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Optimize telemetry type detection for extended DShot protocol

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This commit is contained in:
kedeng 2025-07-02 17:56:39 +08:00
parent c421149386
commit dd0726acda
1 changed files with 22 additions and 15 deletions
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37
src/main/drivers/dshot.c
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@ -151,17 +151,25 @@ 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 (index = telemetryType >> 8)
// 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_TEMPERATURE, // 0x0200 >> 8 = 2
DSHOT_TELEMETRY_TYPE_VOLTAGE, // 0x0400 >> 8 = 4
DSHOT_TELEMETRY_TYPE_CURRENT, // 0x0600 >> 8 = 6
DSHOT_TELEMETRY_TYPE_DEBUG1, // 0x0800 >> 8 = 8
DSHOT_TELEMETRY_TYPE_DEBUG2, // 0x0A00 >> 8 = 10
DSHOT_TELEMETRY_TYPE_DEBUG3, // 0x0C00 >> 8 = 12
DSHOT_TELEMETRY_TYPE_STATE_EVENTS,// 0x0E00 >> 8 = 14
DSHOT_TELEMETRY_TYPE_eRPM, // Invalid/fallback
static const dshotTelemetryType_t extendedTelemetryLookup[9] = {
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,
DSHOT_TELEMETRY_TYPE_eRPM, // Invalid/fallback
};
void initDshotTelemetry(const timeUs_t looptimeUs)
@ -209,11 +217,10 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
// https://github.com/bird-sanctuary/extended-dshot-telemetry
// Extract telemetry type field and check for eRPM conditions in one operation
uint16_t telemetryType = value & 0x0f00;
bool isErpm = (value & 0x0100) || (telemetryType == 0);
unsigned telemetryType = (value & 0x0f00) >> 8; // 3 bits type + telemetry marker
bool isErpm = (telemetryType & 0x01) || (telemetryType == 0);
if (isErpm) {
// Decode as eRPM
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
@ -223,8 +230,8 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
}
} else {
// Use lookup table for extended telemetry types
uint8_t typeIndex = (telemetryType >> 8) / 2 - 1;
if (typeIndex < 7) {
unsigned typeIndex = telemetryType >> 1; // drop tag bit containing zero
if (typeIndex < ARRAYLEN(extendedTelemetryLookup)) {
*pType = extendedTelemetryLookup[typeIndex];
} else {
// Fallback for invalid types