9685_LED0_ON_L  0x06 /**< LED0 on tick, low byte*/
#define PCA9685_LED0_ON_H  0x07 /**< LED0 on tick, high byte*/
#define PCA9685_LED0_OFF_L 0x08 /**< LED0 off tick, low byte */
#define PCA9685_LED0_OFF_H 0x09 /**< LED0 off tick, high byte */
// etc all 16:  LED15_OFF_H 0x45
#define PCA9685_ALLLED_ON_L  0xFA /**< load all the LEDn_ON registers, low */
#define PCA9685_ALLLED_ON_H  0xFB /**< load all the LEDn_ON registers, high */
#define PCA9685_ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, low */
#define PCA9685_ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers,high */
#define PCA9685_PRESCALE     0xFE /**< Prescaler for PWM output frequency */
#define PCA9685_TESTMODE     0xFF /**< defines the test mode to be entered */

// MODE1 bits
#define MODE1_ALLCAL  0x01 /**< respond to LED All Call I2C-bus address */
#define MODE1_SUB3    0x02 /**< respond to I2C-bus subaddress 3 */
#define MODE1_SUB2    0x04 /**< respond to I2C-bus subaddress 2 */
#define MODE1_SUB1    0x08 /**< respond to I2C-bus subaddress 1 */
#define MODE1_SLEEP   0x10 /**< Low power mode. Oscillator off */
#define MODE1_AI      0x20 /**< Auto-Increment enabled */
#define MODE1_EXTCLK  0x40 /**< Use EXTCLK pin clock */
#define MODE1_RESTART 0x80 /**< Restart enabled */
// MODE2 bits
#define MODE2_OUTNE_0 0x01 /**< Active LOW output enable input */
#define MODE2_OUTNE_1 \
    0x02 /**< Active LOW output enable input - high impedience */
#define MODE2_OUTDRV 0x04 /**< totem pole structure vs open-drain */
#define MODE2_OCH    0x08 /**< Outputs change on ACK vs STOP */
#define MODE2_INVRT  0x10 /**< Output logic state inverted */

#define PCA9685_I2C_ADDRESS  0x40     /**< Default PCA9685 I2C Slave Address */
#define FREQUENCY_OSCILLATOR 25000000 /**< Int. osc. frequency in datasheet */

#define PCA9685_PRESCALE_MIN 3   /**< minimum prescale value */
#define PCA9685_PRESCALE_MAX 255 /**< maximum prescale value */

/*!
 *  @brief  Class that stores state and functions for interacting with PCA9685
 * PWM chip
 */
class Adafruit_PWMServoDriver {
   public:
    Adafruit_PWMServoDriver();
    Adafruit_PWMServoDriver(const uint8_t addr);
    Adafruit_PWMServoDriver(const uint8_t addr, TwoWire &i2c);
    void begin(uint8_t prescale = 0);
    void reset();
    void sleep();
    void wakeup();
    void setExtClk(uint8_t prescale);
    void setPWMFreq(float freq);
    void setOutputMode(bool totempole);
    uint8_t getPWM(uint8_t num);
    void setPWM(uint8_t num, uint16_t on, uint16_t off);
    void setPin(uint8_t num, uint16_t val, bool invert = false);
    uint8_t readPrescale(void);
    void writeMicroseconds(uint8_t num, uint16_t Microseconds);

    void setOscillatorFrequency(uint32_t freq);
    uint32_t getOscillatorFrequency(void);

   private:
    uint8_t _i2caddr;
    TwoWire *_i2c;

    uint32_t _oscillator_freq;
    uint8_t read8(uint8_t addr);
    void write8(uint8_t addr, uint8_t d);
};

#endif
