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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DAC/AP_DAC.cpp
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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#include "AP_DAC.h"

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#if AP_DAC_ENABLED

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#include "AP_DAC.h"

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#include "AP_DAC_Params.h"

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#include "AP_DAC_TIx3204.h"

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#include "AP_DAC_MCP40D1x.h"

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const AP_Param::GroupInfo AP_DAC::var_info[] = {

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    // @Group: 1_

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    // @Path: AP_DAC_Params.cpp

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    AP_SUBGROUPINFO(params[0], "1_", 1, AP_DAC, AP_DAC_Params),

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    AP_GROUPEND

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};

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// Constructor

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AP_DAC::AP_DAC()

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{

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    AP_Param::setup_object_defaults(this, var_info);

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}

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/*

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  init - instantiate the DACs

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*/

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void AP_DAC::init()

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{

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    for (uint8_t i = 0; i < ARRAY_SIZE(params); i++) {

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        const AP_DAC_Params::Type type = params[i].type;

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        switch (type) {

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#if AP_DAC_TIX3204_ENABLED

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        case AP_DAC_Params::Type::TIx3204:

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            backends[i] = new AP_DAC_TIx3204(params[i]);

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            break;

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#endif

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#if AP_DAC_MCP40D1X_ENABLED

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        case AP_DAC_Params::Type::MCP40D1x:

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            backends[i] = new AP_DAC_MCP40D1x(params[i]);

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            break;

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#endif

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        case AP_DAC_Params::Type::NONE:

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            break;

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        }

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        if (backends[i] != nullptr) {

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            backends[i]->init();

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        }

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    }

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}

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/*

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  set output voltage on a channel

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 */

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bool AP_DAC::set_voltage(uint8_t instance, uint8_t channel, float voltage)

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{

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    if (instance >= ARRAY_SIZE(backends)) {

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        return false;

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    }

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    if (backends[instance] == nullptr) {

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        return false;

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    }

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    return backends[instance]->set_voltage(channel, voltage);

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}

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void AP_DAC::update()

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{

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    for (uint8_t i = 0; i < ARRAY_SIZE(backends); i++) {

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        if (backends[i] != nullptr) {

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            backends[i]->update();

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        }

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    }

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}

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#endif // AP_DAC_ENABLED

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