Understanding i2c addresses for motor (PWM) control

[Karthik-d-k]

Dear Team,

We are trying to use PiCar-X kit with Rust programming language instead of python for autonomous driving.
We were able to establish i2c communication, but we are not able to run motors using rppal crate, because this library uses hardware PWM channels provided by Raspberry Pi.
So our question is, how exactly PWM pulses are generated (Software or Hardware) and what are the significance of memory addresses used for writing period, prescaler and pulse-width, which would help us in creating the correct interface via Rust.
Our Repo is here --> picars.

Thanks in advance