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119 lines
3.3 KiB
C++
119 lines
3.3 KiB
C++
/*
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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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