From 3ce7f7a1e0f6d98cd4bd1cd6f20bbe89f154015e Mon Sep 17 00:00:00 2001
From: kedeng <degkxp@hotmail.com>
Date: Fri, 11 Jul 2025 20:27:48 +0800
Subject: [PATCH] add FORCE option to dshot_edt, remove dshot_edt_always_decode

---
 src/main/cli/settings.c      | 12 ++++++++++--
 src/main/cli/settings.h      |  3 +++
 src/main/drivers/dshot.c     |  2 +-
 src/main/pg/motor.c          |  6 +++---
 src/main/pg/motor.h          |  7 ++++++-
 src/test/unit/pg_unittest.cc |  1 -
 6 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 950960367d..259c162f65 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -223,6 +223,12 @@ const char * const lookupTableOffOn[] = {
     "OFF", "ON"
 };
 
+#ifdef USE_DSHOT_TELEMETRY
+static const char * const lookupTableDshotEdt[] = {
+    "OFF", "ON", "FORCE"
+};
+#endif
+
 static const char * const lookupTableCrashRecovery[] = {
     "OFF", "ON" ,"BEEP", "DISARM"
 };
@@ -643,6 +649,9 @@ const lookupTableEntry_t lookupTables[] = {
 #endif
     LOOKUP_TABLE_ENTRY(debugModeNames),
     LOOKUP_TABLE_ENTRY(lookupTablePwmProtocol),
+#ifdef USE_DSHOT_TELEMETRY
+    LOOKUP_TABLE_ENTRY(lookupTableDshotEdt),
+#endif
     LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
     LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
     LOOKUP_TABLE_ENTRY(lookupTableFailsafe),
@@ -955,8 +964,7 @@ const clivalue_t valueTable[] = {
 #endif
 #ifdef USE_DSHOT_TELEMETRY
     { PARAM_NAME_DSHOT_BIDIR,       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotTelemetry) },
-    { "dshot_edt",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotEdt) },
-    { "dshot_edt_always_decode",    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotEdtAlwaysDecode) },
+    { "dshot_edt",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DSHOT_EDT }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotEdt) },
 #endif
 #ifdef USE_DSHOT_BITBANG
     { "dshot_bitbang",               VAR_UINT8  | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },
diff --git a/src/main/cli/settings.h b/src/main/cli/settings.h
index 8c79b54aa2..763643e4ed 100644
--- a/src/main/cli/settings.h
+++ b/src/main/cli/settings.h
@@ -64,6 +64,9 @@ typedef enum {
 #endif
     TABLE_DEBUG,
     TABLE_MOTOR_PWM_PROTOCOL,
+#ifdef USE_DSHOT_TELEMETRY
+    TABLE_DSHOT_EDT,
+#endif
     TABLE_GYRO_LPF_TYPE,
     TABLE_DTERM_LPF_TYPE,
     TABLE_FAILSAFE,
diff --git a/src/main/drivers/dshot.c b/src/main/drivers/dshot.c
index 3c50dbaba5..29c7cfd3ee 100644
--- a/src/main/drivers/dshot.c
+++ b/src/main/drivers/dshot.c
@@ -181,7 +181,7 @@ void initDshotTelemetry(const timeUs_t looptimeUs)
 
     // erpmToHz is used by bidir dshot and ESC telemetry
     erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f);
-    edtAlwaysDecode = motorConfig()->dev.useDshotEdtAlwaysDecode;
+    edtAlwaysDecode = (motorConfig()->dev.useDshotEdt == DSHOT_EDT_FORCE);
 
 #ifdef USE_RPM_FILTER
     if (motorConfig()->dev.useDshotTelemetry) {
diff --git a/src/main/pg/motor.c b/src/main/pg/motor.c
index c34fe2e560..78771ca2ad 100644
--- a/src/main/pg/motor.c
+++ b/src/main/pg/motor.c
@@ -47,8 +47,8 @@
 #define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF
 #endif
 
-#if !defined(DEFAULT_DSHOT_EDT_ALWAYS_DECODE)
-#define DEFAULT_DSHOT_EDT_ALWAYS_DECODE false
+#if !defined(DEFAULT_DSHOT_EDT)
+#define DEFAULT_DSHOT_EDT DSHOT_EDT_OFF
 #endif
 
 PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 4);
@@ -116,7 +116,7 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
 
 #ifdef USE_DSHOT_TELEMETRY
     motorConfig->dev.useDshotTelemetry = DEFAULT_DSHOT_TELEMETRY;
-    motorConfig->dev.useDshotEdtAlwaysDecode = DEFAULT_DSHOT_EDT_ALWAYS_DECODE;
+    motorConfig->dev.useDshotEdt = DEFAULT_DSHOT_EDT;
 #endif
 
 #ifdef USE_DSHOT_BITBANG
diff --git a/src/main/pg/motor.h b/src/main/pg/motor.h
index 6161f43833..b9af4ebaa9 100644
--- a/src/main/pg/motor.h
+++ b/src/main/pg/motor.h
@@ -57,6 +57,12 @@ typedef enum {
     DSHOT_TELEMETRY_ON,
 } dshotTelemetry_e;
 
+typedef enum {
+    DSHOT_EDT_OFF = 0,
+    DSHOT_EDT_ON = 1,
+    DSHOT_EDT_FORCE = 2,
+} dshotEdt_e;
+
 typedef struct motorDevConfig_s {
     uint16_t motorPwmRate;               // The update rate of motor outputs (50-498Hz)
     uint8_t  motorProtocol;              // Pwm Protocol
@@ -65,7 +71,6 @@ typedef struct motorDevConfig_s {
     uint8_t  useBurstDshot;
     uint8_t  useDshotTelemetry;
     uint8_t  useDshotEdt;
-    uint8_t  useDshotEdtAlwaysDecode;
     ioTag_t  ioTags[MAX_SUPPORTED_MOTORS];
     uint8_t  motorTransportProtocol;
     uint8_t  useDshotBitbang;
diff --git a/src/test/unit/pg_unittest.cc b/src/test/unit/pg_unittest.cc
index 866e9d0485..8d0fd935db 100644
--- a/src/test/unit/pg_unittest.cc
+++ b/src/test/unit/pg_unittest.cc
@@ -43,7 +43,6 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
         .useBurstDshot = 0,
         .useDshotTelemetry = 0,
         .useDshotEdt = 0,
-        .useDshotEdtAlwaysDecode = 0,
         .ioTags = {IO_TAG_NONE, IO_TAG_NONE, IO_TAG_NONE, IO_TAG_NONE},
         .motorTransportProtocol = 0,
         .useDshotBitbang = 0,