Fixed errors in pca9956 and added reset_devices function for i2c

legos/src/devices/pca9956.rs

@@ -109,7 +109,7 @@ impl<I2C: I2c, PIN: OutputPin> PCA9956<I2C, PIN> {
     }
 
     /// Checks for errors and prints error registers if error flag is set (Datasheet section 7.3.14)
-    async fn error_check(&mut self) -> Result<(), PCA9956Error> {
+    pub async fn error_check(&mut self) -> Result<(), PCA9956Error> {
         let mode_2: u8 = self.i2c_read(Registers::MODE_2).await?;
         debug!("PCA9956 Mode 2 register value: {mode_2:#010b}");
         if (mode_2 & (1 << 6)) != 0 {
@@ -172,8 +172,13 @@ impl<I2C: I2c, PIN: OutputPin> PCA9956<I2C, PIN> {
         debug!("ALL_PWM register: {reg:#010b}");
         let reg = self.i2c_read(ALL_IREF).await?;
         debug!("ALL_IREF register: {reg:#010b}");
-        let reg = self.i2c_read(ERFLAGS_0).await?;
-        debug!("ERFLAGS_0 register: {reg:#010b}");
+
+        for i in 0..6 {
+            let mut regs = [0];
+            self.i2c_read_raw(ERFLAGS_0 as u8 + i, &mut regs).await?;
+            debug!("ERFLAGS_{i} register: {:#010b}", regs[0]);
+        }
+
         Ok(())
     }