Add user option to force DSHOT EDT decoding always on

src/main/cli/settings.c

@@ -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) },

src/main/drivers/dshot.c

@@ -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

src/main/pg/motor.c

@@ -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

src/main/pg/motor.h

@@ -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;

src/test/unit/pg_unittest.cc

@@ -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,