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Merge ae6fcbf374 into e66010165e

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ke deng 2025-07-12 09:25:27 +02:00 • committed by GitHub
commit bc12ce7cee
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5 changed files with 27 additions and 2 deletions
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11
src/main/cli/settings.c
View file

@ -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),
@ -955,7 +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", 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) },

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

@ -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,

4
src/main/drivers/dshot.c
View file

@ -150,6 +150,7 @@ FAST_DATA_ZERO_INIT static float minMotorFrequencyHz;
FAST_DATA_ZERO_INIT static float erpmToHz;
FAST_DATA_ZERO_INIT static float dshotRpmAverage;
FAST_DATA_ZERO_INIT static float dshotRpm[MAX_SUPPORTED_MOTORS];
FAST_DATA_ZERO_INIT static bool edtAlwaysDecode;
// Lookup table for extended telemetry type decoding
// Only contains extended telemetry types, eRPM is handled by conditional logic
@ -180,6 +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.useDshotEdt == DSHOT_EDT_FORCE;
#ifdef USE_RPM_FILTER
if (motorConfig()->dev.useDshotTelemetry) {
@ -213,7 +215,7 @@ 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;
bool isEdtEnabled = edtAlwaysDecode || (dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0;
// https://github.com/bird-sanctuary/extended-dshot-telemetry
// Extract telemetry type field and check for eRPM conditions in one operation

5
src/main/pg/motor.c
View file

@ -47,6 +47,10 @@
#define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF
#endif
#if !defined(DEFAULT_DSHOT_EDT)
#define DEFAULT_DSHOT_EDT DSHOT_EDT_OFF
#endif
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 3);
void pgResetFn_motorConfig(motorConfig_t *motorConfig)
@ -112,6 +116,7 @@ void pgResetFn_motorConfig(motorConfig_t *motorConfig)
#ifdef USE_DSHOT_TELEMETRY
motorConfig->dev.useDshotTelemetry = DEFAULT_DSHOT_TELEMETRY;
motorConfig->dev.useDshotEdt = DEFAULT_DSHOT_EDT;
#endif
#ifdef USE_DSHOT_BITBANG

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

@ -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