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

break;?

case 3:?

// U - 導通，V - 導通，W + 導通?

TIM_SetCompare1 (TIM1, T0); // U-?

TIM_SetCompare2 (TIM1, T0); // V-?

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

break;?

case 4:?

// U - 導通，V + 導通，W - 導通?

TIM_SetCompare1 (TIM1, T0); // U-?

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

TIM_SetCompare3 (TIM1, T0); // W-?

break;?

case 5:?

// U + 導通，V - 導通，W - 導通?

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

TIM_SetCompare2 (TIM1, T0); // V-?

TIM_SetCompare3 (TIM1, T0); // W-?

break;?

case 6:?

// U - 導通，V + 導通，W + 導通?

TIM_SetCompare1 (TIM1, T0); // U-?

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

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

break;?

default:?

// 異常情況：關閉所有 PWM 輸出?

TIM_SetCompare1 (TIM1, 0);?

TIM_SetCompare2 (TIM1, 0);?

TIM_SetCompare3 (TIM1, 0);?

break;?

}?

// 配置互補通道（下橋臂 PWM，與上橋臂互補，避免上下橋臂直通）?

TIM_SetCompare1N (TIM1, Ts - TIM_GetCompare1 (TIM1)); // U-（互補于 U+）?

TIM_SetCompare2N (TIM1, Ts - TIM_GetCompare2 (TIM1)); // V-（互補于 V+）?

TIM_SetCompare3N (TIM1, Ts - TIM_GetCompare3 (TIM1)); // W-（互補于 W+）?

}?

?### 6.3 DShot完整代碼（接收+解析）?

DShot接收需通過定時器輸入捕獲解析飛控發送的脈沖信號，需處理同步位識別、CRC校驗與油門值提取，代碼如下：?

```c?

// DShot接收全局變量?

uint8_t dshot_rx_buf[20] = {0}; // 存儲20bit幀數據?

uint8_t dshot_rx_cnt = 0; // 接收bit計數?

uint16_t dshot_throttle = 0; // 解析后的油門值?

uint8_t dshot_rx_flag = 0; // 接收完成標志（1=完成）?

/**?

* @brief TIM2初始化（DShot接收：輸入捕獲模式）?

*/?

void DShot_RX_TIM_Init(void) {?

// 1. GPIO初始化（PA15=TIM2_CH1，輸入模式）?

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