#include?“sbus.h“
#include?“stdio.h“

typedef?struct?SBUS
{
	uint8_t?head;
	uint8_t?ch[22];		//16個通道編碼
	struct?
	{
		bool?ch17?:1;				//通道17
		bool?ch18?:1;				//通道18
		bool?framlost?:1;
		bool?failsafe	:1;
		uint8_t?:4;
	}flage;
	uint8_t?endbyte;	//尾字節
}SBUS;

typedef?SBUS?CHIN;	
CHIN?code??=?{.head?=?0XFF?.endbyte?=?0X66};	//接受偵
SBUS?ocode?=?{.head?=?0X0F?.endbyte?=?0X40};	//發送幀

void?SBUS_init（void）//初始化串口?DMA?定時器
{
	DMA_InitTypeDef??DMA_InitStructure;
	GPIO_InitTypeDef?GPIO_InitStructure;
	USART_InitTypeDef?USART_InitStructure;
	NVIC_InitTypeDef?NVIC_InitStructure;
	
	RCC_AHB1PeriphClockCmd（RCC_AHB1Periph_GPIOCENABLE）;?
	RCC_APB2PeriphClockCmd（RCC_APB2Periph_USART6ENABLE）;
	RCC_AHB1PeriphClockCmd（RCC_AHB1Periph_DMA2ENABLE）;
	
	GPIO_PinAFConfig（GPIOCGPIO_PinSource7GPIO_AF_USART6）;?
	GPIO_PinAFConfig（GPIOCGPIO_PinSource6GPIO_AF_USART6）;?
	
	GPIO_InitStructure.GPIO_Pin?=?GPIO_Pin_6?|?GPIO_Pin_7;?
	GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_AF;
	GPIO_InitStructure.GPIO_Speed?=?GPIO_Speed_100MHz;	
	GPIO_InitStructure.GPIO_OType?=?GPIO_OType_PP;?//推挽復用輸出
	GPIO_InitStructure.GPIO_PuPd?=?GPIO_PuPd_UP;?//上拉
	GPIO_Init（GPIOC&GPIO_InitStructure）;?
	
	USART_InitStructure.USART_BaudRate?=?100000;//100K
	USART_InitStructure.USART_WordLength?=?USART_WordLength_9b;//字長為9位數據格式
	USART_InitStructure.USART_StopBits?=?USART_StopBits_2;//一個停止位
	USART_InitStructure.USART_Parity?=?USART_Parity_Even;//偶校驗位
	USART_InitStructure.USART_HardwareFlowControl?=?USART_HardwareFlowControl_None;//無硬件數據流控制
	USART_InitStructure.USART_Mode?=?USART_Mode_Rx?|?USART_Mode_Tx;	//收發模式
??USART_Init（USART6?&USART_InitStructure）;
??USART_Cmd（USART6?ENABLE）;?
	USART_ITConfig（USART6?USART_IT_IDLE?ENABLE）;	//開啟總線空閑中斷
	NVIC_InitStructure.NVIC_IRQChannel?=?USART6_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=1;//搶占優先級3
	NVIC_InitStructure.NVIC_IRQChannelSubPriority?=3;		//子優先級3
	NVIC_InitStructure.NVIC_IRQChannelCmd?=?ENABLE;		
	NVIC_Init（&NVIC_InitStructure）;
	
	//usart6_tx
	while?（DMA_GetCmdStatus（DMA2_Stream6）?!=?DISABLE）{}//等待DMAs2可配置?
	DMA_InitStructure.DMA_Channel?=?DMA_Channel_5;??//通道選擇
??DMA_InitStructure.DMA_PeripheralbaseAddr?=?（u32）&USART6->DR;//DMA外設地址
??DMA_InitStructure.DMA_Memory0baseAddr?=?NULL;//DMA?存儲器0地址
??DMA_InitStructure.DMA_DIR?=?DMA_DIR_MemoryToPeripheral;//存儲器到外設模式
??DMA_InitStructure.DMA_BufferSize?=?0;//數據傳輸量?
??DMA_InitStructure.DMA_PeripheralInc?=?DMA_PeripheralInc_Disable;//外設非增量模式
??DMA_InitStructure.DMA_MemoryInc?=?DMA_MemoryInc_Enable;//存儲器增量模式
??DMA_InitStructure.DMA_PeripheralDataSize?=?DMA_PeripheralDataSize_Byte;//外設數據長度:8位
??DMA_InitStructure.DMA_MemoryDataSize?=?DMA_MemoryDataSize_Byte;//存儲器數據長度:8位
??DMA_InitStructure.DMA_Mode?=?DMA_Mode_Normal;//?使用普通模式?
??DMA_InitStructure.DMA_Priority?=?DMA_Priority_Medium;//中等優先級
??DMA_InitStructure.DMA_FIFOMode?=?DMA_FIFOMode_Disable;?????????
??DMA_InitStructure.DMA_FIFOThreshold?=?DMA_FIFOThreshold_Full;
??DMA_InitSt

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????12425??2018-08-30?00:30??sbus.c

?????文件????????858??2018-08-30?00:30??sbus.h

-----------?---------??----------?-----??----

????????????????13283????????????????????2