SBUS协议

1、简介
SBUS，全称Serial Bus，即串行通信总线。本质上是一种串口通信协议，采用100K的波特率，8位数据位，2位停止位，偶效验，即串口通信。

2、串口配置
100k波特率，8位数据位（在stm32中要选择9位），偶校验（EVEN)，2位停止位，无控流，25个字节。

3、协议格式
[startbyte]    [data1]    [data2]    …    [data22]    [flags]    [endbyte]
0x0f                                                                                        0x00

4.sbus协议要加硬件取反电路

5.软件处理数据

struct sbus_s {
    // 176 bits of data (11 bits per channel * 16 channels) = 22 bytes.
    unsigned int chan0 : 11;
    unsigned int chan1 : 11;
    unsigned int chan2 : 11;
    unsigned int chan3 : 11;
    unsigned int chan4 : 11;
    unsigned int chan5 : 11;
    unsigned int chan6 : 11;
    unsigned int chan7 : 11;
    unsigned int chan8 : 11;
    unsigned int chan9 : 11;
    unsigned int chan10 : 11;
    unsigned int chan11 : 11;
    unsigned int chan12 : 11;
    unsigned int chan13 : 11;
    unsigned int chan14 : 11;
    unsigned int chan15 : 11;
} __attribute__ ((__packed__));

typedef struct sbus_s  sbus_data;


typedef struct 
{
    uint16_t ch[16];

} CRSFCHANNELS;

CRSFCHANNELS output_data_1;
uint8_t dmabuff_data[DMABUFFSIZE];

/*SBUS协议数据处理*/
void SbusData_Deal()
{
	const sbus_data* const rcChannels = 
			(sbus_data*)&dmabuff_data[1];
	  output_data_1.ch[0] = rcChannels->chan0&0x07FF;
		output_data_1.ch[1] = rcChannels->chan1&0x07FF;
		output_data_1.ch[2] = rcChannels->chan2&0x07FF;
		output_data_1.ch[3] = rcChannels->chan3&0x07FF;
		output_data_1.ch[4] = rcChannels->chan4&0x07FF;
		output_data_1.ch[5] = rcChannels->chan5&0x07FF;
		output_data_1.ch[6] = rcChannels->chan6&0x07FF;
		output_data_1.ch[7] = rcChannels->chan7&0x07FF;
		output_data_1.ch[8] = rcChannels->chan8&0x07FF;
		output_data_1.ch[9] = rcChannels->chan9&0x07FF;
		output_data_1.ch[10] = rcChannels->chan10&0x07FF;
		output_data_1.ch[11] = rcChannels->chan11&0x07FF;
		output_data_1.ch[12] = rcChannels->chan12&0x07FF;
		output_data_1.ch[13] = rcChannels->chan13&0x07FF;
		output_data_1.ch[14] = rcChannels->chan14&0x07FF;
		output_data_1.ch[15] = rcChannels->chan15&0x07FF;
	for(int i=0;i<6;i++)
	printf("ch[%d]=%d\r\n",i,output_data_1.ch[i]);
	printf("\r\r\r\r\r");
}