DAC WIP

Tools/AP_Periph/AP_Periph.cpp

@@ -200,6 +200,10 @@ void AP_Periph_FW::init()
     }
 #endif
 
+#if AP_DAC_DACx0501_ENABLED
+    dac.init();
+#endif
+
 #if AP_KDECAN_ENABLED
     kdecan.init();
 #endif

Tools/AP_Periph/AP_Periph.h

@@ -14,6 +14,7 @@
 #include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_EFI/AP_EFI.h>
+#include <AP_DAC/AP_DAC_DACx0501.h>
 #include <AP_KDECAN/AP_KDECAN.h>
 #include <AP_MSP/AP_MSP.h>
 #include <AP_MSP/msp.h>
@@ -323,6 +324,10 @@ class AP_Periph_FW {
     uint32_t efi_update_ms;
 #endif
 
+#if AP_DAC_DACx0501_ENABLED
+    AP_DAC_DACx0501 dac;
+#endif
+
 #if AP_KDECAN_ENABLED
     AP_KDECAN kdecan;
 #endif

Tools/AP_Periph/Parameters.cpp

@@ -560,6 +560,12 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GOBJECT(nmea, "NMEA_",   AP_NMEA_Output),
 #endif
 
+#if AP_DAC_DACx0501_ENABLED
+    // @Group: DAC_
+    // @Path: ../libraries/AP_DAC/AP_DAC_DACx0501.cpp
+    GOBJECT(dac, "DAC_",   AP_DAC_DACx0501),
+#endif
+
 #if AP_KDECAN_ENABLED
     // @Group: KDE_
     // @Path: ../libraries/AP_KDECAN/AP_KDECAN.cpp

Tools/AP_Periph/Parameters.h

@@ -92,6 +92,7 @@ class Parameters {
         k_param_relay,
         k_param_temperature_msg_rate,
         k_param_adc_send_rate,
+        k_param_dac,
     };
 
     AP_Int16 format_version;

Tools/AP_Periph/wscript

@@ -67,6 +67,7 @@ def build(bld):
                      'AC_PID',
                      'AP_BLHeli',
                      'AP_ADC',
+                     'AP_DAC',
                      'AP_ESC_Telem',
                      'AP_Stats',
                      'AP_EFI',

libraries/AP_ADC/AP_ADC_ADS1115.cpp

@@ -140,6 +140,8 @@ bool AP_ADC_ADS1115::init()
         _samples[i].data = -1.0f;
     }
 
+    _dev->set_retries(3);
+
     _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_ADC_ADS1115::_update, void));
 
     return true;

