Since the G2553 doesn't have an internal DAC, the most obvious method is generating PWM and running it through an external low-pass filter. Google "pwm filter signal". When I just did that, the top of the list was right here at ti.com: www.ti.com/.../spraa88a.pdf It's for a different MCU, but don't let that stop you -- the principles and analysis (most of the document) are generally applicable. "Pure" is an asymptote. How close you get depends on your PWM resolution and how good a filter you construct.
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