mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
91 lines
2.2 KiB
C++
91 lines
2.2 KiB
C++
/*
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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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