Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 03:20:00 +03:00
Code Issues Wiki Activity

Improve dshot_edt_always_decode condition checking logic

Browse source
This commit is contained in:
kedeng 2025-07-11 12:38:39 +08:00
parent d5f8526ae6
commit b5b3de1cb1
1 changed files with 2 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

4
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 == DSHOT_EDT_ALWAYS_DECODE_ON; edtAlwaysDecode = motorConfig()->dev.useDshotEdtAlwaysDecode;
#ifdef USE_RPM_FILTER #ifdef USE_RPM_FILTER
if (motorConfig()->dev.useDshotTelemetry) { if (motorConfig()->dev.useDshotTelemetry) {
@ -216,7 +216,7 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
{ {
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue; uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
bool isEdtEnabled = (dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0; bool isEdtEnabled = (dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0;
isEdtEnabled |= edtAlwaysDecode; isEdtEnabled = isEdtEnabled || (edtAlwaysDecode == DSHOT_EDT_ALWAYS_DECODE_ON);
// https://github.com/bird-sanctuary/extended-dshot-telemetry // https://github.com/bird-sanctuary/extended-dshot-telemetry
// Extract telemetry type field and check for eRPM conditions in one operation // Extract telemetry type field and check for eRPM conditions in one operation