Adafruit_PWMServoDriver.h

/*!
 *  @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
 */

/* This was updated by kiyoshigawa on 2019-09-28 to use the i2c_t3.h teensy wire library instead of the normal arduino Wire library */

#ifndef _ADAFRUIT_PWMServoDriver_H
#define _ADAFRUIT_PWMServoDriver_H

#include <Arduino.h>
#include <i2c_t3.h>

#define PCA9685_SUBADR1 0x2 /**< i2c bus address 1 */
#define PCA9685_SUBADR2 0x3 /**< i2c bus address 2 */
#define PCA9685_SUBADR3 0x4 /**< i2c bus address 3 */

#define PCA9685_MODE1 0x0 /**< Mode Register 1 */
#define PCA9685_MODE2 0x1 /**< Mode Register 2 */
#define PCA9685_PRESCALE 0xFE /**< Prescaler for PWM output frequency */

#define LED0_ON_L 0x6 /**< LED0 output and brightness control byte 0 */
#define LED0_ON_H 0x7 /**< LED0 output and brightness control byte 1 */
#define LED0_OFF_L 0x8 /**< LED0 output and brightness control byte 2 */
#define LED0_OFF_H 0x9 /**< LED0 output and brightness control byte 3 */

#define ALLLED_ON_L 0xFA /**< load all the LEDn_ON registers, byte 0 */
#define ALLLED_ON_H 0xFB /**< load all the LEDn_ON registers, byte 1 */
#define ALLLED_OFF_L 0xFC /**< load all the LEDn_OFF registers, byte 0 */
#define ALLLED_OFF_H 0xFD /**< load all the LEDn_OFF registers, byte 1 */

/*! 
 *  @brief  Class that stores state and functions for interacting with PCA9685 PWM chip
 */
class Adafruit_PWMServoDriver {
 public:
  Adafruit_PWMServoDriver(uint8_t addr = 0x40, i2c_t3 *I2C = &Wire);
  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);

 private:
  uint8_t _i2caddr;
  
  i2c_t3 *_i2c;

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

#endif