PCA9685.h

// MOTOR DRIVER MODULE to Create PWM Modules
#ifndef _PCA9685_H
#define _PCA9685_H
#include <inttypes.h>

// Register Definitions
#define DEV_ADDR 0x40         // Device Address
#define MODE1 0x00            // Mode  register  1
#define MODE2 0x01            // Mode  register  2
#define SUBADR1 0x02          // I2C-bus subaddress 1
#define SUBADR2 0x03          // I2C-bus subaddress 2
#define SUBADR3 0x04          // I2C-bus subaddress 3
#define ALLCALLADR 0x05       // LED All Call I2C-bus address
#define PIN0 0x6              // LED0 start register
#define PIN0_ON_L 0x6         // LED0 output and brightness control byte 0
#define PIN0_ON_H 0x7         // LED0 output and brightness control byte 1
#define PIN0_OFF_L 0x8        // LED0 output and brightness control byte 2
#define PIN0_OFF_H 0x9        // LED0 output and brightness control byte 3
#define PIN_MULTIPLYER 4      // For the other 15 channels
#define ALLPIN_ON_L 0xFA      // load all the LEDn_ON registers, byte 0 (turn 0-7 channels on)
#define ALLPIN_ON_H 0xFB      // load all the LEDn_ON registers, byte 1 (turn 8-15 channels on)
#define ALLPIN_OFF_L 0xFC     // load all the LEDn_OFF registers, byte 0 (turn 0-7 channels off)
#define ALLPIN_OFF_H 0xFD     // load all the LEDn_OFF registers, byte 1 (turn 8-15 channels off)
#define PRE_SCALE 0xFE        // prescaler for output frequency
#define CLOCK_FREQ 25000000.0 // 25MHz default osc clock

class PCA9685
{
public:
    PCA9685(const int Addr = DEV_ADDR);

    void setPWMFreq(int);
    void setPWM(uint8_t, int, int);
    void setPWM(uint8_t, int);
    int getPWM(uint8_t);
    int getFD();

private:
    int I2C_FD;
    void setup(void);
};
#endif