Aux2 (#243)

* auxout: manually fill pwm config

(cherry picked from commit a01876bc034264de5d6930bf2cc49cf0fc0cbb0a)

* auxout: some boards use primary PWM outputs instead of complementary

(cherry picked from commit c13b95441e7b284a36445c261199e96580e94ebd)

* auxout: implement ripple cancelation using inverted PWM

(cherry picked from commit 77cbc04990421b24021639b098ea6040af3a12f8)

* f1_common: default AUXOUT value is AFR voltage

with 'default' scaling 8.5 to 18.0 AFR is represented with 0.0 to
5.0V

(cherry picked from commit 0c62ab8f509ff0ab3ab4260e308ad4b55bd64e40)

---------

Co-authored-by: Andrey Gusakov <dron0gus@gmail.com>

firmware/auxout.cpp

@@ -15,19 +15,25 @@
 
 #ifdef AUXOUT_DAC_PWM_DEVICE
 
+#ifndef AUXOUT_DAC_PWM_OUTPUT_MODE
+#define AUXOUT_DAC_PWM_OUTPUT_MODE PWM_OUTPUT_ACTIVE_HIGH
+#endif
+#ifndef AUXOUT_DAC_PWM_NC_OUTPUT_MODE
+#define AUXOUT_DAC_PWM_NC_OUTPUT_MODE PWM_OUTPUT_ACTIVE_LOW
+#endif
+
 // Rev2 low pass filter cut frequency is about 21Hz (sic!)
 // 48Mhz / (2 ^ 12) ~= 12 KHz
 // 64mhz / (2 ^ 12) ~= 16 KHz
-static const PWMConfig auxPwmConfig = {
+static PWMConfig auxPwmConfig = {
     .frequency = STM32_SYSCLK,
     .period = 1 << 12,
     .callback = nullptr,
     .channels = {
-        // TODO: do any boards use the "primary" outputs instead of the "complementary" outputs?
+        [0] = {0, nullptr},
-        [0] = {/*PWM_OUTPUT_ACTIVE_HIGH |*/ PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH, nullptr},
+        [1] = {0, nullptr},
-        [1] = {/*PWM_OUTPUT_ACTIVE_HIGH |*/ PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH, nullptr},
+        [2] = {0, nullptr},
-        [2] = {/*PWM_OUTPUT_ACTIVE_HIGH |*/ PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH, nullptr},
+        [3] = {0, nullptr}
-        [3] = {/*PWM_OUTPUT_ACTIVE_HIGH |*/ PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH, nullptr}
     },
     .cr2 = 0,
 #if STM32_PWM_USE_ADVANCED
@@ -36,15 +42,42 @@ static const PWMConfig auxPwmConfig = {
     .dier = 0
 };
 
+static void auxDacFillPwmConfig(void)
+{
+    auxPwmConfig.channels[AUXOUT_DAC_PWM_CHANNEL_0].mode = AUXOUT_DAC_PWM_OUTPUT_MODE;
+    auxPwmConfig.channels[AUXOUT_DAC_PWM_CHANNEL_1].mode = AUXOUT_DAC_PWM_OUTPUT_MODE;
+#ifdef AUXOUT_DAC_PWM_CHANNEL_0_NC
+    auxPwmConfig.channels[AUXOUT_DAC_PWM_CHANNEL_0_NC].mode = AUXOUT_DAC_PWM_NC_OUTPUT_MODE;
+#endif
+#ifdef AUXOUT_DAC_PWM_CHANNEL_1_NC
+    auxPwmConfig.channels[AUXOUT_DAC_PWM_CHANNEL_1_NC].mode = AUXOUT_DAC_PWM_NC_OUTPUT_MODE;
+#endif
+}
+
 static Pwm auxDac(AUXOUT_DAC_PWM_DEVICE);
 
-static const uint8_t auxOutPwmCh[] = {
+static const uint8_t auxOutPwmCh[AFR_CHANNELS] = {
     AUXOUT_DAC_PWM_CHANNEL_0,
 #if (AFR_CHANNELS > 1)
     AUXOUT_DAC_PWM_CHANNEL_1,
 #endif
 };
 
+static const int8_t auxOutPwmChN[AFR_CHANNELS] = {
+#ifdef AUXOUT_DAC_PWM_CHANNEL_0_NC
+    AUXOUT_DAC_PWM_CHANNEL_0_NC,
+#else
+    -1,
+#endif
+#if (AFR_CHANNELS > 1)
+#ifdef AUXOUT_DAC_PWM_CHANNEL_1_NC
+    AUXOUT_DAC_PWM_CHANNEL_1_NC,
+#else
+    -1,
+#endif
+#endif
+};
+
 void SetAuxDac(int channel, float voltage)
 {
     voltage = voltage / AUXOUT_GAIN;
@@ -53,6 +86,10 @@ void SetAuxDac(int channel, float voltage)
     duty = clampF(0, duty, 1);
 
     auxDac.SetDuty(auxOutPwmCh[channel], duty);
+    // Ripple cancelation channel
+    if (auxOutPwmChN[channel >= 0]) {
+        auxDac.SetDuty(auxOutPwmChN[channel], duty);
+    }
 }
 
 #endif
@@ -135,6 +172,7 @@ void AuxOutThread(void*)
 void InitAuxDac()
 {
 #if defined(AUXOUT_DAC_PWM_DEVICE)
+    auxDacFillPwmConfig();
     auxDac.Start(auxPwmConfig);
 
     SetAuxDac(0, 0.0);

firmware/boards/f1_common/f1_port.cpp

@@ -30,9 +30,20 @@ static Configuration cfg;
 // Configuration defaults
 void Configuration::LoadDefaults()
 {
+    int i;
+
     CanIndexOffset = 0;
     sensorType = BOARD_DEFAULT_SENSOR_TYPE;
 
+    /* default auxout curve is 0..5V for AFR 8.5 to 18.0
+     * default auxout[n] input is AFR[n] */
+    for (i = 0; i < 8; i++) {
+        auxOutBins[0][i] = auxOutBins[1][i] = 8.5 + (18.0 - 8.5) / 7 * i;
+        auxOutValues[0][i] = auxOutValues[1][i] = 0.0 + (5.0 - 0.0) / 7 * i;
+    }
+    auxOutputSource[0] = AuxOutputMode::Afr0;
+    auxOutputSource[1] = AuxOutputMode::Afr1;
+
     /* Finaly */
     Tag = ExpectedTag;
 }

firmware/boards/f1_dual/io/io_pins.h

@@ -54,6 +54,8 @@
 #define AUXOUT_DAC_PWM_CHANNEL_0	1
 // PB15 - TIM1_CH3N
 #define AUXOUT_DAC_PWM_CHANNEL_1	2
+// CH2N and CH3N are complementary outputs
+#define AUXOUT_DAC_PWM_OUTPUT_MODE	PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH
 
 #define ID_SEL1_PORT				GPIOC
 #define ID_SEL1_PIN					13

firmware/boards/f1_rev2/io/io_pins.h

@@ -46,6 +46,8 @@
 #define AUXOUT_DAC_PWM_CHANNEL_0    1
 // PB15 - TIM1_CH3N
 #define AUXOUT_DAC_PWM_CHANNEL_1    2
+// CH2N and CH3N are complementary outputs
+#define AUXOUT_DAC_PWM_OUTPUT_MODE	PWM_COMPLEMENTARY_OUTPUT_ACTIVE_HIGH
 
 #define ID_SEL1_PORT                GPIOC
 #define ID_SEL1_PIN                 13