README

sudo raspi-config --> i2c einschalten
echo "pca9685" 0x70  | sudo tee /sys/devices/platform/soc/3f804000.i2c/i2c-1/new_device
echo 0 | sudo tee /sys/class/pwm/pwmchip0/export
echo 20000000 | sudo tee /sys/class/pwm/pwmchip0/pwm0/period

echo 1000000 | sudo tee /sys/class/pwm/pwmchip0/pwm0/duty_cycle
echo 1 | sudo tee /sys/class/pwm/pwmchip0/pwm0/enable 
echo 2000000 | sudo tee duty_cycle


PwmHandler
==========
Devices are detected automatically on start.

/** Scan sysfs for existing PWM devices.
  * switches off all handled pins
  * Updates the internal device list.
  */  
void updateDevices();

int getNumDevices() const;

int = localPinId
<int, std::shared_ptr<PwmPin> >

std::map<uint8_t, std::shared_ptr<PwmDevice> > deviceMap;
getDevices()

PwmDevice TODO: REMOVE???
=========

// accessible by friend PwmHandler
private: PwmDevice(uint8_t deviceId);

std::map<uint8_t, std::shared_ptr<PwmPin> > pinMap;
/** enable a pin of the device
  * @param pinId the ID of the pin, first = 0
  * @throws std::exception on error
  */
void enablePin(uint8_t pinId)

/** disable a pin of the device.
  * Errors are ignored.
  * @param pinId the ID of the pin, first = 0
  */
void enablePin(uint8_t pinId)

/** check if pin is enabled
  * @ returns true if enabled, else false.
  */
bool isEnabled(uint8_t pinId)

std::shared_ptr<PwmPin> getPin();


PwmPin
======
/** Set the dutyCycle 
  * newValue Value in nano seconds
  */
bool setDutyCycle(uint32_t newValue);

/** Set the PWM period
  * newValue Value in nano seconds
  */
bool setPwmPeriod(uint32_t newValue);