/**
 * @file pwmExpanderPca9685.hpp
 * @author Gustice
 * @brief PWM-Expander PCA9685
 * @details https://www.nxp.com/docs/en/data-sheet/PCA9685.pdf
 *
 * @copyright Copyright (c) 2024
 */
#pragma once

#include "i2cPort.hpp"
#include <array>
#include <memory>
#include <optional>

/**
 * @brief I2C-Connected LED-Driver with 16 ports
 * @note This module can also be used to generate Servo-Motor signals
 */
class PmwExpanderPca9685 {
  public:
    static constexpr int PwmChannels = 16;
    using GrayValues = std::array<uint16_t, PwmChannels>;
    PmwExpanderPca9685(I2cMaster &port, bool inverted = false, uint8_t address = 0x40); // 0x40 default Address

    void sendImage(GrayValues &grayValues);
    void reset();
    void setPwmFreq(float frequency, bool inverted);

  private:
    I2cMaster::Slave _port;
    const uint8_t _address;
    const size_t _count = 16;
    // 16 LED-Channels with 4 bytes each + 4 byte overhead
    std::vector<uint8_t> _data;

    bool write(uint8_t reg, uint8_t data);
    std::optional<uint8_t> read(uint8_t reg);
};