/**
 * pca9685.h
 * PCA9685 16通道PWM驱动器完整头文件
 */

#ifndef PCA9685_H
#define PCA9685_H

#include <stdint.h>
#include <stdbool.h>

/* I2C设备地址 */
#define PCA9685_DEFAULT_ADDR    0x40
#define PCA9685_GENERAL_CALL    0x00

/* PCA9685寄存器定义 */
#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
#define PCA9685_ALL_LED_ON_L    0xFA
#define PCA9685_ALL_LED_ON_H    0xFB
#define PCA9685_ALL_LED_OFF_L   0xFC
#define PCA9685_ALL_LED_OFF_H   0xFD
#define PCA9685_PRESCALE        0xFE
#define PCA9685_TESTMODE        0xFF

/* MODE1寄存器位定义 */
#define MODE1_RESTART           0x80
#define MODE1_EXTCLK            0x40
#define MODE1_AI                0x20
#define MODE1_SLEEP             0x10
#define MODE1_SUB1              0x08
#define MODE1_SUB2              0x04
#define MODE1_SUB3              0x02
#define MODE1_ALLCALL           0x01

/* MODE2寄存器位定义 */
#define MODE2_INVRT             0x10
#define MODE2_OCH               0x08
#define MODE2_OUTDRV            0x04
#define MODE2_OUTNE1            0x02
#define MODE2_OUTNE0            0x01

/* 参数 */
#define PCA9685_PWM_RESOLUTION  4096
#define PCA9685_OSC_FREQ        25000000
#define PCA9685_MIN_FREQ        24
#define PCA9685_MAX_FREQ        1526

/* 错误码 */
#define PCA9685_OK              0
#define PCA9685_ERR_OPEN       -1
#define PCA9685_ERR_ADDR       -2
#define PCA9685_ERR_WRITE      -3
#define PCA9685_ERR_READ       -4
#define PCA9685_ERR_PARAM      -5
#define PCA9685_ERR_INIT       -6

/* 设备结构体 */
typedef struct {
    int fd;
    uint8_t addr;
    float frequency;
    bool is_open;
} pca9685_t;

/* 函数声明 */
int pca9685_init(pca9685_t *dev, const char *i2c_device, uint8_t addr);
void pca9685_close(pca9685_t *dev);
int pca9685_reset(pca9685_t *dev);
int pca9685_write_byte(pca9685_t *dev, uint8_t reg, uint8_t data);
int pca9685_read_byte(pca9685_t *dev, uint8_t reg, uint8_t *data);
int pca9685_write_bytes(pca9685_t *dev, uint8_t reg, uint8_t *data, uint8_t len);
int pca9685_set_pwm_freq(pca9685_t *dev, float freq);
float pca9685_get_pwm_freq(pca9685_t *dev);
int pca9685_set_pwm(pca9685_t *dev, uint8_t channel, uint16_t on, uint16_t off);
int pca9685_set_pwm_duty(pca9685_t *dev, uint8_t channel, float duty_percent);
int pca9685_set_pwm_percent(pca9685_t *dev, uint8_t channel, uint8_t percent);
int pca9685_led_on(pca9685_t *dev, uint8_t channel);
int pca9685_led_off(pca9685_t *dev, uint8_t channel);
int pca9685_led_full_on(pca9685_t *dev, uint8_t channel);
int pca9685_led_full_off(pca9685_t *dev, uint8_t channel);
int pca9685_led_brightness(pca9685_t *dev, uint8_t channel, uint8_t brightness);
int pca9685_all_off(pca9685_t *dev);
int pca9685_all_on(pca9685_t *dev);
int pca9685_all_brightness(pca9685_t *dev, uint8_t brightness);
int pca9685_set_mode2(pca9685_t *dev, uint8_t mode2_val);
int pca9685_set_open_drain(pca9685_t *dev, bool enable);
int pca9685_set_output_invert(pca9685_t *dev, bool invert);
void pca9685_print_status(pca9685_t *dev);
int pca9685_verify_connection(pca9685_t *dev);

#endif