libraries/AP_DAC/AP_DAC_DACx0501.cpp

@@ -0,0 +1,100 @@
+
+#include "AP_DAC_DACx0501.h"
+
+#if AP_DAC_DACx0501_ENABLED
+#include <SRV_Channel/SRV_Channel.h>
+
+extern const AP_HAL::HAL &hal;
+
+#define DACx0501_ADDRESS_ADDR_GND   0x48 // address pin low (GND)
+#define DACx0501_ADDRESS_ADDR_VDD   0x49 // address pin high (VDD)
+#define DACx0501_ADDRESS_ADDR_SDA   0x4A // address pin tied to SDA pin
+#define DACx0501_ADDRESS_ADDR_SCL   0x4B // address pin tied to SCL pin
+
+#ifndef DACx0501_I2C_ADDR
+#define DACx0501_I2C_ADDR           DACx0501_ADDRESS_ADDR_GND
+#endif
+
+#ifndef DACx0501_I2C_BUS
+#define DACx0501_I2C_BUS           0
+#endif
+
+// Registers
+#define DACx0501_REG_NOOP       0x00     // no operation, this should never be used intentionally
+#define DACx0501_REG_DEVID      0x01     // same as WHO_AM_I
+#define DACx0501_REG_SYNC       0x02
+#define DACx0501_REG_CONFIG     0x03
+#define DACx0501_REG_GAIN       0x04
+#define DACx0501_REG_TRIGGER    0x05
+//#define DACx0501_REG_UNKNOWN  0x06
+#define DACx0501_REG_STATUS     0x07
+#define DACx0501_REG_DAC_DATA   0x08
+
+#define DACx0501_DEVID          0x0015 // base ID. More bit sget set for other flavors of the chip
+
+// table of user settable CAN bus parameters
+const AP_Param::GroupInfo AP_DAC_DACx0501::var_info[] = {
+
+    // @Param: ADDR
+    // @DisplayName: I2C address
+    // @Description: I2C address
+    AP_GROUPINFO("ADDR", 1, AP_DAC_DACx0501, params.i2c_address, DACx0501_I2C_ADDR),
+
+    // @Param: BUS
+    // @DisplayName: I2C bus
+    // @Description: I2C bus
+    AP_GROUPINFO("BUS", 2, AP_DAC_DACx0501, params.i2c_bus, DACx0501_I2C_BUS),
+
+    // @Param: SRV_INDEX
+    // @DisplayName: SRV_INDEX
+    // @Description: SRV_INDEX
+    AP_GROUPINFO("SRV_INDEX", 3, AP_DAC_DACx0501, params.servo_index, -1),
+
+    // @Param: BIT_RES
+    // @DisplayName: BIT_RES
+    // @Description: BIT_RESolution of the DAC.
+    // @Values: 12:12-bit, 14:14-bit, 16:16-bit
+    AP_GROUPINFO("BIT_RES", 4, AP_DAC_DACx0501, params.bit_resolution, 12),
+
+    // @Param: GAIN
+    // @DisplayName: GAIN
+    // @Description: GAIN
+    // @Range: 0.01 100
+    // @Incremenet: 0.01
+    AP_GROUPINFO("GAIN", 5, AP_DAC_DACx0501, params.gain, 1),
+
+    AP_GROUPEND
+};
+
+void AP_DAC_DACx0501::init()
+{
+    _dev = hal.i2c_mgr->get_device(params.i2c_bus, params.i2c_address);
+    if (!_dev) {
+        return;
+    }
+
+    _dev->set_retries(3);
+    _dev->register_periodic_callback(20 * AP_USEC_PER_MSEC, FUNCTOR_BIND_MEMBER(&AP_DAC_DACx0501::thread, void));
+}
+
+void AP_DAC_DACx0501::thread()
+{
+    const SRV_Channel *c = SRV_Channels::srv_channel(params.servo_index);
+    if (c == nullptr || !c->valid_function()) {
+        return;
+    }
+
+    const uint16_t bit_resolution = constrain_int16(params.bit_resolution.get(), 12, 16);
+    const uint16_t max_output = (1U << bit_resolution) - 1;
+
+    uint16_t value = linear_interpolate(0, max_output, c->get_output_pwm(), c->get_output_min(), c->get_output_max());
+    value *= MAX(0.01f, params.gain.get());
+
+    uint8_t buf[3];
+    buf[0] = DACx0501_REG_DAC_DATA;
+    buf[1] = HIGHBYTE(value);
+    buf[2] = LOWBYTE(value);
+
+    UNUSED_RESULT(_dev->transfer(buf, sizeof(buf), nullptr, 0));
+}
+#endif // AP_DAC_DACx0501_ENABLED

libraries/AP_DAC/AP_DAC_DACx0501.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+
+#ifndef AP_DAC_DACx0501_ENABLED
+#define AP_DAC_DACx0501_ENABLED 0
+#endif
+
+#if AP_DAC_DACx0501_ENABLED
+#include <AP_HAL/I2CDevice.h>
+#include <AP_Param/AP_Param.h>
+
+class AP_DAC_DACx0501
+{
+public:
+    AP_DAC_DACx0501() {
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    /* Do not allow copies */
+    CLASS_NO_COPY(AP_DAC_DACx0501);
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+    void init();
+
+private:
+    AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
+
+    struct {
+        AP_Int8 i2c_address;
+        AP_Int8 i2c_bus;
+        AP_Int16 servo_index;
+        AP_Int16 bit_resolution;
+        AP_Float gain;
+    } params;
+
+    void thread();
+};
+
+#endif // AP_DAC_DACx0501_ENABLED

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat

@@ -65,3 +65,6 @@ define AP_ADC_ADS1115_ENABLED 1
 define ADS1115_I2C_BUS 0
 define HAL_I2C_MAX_CLOCK 400000
 
+define AP_DAC_DACx0501_ENABLED 1
+define DACx0501_I2C_ADDR 0x49       # address pin high (VDD)
+define DACx0501_I2C_BUS 0