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Code Issues Wiki Activity

add FORCE option to dshot_edt, remove dshot_edt_always_decode

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This commit is contained in:
kedeng 2025-07-11 20:27:48 +08:00
parent f9966d1eee
commit 3ce7f7a1e0
6 changed files with 23 additions and 8 deletions
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12
src/main/cli/settings.c
View file

@ -223,6 +223,12 @@ const char * const lookupTableOffOn[] = {
"OFF", "ON" "OFF", "ON"
}; };
#ifdef USE_DSHOT_TELEMETRY
static const char * const lookupTableDshotEdt[] = {
"OFF", "ON", "FORCE"
};
#endif
static const char * const lookupTableCrashRecovery[] = { static const char * const lookupTableCrashRecovery[] = {
"OFF", "ON" ,"BEEP", "DISARM" "OFF", "ON" ,"BEEP", "DISARM"
}; };
@ -643,6 +649,9 @@ const lookupTableEntry_t lookupTables[] = {
#endif #endif
LOOKUP_TABLE_ENTRY(debugModeNames), LOOKUP_TABLE_ENTRY(debugModeNames),
LOOKUP_TABLE_ENTRY(lookupTablePwmProtocol), LOOKUP_TABLE_ENTRY(lookupTablePwmProtocol),
#ifdef USE_DSHOT_TELEMETRY
LOOKUP_TABLE_ENTRY(lookupTableDshotEdt),
#endif
LOOKUP_TABLE_ENTRY(lookupTableLowpassType), LOOKUP_TABLE_ENTRY(lookupTableLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType), LOOKUP_TABLE_ENTRY(lookupTableDtermLowpassType),
LOOKUP_TABLE_ENTRY(lookupTableFailsafe), LOOKUP_TABLE_ENTRY(lookupTableFailsafe),
@ -955,8 +964,7 @@ const clivalue_t valueTable[] = {
#endif #endif
#ifdef USE_DSHOT_TELEMETRY #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) }, { 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", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_DSHOT_EDT }, 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) },
#endif #endif
#ifdef USE_DSHOT_BITBANG #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) }, { "dshot_bitbang", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },

3
src/main/cli/settings.h
View file

@ -64,6 +64,9 @@ typedef enum {
#endif #endif
TABLE_DEBUG, TABLE_DEBUG,
TABLE_MOTOR_PWM_PROTOCOL, TABLE_MOTOR_PWM_PROTOCOL,
#ifdef USE_DSHOT_TELEMETRY
TABLE_DSHOT_EDT,
#endif
TABLE_GYRO_LPF_TYPE, TABLE_GYRO_LPF_TYPE,
TABLE_DTERM_LPF_TYPE, TABLE_DTERM_LPF_TYPE,
TABLE_FAILSAFE, TABLE_FAILSAFE,

2
src/main/drivers/dshot.c
View file

@ -181,7 +181,7 @@ void initDshotTelemetry(const timeUs_t looptimeUs)
// erpmToHz is used by bidir dshot and ESC telemetry // erpmToHz is used by bidir dshot and ESC telemetry
erpmToHz = ERPM_PER_LSB / SECONDS_PER_MINUTE / (motorConfig()->motorPoleCount / 2.0f); 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 #ifdef USE_RPM_FILTER
if (motorConfig()->dev.useDshotTelemetry) { if (motorConfig()->dev.useDshotTelemetry) {

6
src/main/pg/motor.c
View file

@ -47,8 +47,8 @@
#define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF #define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF
#endif #endif
#if !defined(DEFAULT_DSHOT_EDT_ALWAYS_DECODE) #if !defined(DEFAULT_DSHOT_EDT)
#define DEFAULT_DSHOT_EDT_ALWAYS_DECODE false #define DEFAULT_DSHOT_EDT DSHOT_EDT_OFF
#endif #endif
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 4); 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 #ifdef USE_DSHOT_TELEMETRY
motorConfig->dev.useDshotTelemetry = DEFAULT_DSHOT_TELEMETRY; motorConfig->dev.useDshotTelemetry = DEFAULT_DSHOT_TELEMETRY;
motorConfig->dev.useDshotEdtAlwaysDecode = DEFAULT_DSHOT_EDT_ALWAYS_DECODE; motorConfig->dev.useDshotEdt = DEFAULT_DSHOT_EDT;
#endif #endif
#ifdef USE_DSHOT_BITBANG #ifdef USE_DSHOT_BITBANG

7
src/main/pg/motor.h
View file

@ -57,6 +57,12 @@ typedef enum {
DSHOT_TELEMETRY_ON, DSHOT_TELEMETRY_ON,
} dshotTelemetry_e; } dshotTelemetry_e;
typedef enum {
DSHOT_EDT_OFF = 0,
DSHOT_EDT_ON = 1,
DSHOT_EDT_FORCE = 2,
} dshotEdt_e;
typedef struct motorDevConfig_s { typedef struct motorDevConfig_s {
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz) uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
uint8_t motorProtocol; // Pwm Protocol uint8_t motorProtocol; // Pwm Protocol
@ -65,7 +71,6 @@ typedef struct motorDevConfig_s {
uint8_t useBurstDshot; uint8_t useBurstDshot;
uint8_t useDshotTelemetry; uint8_t useDshotTelemetry;
uint8_t useDshotEdt; uint8_t useDshotEdt;
uint8_t useDshotEdtAlwaysDecode;
ioTag_t ioTags[MAX_SUPPORTED_MOTORS]; ioTag_t ioTags[MAX_SUPPORTED_MOTORS];
uint8_t motorTransportProtocol; uint8_t motorTransportProtocol;
uint8_t useDshotBitbang; uint8_t useDshotBitbang;

1
src/test/unit/pg_unittest.cc
View file

@ -43,7 +43,6 @@ PG_RESET_TEMPLATE(motorConfig_t, motorConfig,
.useBurstDshot = 0, .useBurstDshot = 0,
.useDshotTelemetry = 0, .useDshotTelemetry = 0,
.useDshotEdt = 0, .useDshotEdt = 0,
.useDshotEdtAlwaysDecode = 0,
.ioTags = {IO_TAG_NONE, IO_TAG_NONE, IO_TAG_NONE, IO_TAG_NONE}, .ioTags = {IO_TAG_NONE, IO_TAG_NONE, IO_TAG_NONE, IO_TAG_NONE},
.motorTransportProtocol = 0, .motorTransportProtocol = 0,
.useDshotBitbang = 0, .useDshotBitbang = 0,