#include?
#include??
#include?

#define?SBUS_INPUT_CHANNELS?16									//通道數
#define?RC_Lose	0												//遙控信號丟失
uint8_t?Sbus_Buff[25];											//串口接收緩存
uint16_t?Sbus_PWM?[16];														


struct?sbus_bit_pick?{??
	uint8_t?byte;			//字節
	uint8_t?rshift;			//右移
	uint8_t?mask;			//掩碼
	uint8_t?lshift;			//左移
};

static?const?struct?sbus_bit_pick?sbus_decoder[SBUS_INPUT_CHANNELS][3]?=?{
	//			
	/*??0?*/?{?{?0?0?0xff?0}?{?1?0?0x07?8}?{?0?0?0x00??0}?}		
	/*??1?*/?{?{?1?3?0x1f?0}?{?2?0?0x3f?5}?{?0?0?0x00??0}?}
	/*??2?*/?{?{?2?6?0x03?0}?{?3?0?0xff?2}?{?4?0?0x01?10}?}
	/*??3?*/?{?{?4?1?0x7f?0}?{?5?0?0x0f?7}?{?0?0?0x00??0}?}
	/*??4?*/?{?{?5?4?0x0f?0}?{?6?0?0x7f?4}?{?0?0?0x00??0}?}
	/*??5?*/?{?{?6?7?0x01?0}?{?7?0?0xff?1}?{?8?0?0x03??9}?}
	/*??6?*/?{?{?8?2?0x3f?0}?{?9?0?0x1f?6}?{?0?0?0x00??0}?}
	/*??7?*/?{?{?9?5?0x07?0}?{10?0?0xff?3}?{?0?0?0x00??0}?}
	/*??8?*/?{?{11?0?0xff?0}?{12?0?0x07?8}?{?0?0?0x00??0}?}
	/*??9?*/?{?{12?3?0x1f?0}?{13?0?0x3f?5}?{?0?0?0x00??0}?}
	/*?10?*/?{?{13?6?0x03?0}?{14?0?0xff?2}?{15?0?0x01?10}?}
	/*?11?*/?{?{15?1?0x7f?0}?{16?0?0x0f?7}?{?0?0?0x00??0}?}
	/*?12?*/?{?{16?4?0x0f?0}?{17?0?0x7f?4}?{?0?0?0x00??0}?}
	/*?13?*/?{?{17?7?0x01?0}?{18?0?0xff?1}?{19?0?0x03??9}?}
	/*?14?*/?{?{19?2?0x3f?0}?{20?0?0x1f?6}?{?0?0?0x00??0}?}
	/*?15?*/?{?{20?5?0x07?0}?{21?0?0xff?3}?{?0?0?0x00??0}?}
};




/**
??*?@brief??USART2?GPIO?配置工作模式配置。100000?8-N-1??SBUS
??*?@param??無
??*?@retval?無
??*/
void?USART2_Config（void）
{
	GPIO_InitTypeDef?GPIO_InitStructure;
	USART_InitTypeDef?USART_InitStructure;
	
	RCC_APB1PeriphClockCmd（RCC_APB1Periph_USART2ENABLE）;
	RCC_APB2PeriphClockCmd（RCC_APB2Periph_GPIOAENABLE）;
	//USART2?RX
	GPIO_InitStructure.GPIO_Mode?=?GPIO_Mode_IN_FLOATING;				
	GPIO_InitStructure.GPIO_Speed=?GPIO_Speed_50MHz;						
	GPIO_InitStructure.GPIO_Pin??=?GPIO_Pin_3;									
	GPIO_Init（GPIOA&GPIO_InitStructure）;

	
	//配置串口工作模式
	USART_InitStructure.USART_BaudRate	=?100000;																		
	USART_InitStructure.USART_HardwareFlowControl?=?USART_HardwareFlowControl_None;	
	USART_InitStructure.USART_Mode?=?USART_Mode_Rx;									
	USART_InitStructure.USART_WordLength?=?USART_WordLength_9b;											
	USART_InitStructure.USART_Parity???=?USART_Parity_Even;												
	USART_InitStructure.USART_StopBits?=?USART_StopBits_2;
	USART_Init（USART2?&USART_InitStructure）;?
	USART_ITConfig（USART2?USART_IT_RXNE?ENABLE）;																	
	USART_ITConfig（USART2?USART_IT_IDLE?ENABLE）;											
	USART_Cmd（USART2?ENABLE）;	
}

/********************************S.BUS數值轉換***************************************************/
//轉換的到的數值是PWM脈寬*2000
uint8_t?Conversion_PWM（）
{
	?unsigned?char?channelpick;
		for?（channel?=?0;?channel?