#include "PCA9685_driver.h"
#include "delay.h"

#if PCA9685_USE_SOFT_IIC == 1
#include "iic_soft.h"
static IIC_Soft_Config config;
#else
#include "iic.h"
#endif

static uint8 has_init = 0;

void pca9685_init()
{
    if(has_init) return; // 如果已经初始化过，则直接返回
    #if PCA9685_USE_SOFT_IIC == 1
    config.scl_pin = PCA9685_SOFT_IIC_SCL_PIN;
    config.sda_pin = PCA9685_SOFT_IIC_SDA_PIN;
    config.wait_time = 10;
    soft_iic_init(&config); // 初始化软件IIC
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, 0x00); // 设置PCA9685模式寄存器为正常模式
    #else
    // 初始化I2C接口
    iic_init(IIC_1, 20);
    iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, 0x00); // 设置为正常模式
    #endif
    
    pca9685_set_frequency(PCA9685_DEF_FREQ); // 设置默认频率
    has_init = 1;
}

void pca9685_deinit()
{
    if(!has_init) return; // 如果没有初始化过，则直接返回
    has_init = 0; // 标记为未初始化
}

void pca9685_set_frequency(uint16 frequency)
{
    // 计算预分频器值
    uint8 prescale = 0;
    uint8 old_mode1 = 0;
    double prescale_value = 0.0;
    prescale_value = 6103.515625 / frequency;
    if (prescale_value < 3.0) {
        prescale = 3; // 最小预分频器值
    } else if (prescale_value > 255.0) {
        prescale = 255; // 最大预分频器值
    } else {
        prescale = (uint8)prescale_value; // 正常预分频器值
        if (prescale_value - prescale >= 0.5) {
            prescale += 1; // 四舍五入
        }
    }
    #if PCA9685_USE_SOFT_IIC == 1
    // soft_iic_read_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, &old_mode1); // 读取当前模式寄存器
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, (old_mode1 & 0x7F) | 0x10); // 进入睡眠模式
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_PRESCALE, prescale); // 设置预分频器
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1); // 恢复正常模式
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1 | 0x80); // 重启PCA9685
    #else
    // P05 = 0;
    // 设置预分频器
    // iic_read_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, &old_mode1);
    iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, (old_mode1 & 0x7F) | 0x10); // 进入睡眠模式
    iic_write_reg(PCA9685_I2C_ADDR, PCA9685_PRESCALE, prescale);
    // 恢复模式寄存器
    iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1); // 恢复正常模式
    delay_ms(5); // 等待模式寄存器更新
    iic_write_reg(PCA9685_I2C_ADDR, PCA9685_MODE1, old_mode1 | 0x80); // 重启PCA9685
    // P05 = 1;
    #endif
}

void pca9685_set_pwm(uint8 channel, uint16 on, uint16 off)
{
    // P05 = 0;  // 开始I2C通信
    // 设置指定通道的PWM值
    #if PCA9685_USE_SOFT_IIC == 1
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_ON_L + 4 * channel) & 0xFF, on & 0xFF);
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_ON_H + 4 * channel) & 0xFF, (on >> 8) & 0xFF);
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_L + 4 * channel) & 0xFF, off & 0xFF);
    soft_iic_write_reg(&config, PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_H + 4 * channel) & 0xFF, (off >> 8) & 0xFF);
    #else
    iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_ON_L + 4 * channel) & 0xFF, on & 0xFF);
    iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_ON_H + 4 * channel) & 0xFF, (on >> 8) & 0xFF);
    iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_L + 4 * channel) & 0xFF, off & 0xFF);
    iic_write_reg(PCA9685_I2C_ADDR, (PCA9685_LED0_OFF_H + 4 * channel) & 0xFF, (off >> 8) & 0xFF);
    // P05 = 1;  // 结束I2C通信
    #endif
}