Dac logic (#138)

* auxout: support analog output through DAC

* auxout: empty InitAuxDac for boards with no analog out

* numbers

* numbers

* less fun comment

Co-authored-by: Andrey Gusakov <dron0gus@gmail.com>
Co-authored-by: rusefillc <sdfsdfqsf2334234234>

firmware/auxout.cpp

@@ -47,6 +47,72 @@ void SetAuxDac(int channel, float voltage)
     auxDac.SetDuty(auxOutPwmCh[channel], duty);
 }
 
+#endif
+
+#ifdef AUXOUT_DAC_DEVICE
+
+class Dac
+{
+public:
+    Dac(DACDriver& driver);
+
+    void Start(DACConfig& config);
+    void SetVoltage(int channel, float duty);
+    float GetLastVoltage(int channel);
+
+private:
+    DACDriver* const m_driver;
+    float m_voltageFloat[2];
+};
+
+Dac::Dac(DACDriver& driver)
+    : m_driver(&driver)
+{
+}
+
+void Dac::Start(DACConfig& config)
+{
+    dacStart(m_driver, &config);
+}
+
+void Dac::SetVoltage(int channel, float voltage) {
+    voltage = clampF(0, voltage, VCC_VOLTS);
+    m_voltageFloat[channel] = voltage;
+
+    dacPutChannelX(m_driver, channel, voltage / VCC_VOLTS * (1 << 12));
+}
+
+float Dac::GetLastVoltage(int channel)
+{
+    return m_voltageFloat[channel];
+}
+
+static DACConfig auxDacConfig = {
+  .init         = 2047U,
+  .datamode     = DAC_DHRM_12BIT_RIGHT,
+  .cr           = 0
+};
+
+static Dac auxDac(AUXOUT_DAC_DEVICE);
+
+static const uint8_t auxOutDacCh[] = {
+    AUXOUT_DAC_CHANNEL_0,
+#if (AFR_CHANNELS > 1)
+    AUXOUT_DAC_CHANNEL_1,
+#endif
+};
+
+void SetAuxDac(int channel, float voltage)
+{
+    voltage = voltage / AUXOUT_GAIN;
+
+    auxDac.SetVoltage(auxOutDacCh[channel], voltage);
+}
+
+#endif /* AUXOUT_DAC_DEVICE */
+
+#if (defined(AUXOUT_DAC_PWM_DEVICE) || defined(AUXOUT_DAC_DEVICE))
+
 /* TODO: merge with some other communication thread? */
 static THD_WORKING_AREA(waAuxOutThread, 256);
 void AuxOutThread(void*)
@@ -55,7 +121,16 @@ void AuxOutThread(void*)
     {
         for (int ch = 0; ch < AFR_CHANNELS; ch++)
         {
-            SetAuxDac(ch, GetLambda(ch));
+            float lambda = GetLambda(ch);
+            // todo: make translation configurable
+            if (lambda < 0.7)
+                lambda = 0.7;
+            if (lambda > 1.3)
+                lambda = 1.3;
+
+            // https://rusefi.com/forum/viewtopic.php?f=4&t=2410 for now
+            float voltage = 1 - (1.3 - lambda) / 0.6;
+            SetAuxDac(ch, voltage);
         }
 
         chThdSleepMilliseconds(10);
@@ -64,12 +139,25 @@ void AuxOutThread(void*)
 
 void InitAuxDac()
 {
+#if defined(AUXOUT_DAC_PWM_DEVICE)
     auxDac.Start(auxPwmConfig);
 
     SetAuxDac(0, 0.0);
     SetAuxDac(1, 0.0);
+#endif
+#if defined(AUXOUT_DAC_DEVICE)
+    auxDac.Start(auxDacConfig);
+
+    SetAuxDac(0, 0.0);
+#endif
 
     chThdCreateStatic(waAuxOutThread, sizeof(waAuxOutThread), NORMALPRIO, AuxOutThread, nullptr);
 }
 
+#else /* (AUXOUT_DAC_PWM_DEVICE || AUXOUT_DAC_DEVICE) */
+
+void InitAuxDac()
+{
+}
+
 #endif

firmware/main.cpp

@@ -28,10 +28,7 @@ int main() {
     InitPumpDac();
     StartHeaterControl();
     StartPumpControl();
-
-#ifdef AUXOUT_DAC_PWM_DEVICE
     InitAuxDac();
-#endif
 
     InitCan();
     InitUart();