Adafruit_PWMServoDriver.h

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#ifndef _ADAFRUIT_PWMServoDriver_H
#define _ADAFRUIT_PWMServoDriver_H

#include <Adafruit_I2CDevice.h>
#include <Arduino.h>

// REGISTER ADDRESSES
#define PCA9685_MODE1 0x00      
#define PCA9685_MODE2 0x01      
#define PCA9685_SUBADR1 0x02    
#define PCA9685_SUBADR2 0x03    
#define PCA9685_SUBADR3 0x04    
#define PCA9685_ALLCALLADR 0x05 
#define PCA9685_LED0_ON_L 0x06  
#define PCA9685_LED0_ON_H 0x07  
#define PCA9685_LED0_OFF_L 0x08 
#define PCA9685_LED0_OFF_H 0x09 
// etc all 16:  LED15_OFF_H 0x45
#define PCA9685_ALLLED_ON_L 0xFA  
#define PCA9685_ALLLED_ON_H 0xFB  
#define PCA9685_ALLLED_OFF_L 0xFC 
#define PCA9685_ALLLED_OFF_H 0xFD 
#define PCA9685_PRESCALE 0xFE     
#define PCA9685_TESTMODE 0xFF     
// MODE1 bits
#define MODE1_ALLCAL 0x01  
#define MODE1_SUB3 0x02    
#define MODE1_SUB2 0x04    
#define MODE1_SUB1 0x08    
#define MODE1_SLEEP 0x10   
#define MODE1_AI 0x20      
#define MODE1_EXTCLK 0x40  
#define MODE1_RESTART 0x80 
// MODE2 bits
#define MODE2_OUTNE_0 0x01 
#define MODE2_OUTNE_1                                                          \
  0x02 
#define MODE2_OUTDRV 0x04 
#define MODE2_OCH 0x08    
#define MODE2_INVRT 0x10  
#define PCA9685_I2C_ADDRESS 0x40      
#define FREQUENCY_OSCILLATOR 25000000 
#define PCA9685_PRESCALE_MIN 3   
#define PCA9685_PRESCALE_MAX 255 
class Adafruit_PWMServoDriver {
public:
  Adafruit_PWMServoDriver();
  Adafruit_PWMServoDriver(const uint8_t addr);
  Adafruit_PWMServoDriver(const uint8_t addr, TwoWire &i2c);
  bool begin(uint8_t prescale = 0);
  void reset();
  void sleep();
  void wakeup();
  void setExtClk(uint8_t prescale);
  void setPWMFreq(float freq);
  void setOutputMode(bool totempole);
  uint16_t getPWM(uint8_t num, bool off = false);
  uint8_t 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;
  Adafruit_I2CDevice *i2c_dev = NULL; 

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

#endif