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Ardupilot
GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_DAC/AP_DAC_TIx3204.cpp
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/*

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  DAC backend for TIx3204 I2C DACs

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 */

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#include "AP_DAC_config.h"

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#if AP_DAC_TIX3204_ENABLED

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#include "AP_DAC.h"

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#include "AP_DAC_TIx3204.h"

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#include <AP_HAL/utility/sparse-endian.h>

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#include <GCS_MAVLink/GCS.h>

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#include <AP_HAL/I2CDevice.h>

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// common registers

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#define REG_TIx3204_NOP 0x00

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#define REG_TIx3204_COMMON_CONFIG 0x1F

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#define REG_TIx3204_CHAN_BASE 0x01 // offset to first channel

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#define REG_TIx3204_CHAN_SKIP 6 // 6 registers per channel

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// per channel config registers

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#define REG_TIx3204_OFS_MARGIN_HIGH      0x00

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#define REG_TIx3204_OFS_MARGIN_LOW       0x01

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#define REG_TIx3204_OFS_VOUT_CMP_CONFIG  0x02

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#define REG_TIx3204_OFS_IOUT_MISC_CONFIG 0x03

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#define REG_TIx3204_OFS_CMP_MODE_CONFIG  0x04

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#define REG_TIx3204_OFS_FUNC_CONFIG      0x05

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// data registers

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#define REG_TIx3204_DAC_DATA(chan) ((chan)+0x19)

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extern const AP_HAL::HAL &hal;

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void AP_DAC_TIx3204::init(void)

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{

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    if (params.bus_address <= 0) {

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        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "TIx3204 address is 0");

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        return;

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    }

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    dev = std::move(hal.i2c_mgr->get_device(params.bus, params.bus_address));

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    if (!dev) {

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        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "TIx3204 device is null at %u:%", unsigned(params.bus), unsigned(params.bus_address));

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        return;

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    }

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    WITH_SEMAPHORE(dev->get_semaphore());

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    dev->set_retries(10);

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    uint16_t val = 17;

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    if (!register_read(REG_TIx3204_NOP, val) || val != 0) {

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        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "TIx3204 not found 0x%x at %u:%u", unsigned(val), unsigned(params.bus), unsigned(params.bus_address));

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        return;

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    }

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    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TIx3204 found");

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    dev->set_retries(1);

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}

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// set voltage for a channel

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bool AP_DAC_TIx3204::set_voltage(uint8_t chan, float v)

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{

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    if (chan >= 4) {

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        return false;

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    }

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    // convert voltage to 12-bit value

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    uint16_t val = uint16_t(v * 4095.0f / params.voltage_reference);

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    if (val > 4095) {

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        val = 4095;

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    }

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    WITH_SEMAPHORE(dev->get_semaphore());

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    // write to data register first

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    if (!register_write(REG_TIx3204_DAC_DATA(chan), val<<4)) {

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        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TIx3204 data write fail");

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        return false;

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    }

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    if (!configured[chan]) {

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        uint16_t config;

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        if (!register_read(REG_TIx3204_COMMON_CONFIG, config)) {

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            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TIx3204 chan config read %u fail", unsigned(chan));

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            return false;

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        }

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        const uint8_t config_shift = chan*3;

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        const uint16_t config_mask = 0x7 << config_shift;

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        const uint16_t config_val = 0x1; // enable Vout

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        config = (config & ~config_mask) | (config_val << config_shift);

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        if (!register_write(REG_TIx3204_COMMON_CONFIG, config)) {

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            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "TIx3204 chan config %u fail", unsigned(chan));

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            return false;

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        }

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        configured[chan] = true;

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    }

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    return true;

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}

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bool AP_DAC_TIx3204::register_read(uint8_t reg, uint16_t &val)

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{

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    uint16_t v;

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    if (!dev->read_registers(reg, (uint8_t*)&v, sizeof(v))) {

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        return false;

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    }

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    val = be16toh(v);

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    return true;

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}

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bool AP_DAC_TIx3204::register_write(uint8_t reg, uint16_t val)

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{

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    uint8_t buf[3] { reg, uint8_t(val >> 8), uint8_t(val) };

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    return dev->transfer(buf, sizeof(buf), nullptr, 0);

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}

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#endif // AP_DAC_TIX3204_ENABLED

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