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Fix extended telemetry array size and eRPM fallback logic

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This commit is contained in:
kedeng 2025-07-03 15:06:06 +08:00
parent dd0726acda
commit 3824516a31
1 changed files with 3 additions and 6 deletions
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9
src/main/drivers/dshot.c
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@ -153,7 +153,7 @@ FAST_DATA_ZERO_INIT static float dshotRpm[MAX_SUPPORTED_MOTORS];
// Lookup table for extended telemetry type decoding
// Only contains extended telemetry types, eRPM is handled by conditional logic
static const dshotTelemetryType_t extendedTelemetryLookup[9] = {
static const dshotTelemetryType_t extendedTelemetryLookup[8] = {
DSHOT_TELEMETRY_TYPE_eRPM,
// Temperature range (in degree Celsius, just like Blheli_32 and KISS)
DSHOT_TELEMETRY_TYPE_TEMPERATURE,
@ -169,7 +169,6 @@ static const dshotTelemetryType_t extendedTelemetryLookup[9] = {
DSHOT_TELEMETRY_TYPE_DEBUG3,
// State / events
DSHOT_TELEMETRY_TYPE_STATE_EVENTS,
DSHOT_TELEMETRY_TYPE_eRPM, // Invalid/fallback
};
void initDshotTelemetry(const timeUs_t looptimeUs)
@ -214,11 +213,12 @@ static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value)
static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded, dshotTelemetryType_t *pType)
{
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
bool isEdtEnabled = (dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0 ? true : false;
// https://github.com/bird-sanctuary/extended-dshot-telemetry
// Extract telemetry type field and check for eRPM conditions in one operation
unsigned telemetryType = (value & 0x0f00) >> 8; // 3 bits type + telemetry marker
bool isErpm = (telemetryType & 0x01) || (telemetryType == 0);
bool isErpm = !isEdtEnabled || (telemetryType & 0x01) || (telemetryType == 0);
if (isErpm) {
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
@ -233,9 +233,6 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
unsigned typeIndex = telemetryType >> 1; // drop tag bit containing zero
if (typeIndex < ARRAYLEN(extendedTelemetryLookup)) {
*pType = extendedTelemetryLookup[typeIndex];
} else {
// Fallback for invalid types
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
}
// Extract data field
*pDecoded = value & 0x00ff;