/**********************************************************************
  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/>.
 
  This is the header file for the Library of routines for
  Adafruit's PCA9685 16-channel PWM breakout board.
  Version 0.8.01, Released April 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 p[ins of the PWM board.
 *********************************************************************/

#ifndef _ADAFRUIT_PCA9685

  #define _ADAFRUIT_PCA9685

  #include <stdint.h>		// for defns of unit8_t and unit16_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  0x01	// Restart=0, ExtClk=0, AutoIncr=1, 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

  // ------ Error Codes for our Class --------------------

  #define FD_UNINITIALIZED     -1  // Illegal file descriptor; device file inaccessible
  #define DUTY_CYCLE_ILLEGAL   -2  // Duty Cycle > 100
  #define DELAY_ILLEGAL	       -3  // Delay > 100
  #define CHANNEL_NUM_ILLEGAL  -4  // Channel Num is not 255 (all), and not in 0-15 range


  class PWM_Board {
	public:
		PWM_Board(uint8_t i2c_addr = 0x40);
		bool	isInitialized();
		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, int channel_num = 0xff, float delay = 0);

		int	sleep(void);
		int	soft_reset(void);
		int	hard_reset(void);


	protected:
		int 	initialize(void);

	private:
		uint8_t my_i2caddr;
		int	my_fd;
  };

#endif