TIM_SetCompare3 (TIM1, T0 + T1 + T2); // W+​

break;​

case 3:​

// U - 导通，V - 导通，W + 导通​

TIM_SetCompare1 (TIM1, T0); // U-​

TIM_SetCompare2 (TIM1, T0); // V-​

TIM_SetCompare3 (TIM1, T0 + T1 + T2); // W+​

break;​

case 4:​

// U - 导通，V + 导通，W - 导通​

TIM_SetCompare1 (TIM1, T0); // U-​

TIM_SetCompare2 (TIM1, T0 + T1 + T2); // V+​

TIM_SetCompare3 (TIM1, T0); // W-​

break;​

case 5:​

// U + 导通，V - 导通，W - 导通​

TIM_SetCompare1 (TIM1, T0 + T1 + T2); // U+​

TIM_SetCompare2 (TIM1, T0); // V-​

TIM_SetCompare3 (TIM1, T0); // W-​

break;​

case 6:​

// U - 导通，V + 导通，W + 导通​

TIM_SetCompare1 (TIM1, T0); // U-​

TIM_SetCompare2 (TIM1, T0 + T1 + T2); // V+​

TIM_SetCompare3 (TIM1, T0 + T1); // W+​

break;​

default:​

// 异常情况：关闭所有 PWM 输出​

TIM_SetCompare1 (TIM1, 0);​

TIM_SetCompare2 (TIM1, 0);​

TIM_SetCompare3 (TIM1, 0);​

break;​

}​

// 配置互补通道（下桥臂 PWM，与上桥臂互补，避免上下桥臂直通）​

TIM_SetCompare1N (TIM1, Ts - TIM_GetCompare1 (TIM1)); // U-（互补于 U+）​

TIM_SetCompare2N (TIM1, Ts - TIM_GetCompare2 (TIM1)); // V-（互补于 V+）​

TIM_SetCompare3N (TIM1, Ts - TIM_GetCompare3 (TIM1)); // W-（互补于 W+）​

}​

​### 6.3 DShot完整代码（接收+解析）​

DShot接收需通过定时器输入捕获解析飞控发送的脉冲信号，需处理同步位识别、CRC校验与油门值提取，代码如下：​

```c​

// DShot接收全局变量​

uint8_t dshot_rx_buf[20] = {0}; // 存储20bit帧数据​

uint8_t dshot_rx_cnt = 0; // 接收bit计数​

uint16_t dshot_throttle = 0; // 解析后的油门值​

uint8_t dshot_rx_flag = 0; // 接收完成标志（1=完成）​

/**​

* @brief TIM2初始化（DShot接收：输入捕获模式）​

*/​

void DShot_RX_TIM_Init(void) {​

// 1. GPIO初始化（PA15=TIM2_CH1，输入模式）​

GPIO_InitTypeDef GPIO_InitStruct;​

RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA, ENABLE);​

GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15;​

GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;​

GPIO_InitStruct.GPIO_PuPd = GPIO_Pu