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refactor dshot_decode_telemetry_value to prevent EDT data in RPM (#14490)

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* refactor dshot_decode_telemetry_value to prevent EDT data in RPM

* Optimize telemetry type detection for extended DShot protocol

* Fix extended telemetry array size and eRPM fallback logic

* Update src/main/drivers/dshot.c

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>

* Format alignment

---------

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
ke deng 2025-07-09 15:23:07 +08:00 • committed by GitHub
parent 13b09a277e
commit 9458ac043a
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GPG key ID: B5690EEEBB952194
1 changed files with 36 additions and 80 deletions
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114
src/main/drivers/dshot.c
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@ -151,6 +151,26 @@ FAST_DATA_ZERO_INIT static float erpmToHz;
FAST_DATA_ZERO_INIT static float dshotRpmAverage;
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[8] = {
DSHOT_TELEMETRY_TYPE_eRPM,
// Temperature range (in degree Celsius, just like Blheli_32 and KISS)
DSHOT_TELEMETRY_TYPE_TEMPERATURE,
// Voltage range (0-63,75V step 0,25V)
DSHOT_TELEMETRY_TYPE_VOLTAGE,
// Current range (0-255A step 1A)
DSHOT_TELEMETRY_TYPE_CURRENT,
// Debug 1 value
DSHOT_TELEMETRY_TYPE_DEBUG1,
// Debug 2 value
DSHOT_TELEMETRY_TYPE_DEBUG2,
// Debug 3 value
DSHOT_TELEMETRY_TYPE_DEBUG3,
// State / events
DSHOT_TELEMETRY_TYPE_STATE_EVENTS,
};
void initDshotTelemetry(const timeUs_t looptimeUs)
{
// if bidirectional DShot is not available
@ -193,93 +213,29 @@ 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;
const unsigned motorCount = dshotMotorCount;
bool isEdtEnabled = (dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0;
if (dshotTelemetryState.motorState[motorIndex].telemetryTypes == DSHOT_NORMAL_TELEMETRY_MASK) { /* Check DSHOT_TELEMETRY_TYPE_eRPM mask */
// Decode eRPM telemetry
// 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 = !isEdtEnabled || (telemetryType & 0x01) || (telemetryType == 0);
if (isErpm) {
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
// Update debug buffer
if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
if (motorIndex < dshotMotorCount && motorIndex < DEBUG16_VALUE_COUNT) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
}
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
} else {
// Decode Extended DSHOT telemetry
switch (value & 0x0f00) {
case 0x0200:
// Temperature range (in degree Celsius, just like Blheli_32 and KISS)
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_TEMPERATURE;
break;
case 0x0400:
// Voltage range (0-63,75V step 0,25V)
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_VOLTAGE;
break;
case 0x0600:
// Current range (0-255A step 1A)
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_CURRENT;
break;
case 0x0800:
// Debug 1 value
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG1;
break;
case 0x0A00:
// Debug 2 value
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG2;
break;
case 0x0C00:
// Debug 3 value
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG3;
break;
case 0x0E00:
// State / events
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
break;
default:
// Decode as eRPM
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
// Update debug buffer
if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
}
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
break;
// Use lookup table for extended telemetry types
unsigned typeIndex = telemetryType >> 1; // drop tag bit containing zero
if (typeIndex < ARRAYLEN(extendedTelemetryLookup)) {
*pType = extendedTelemetryLookup[typeIndex];
}
// Extract data field
*pDecoded = value & 0x00ff;
}
}