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Add user option to force DSHOT EDT decoding always on

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This commit is contained in:
kedeng 2025-07-11 12:18:52 +08:00
parent acbab53d13
commit d5f8526ae6
5 changed files with 17 additions and 1 deletions
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1
src/main/cli/settings.c
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@ -956,6 +956,7 @@ const clivalue_t valueTable[] = {
#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) },
#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/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 dshotEdtAlwaysDecode_e 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.useDshotEdtAlwaysDecode == DSHOT_EDT_ALWAYS_DECODE_ON;
#ifdef USE_RPM_FILTER
if (motorConfig()->dev.useDshotTelemetry) {
@ -214,6 +216,7 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
{
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
bool isEdtEnabled = (dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0;
isEdtEnabled |= edtAlwaysDecode;
// https://github.com/bird-sanctuary/extended-dshot-telemetry
// Extract telemetry type field and check for eRPM conditions in one operation

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

@ -47,7 +47,11 @@
#define DEFAULT_DSHOT_TELEMETRY DSHOT_TELEMETRY_OFF
#endif
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 3);
#if !defined(DEFAULT_DSHOT_EDT_ALWAYS_DECODE)
#define DEFAULT_DSHOT_EDT_ALWAYS_DECODE DSHOT_EDT_ALWAYS_DECODE_OFF
#endif
PG_REGISTER_WITH_RESET_FN(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 4);
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.useDshotEdtAlwaysDecode = DEFAULT_DSHOT_EDT_ALWAYS_DECODE;
#endif
#ifdef USE_DSHOT_BITBANG

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

@ -57,6 +57,11 @@ typedef enum {
DSHOT_TELEMETRY_ON,
} dshotTelemetry_e;
typedef enum {
DSHOT_EDT_ALWAYS_DECODE_OFF,
DSHOT_EDT_ALWAYS_DECODE_ON,
} dshotEdtAlwaysDecode_e;
typedef struct motorDevConfig_s {
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
uint8_t motorProtocol; // Pwm Protocol
@ -65,6 +70,7 @@ 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;

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

@ -43,6 +43,7 @@ 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,