/**************************************************************************
  Copyright (C) 2013 SARVESH KULKARNI <sarvesh.kulkarni@villanova.edu>
                     Associate Professor, ECE Department
                     Villanova University, PA, USA.

  LEGAL NOTICE:
  This library 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 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 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 <http://www.gnu.org/licenses/>.

  -------------------------------------------------------------------------
  Header file for the library of routines for Adafruit's PCA9685 16-channel
  PWM breakout board. The routines should work for *any* PCA9685 based
  board as long as the correct I2C device address is passed to the
  constructor by the main program.
  Version 0.9, Released August 2013.

  The Adafruit PWM board for which this library is written, is an I2C slave.
  You need to connect at least 4 pins from your microcontroller to drive
  the board. On the Raspberry Pi, Rev.2, these pins are as follows:
     SDA = pin 3, SCL = pin 5
     VCC (3.3V) = pin 1, GND = pin 6
  In addition, should you want to control any device with a power draw
  greater than that of an LED (e.g. servo motor) using this PWM board, you
  do need to provide a 5V power supply with sufficient amperage at the +V
  and GND pins of the PWM board.
 *************************************************************************/

#ifndef _PCA9685

  #define _PCA9685

  #include <stdint.h>		// for defns of uint8_t and uint16_t


  // ------ I2C Bus Addresses  --------------------

  #define GENERAL_CALL_ADDR 0x0


  // -- PCA9685 Control Register Addresses --------

  #define _MODE1_REG	  0x0
  #define _MODE2_REG	  0x1

  #define _SUBADR1	  0x2
  #define _SUBADR2	  0x3
  #define _SUBADR3	  0x4

  #define _LED0_ON_L	  0x6
  #define _LED0_ON_H	  0x7
  #define _LED0_OFF_L	  0x8
  #define _LED0_OFF_H	  0x9

  #define _ALL_LED_ON_L	  0xFA
  #define _ALL_LED_ON_H	  0xFB
  #define _ALL_LED_OFF_L  0xFC
  #define _ALL_LED_OFF_H  0xFD

  #define _PRE_SCALE_REG  0xFE


  // ------ Other Board/Chip Specific Constants and Control Codes -----------

  #define SW_RESET	   	  0x6
  #define MODE1_REG_DEFAULT	  0x1	// Restart=0, ExtClk=0, AutoIncr=0, Sleep=0,
					//   Sub1-3=0, AllCall=1
  #define MODE2_REG_DEFAULT	  0xC	// Output uninverted, LED o/ps: Totem Pole,
					//   Outputs change on STOP 
  #define OSC_CLK	     25000000	// 25 MHz clock on board


  // ------ Class Specific Error Codes  ----------------------------------

  #define FD_UNINITIALIZED     -1  // Illegal file descriptor; device file inaccessible
  #define DUTY_CYCLE_ILLEGAL   -2  // Duty Cycle > 100
  #define PULSE_WIDTH_ILLEGAL  -3  // Pulse Width > Max possible Pulse Width in cycle 
  #define DELAY_ILLEGAL	       -4  // Delay > 100
  #define CHANNEL_NUM_ILLEGAL  -5  // Channel Num is not 255 (all), and not in 0-15 range
  #define I2C_TRANSACTION_FAILED -6  // I2C Bus read or write failed

  // ------ Other Class Specific Constants -------------------------------

  #define MAXSIZE  10	 // Buffer size ..for reads/writes to PCA9685 registers 
			 // CAUTION: If you read from or write to more than 10 registers
			 //          in the autoincrement mode, you need a suitably larger
			 //	     value here to prevent buffer overflow

  class PWM_Board {
	public:
			PWM_Board(uint8_t i2c_addr = 0x40);	// Constructor
			~PWM_Board(void);			// Destructor

		bool	isInitialized();
		int	readRegister(unsigned int reg_addr);

		int	getFreq(void);		// freq in Hz
		int	setFreq(float freq);	// freq in Hz

		// Duty cycle and delay are in percentages, channel_num 0xff means all channels
		int	setDutyCycle(float duty_cycle, unsigned int channel_num = 0xff, float delay = 0);

		// Pulse width is in milliseconds, channel_num 0xff means all channels
		int	setPulseWidth(float pulse_width, unsigned int channel_num = 0xff, float delay = 0);

		int	fullOn(unsigned int channel_num = 0xff, float delay = 0);
		int	fullOff(unsigned int channel_num = 0xff, float delay = 0);

		int	sleep(void);
		int	wakeUp(void);
		int	softReset(void);
		int	hardReset(void);

	protected:
		int 	initialize(void);

	private:
		uint8_t my_i2caddr;
		int	my_fd;
  };

#endif