AT9S混控，STM32F103C8T6解析SBUS程序

ID:600656 · 發表于 2019-8-16 09:33

通過STM32解析SBUS然后完成混控

單片機源程序如下:

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"
extern int usart1_stop_flag;
u16 channel[8];
extern int sbus[200];
int main(void)
{
uart_init(100000);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
TIM3_PWM_Init(7199,199); //不分頻。PWM頻率 50hz 7200/50
TIM4_PWM_Init(7199,199); //不分頻。PWM頻率 50hz 7200/50
TIM_SetCompare2(TIM3,539);
TIM_SetCompare3(TIM3,539);
TIM_SetCompare4(TIM3,539);
TIM_SetCompare1(TIM4,359);
// TIM_SetCompare2(TIM4,539);
// TIM_SetCompare3(TIM4,539);
while(1)
{
if(usart1_stop_flag==1)
{
usart1_stop_flag=0;
channel[0] = (((sbus[1] & 0x7) << 8) | sbus[0])*0.5+30;//*0.77+767;
channel[1] = (((sbus[2] & 0x3f) << 5) | (sbus[1] >> 3))*0.5+30;//*0.77+767;
channel[2] = (((sbus[4] & 0x1)<<10) | (sbus[3] << 2) | (sbus[2] >> 6))*0.261+279.27;//*0.77+767;
channel[3]= (((sbus[5] & 0xf) << 7) | (sbus[4] >> 1))*0.5+30;//*0.77+767;
channel[4]= (((sbus[6] & 0x7f) << 4) | (sbus[5] >> 4))*0.5+30;//*0.77+767;
channel[5]= (((sbus[8] & 0x2) << 9) | (sbus[7] << 1) | (sbus[6] >> 7))*0.5+30;//*0.77+767;
channel[6] = (((sbus[9] & 0x1f) << 6) | (sbus[8] >> 2))*0.5+30;//*0.77+767;
channel[7] = ((sbus[10] << 3) | (sbus[9] >> 5))*0.5+30;//*0.77+767;
TIM_SetCompare2(TIM3,channel[0]-channel[1]+539);
TIM_SetCompare3(TIM3,channel[0]+channel[1]-539);
TIM_SetCompare4(TIM3,channel[0]+channel[3]-539);
TIM_SetCompare1(TIM4,channel[2]);
// TIM_SetCompare2(TIM4,a);
// TIM_SetCompare3(TIM4,a);
printf("1=%d\t",channel[0]);
printf("2=%d\t",channel[1]);
printf("3=%d\t",channel[2]);
printf("4=%d\t",channel[3]);
printf("5=%d\t",channel[4]);
printf("6=%d\t",channel[5]);
printf("7=%d\t",channel[6]);
printf("8=%d\r\n ",channel[7]);
}
}
}

復制代碼

所有資料51hei提供下載:

AT9S混控.7z (195.14 KB, 下載次數: 70)

ID:863817 · 發表于 2020-12-20 10:47

你好，能開發一塊通用的混控板嗎？

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AT9S混控，STM32F103C8T6解析SBUS程序

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