写一个sbus通信的代码

好的，下面是一个基本的S.Bus通信代码示例，仅供参考：

// 定义S.Bus通道数据结构体
typedef struct {
  uint16_t ch0;
  uint16_t ch1;
  uint16_t ch2;
  uint16_t ch3;
  uint16_t ch4;
  uint16_t ch5;
  uint16_t ch6;
  uint16_t ch7;
  uint16_t ch8;
  uint16_t ch9;
  uint16_t ch10;
  uint16_t ch11;
  uint16_t ch12;
  uint16_t ch13;
  uint16_t ch14;
  uint16_t ch15;
} SBUSChannels;

// 定义全局变量
SBUSChannels sbusChannels;

// 定义S.Bus接收中断函数
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
  static uint8_t sbusBuf[25];
  static uint8_t sbusIndex = 0;
  if (huart->Instance == USART1) { // UART1为S.Bus接收口
    sbusBuf[sbusIndex++] = sbusData;
    if (sbusIndex == 25) { // 一帧S.Bus数据为25个字节
      sbusIndex = 0;
      if (sbusBuf[0] == 0x0f && sbusBuf[24] == 0x00) { // 判断帧头和帧尾
        sbusChannels.ch0 = ((uint16_t)sbusBuf[1] | (uint16_t)(sbusBuf[2] << 8)) & 0x07ff;
        sbusChannels.ch1 = ((uint16_t)sbusBuf[2] >> 3 | (uint16_t)(sbusBuf[3] << 5)) & 0x07ff;
        sbusChannels.ch2 = ((uint16_t)sbusBuf[3] >> 6 | (uint16_t)(sbusBuf[4] << 2) |
                            (uint16_t)(sbusBuf[5] << 10)) &
                           0x07ff;
        sbusChannels.ch3 = ((uint16_t)sbusBuf[5] >> 1 | (uint16_t)(sbusBuf[6] << 7)) & 0x07ff;
        sbusChannels.ch4 = ((uint16_t)sbusBuf[6] >> 4 | (uint16_t)(sbusBuf[7] << 4)) & 0x07ff;
        sbusChannels.ch5 = ((uint16_t)sbusBuf[7] >> 7 | (uint16_t)(sbusBuf[8] << 1) |
                            (uint16_t)(sbusBuf[9] << 9)) &
                           0x07ff;
        sbusChannels.ch6 = ((uint16_t)sbusBuf[9] >> 2 | (uint16_t)(sbusBuf[10] << 6)) & 0x07ff;
        sbusChannels.ch7 = ((uint16_t)sbusBuf[10] >> 5 | (uint16_t)(sbusBuf[11] << 3)) & 0x07ff;
        sbusChannels.ch8 = ((uint16_t)sbusBuf[12] | (uint16_t)(sbusBuf[13] << 8)) & 0x07ff;
        sbusChannels.ch9 = ((uint16_t)sbusBuf[13] >> 3 | (uint16_t)(sbusBuf[14] << 5)) & 0x07ff;
        sbusChannels.ch10 = ((uint16_t)sbusBuf[14] >> 6 | (uint16_t)(sbusBuf[15] << 2) |
                             (uint16_t)(sbusBuf[16] << 10)) &
                            0x07ff;
        sbusChannels.ch11 = ((uint16_t)sbusBuf[16] >> 1 | (uint16_t)(sbusBuf[17] << 7)) & 0x07ff;
        sbusChannels.ch12 = ((uint16_t)sbusBuf[17] >> 4 | (uint16_t)(sbusBuf[18] << 4)) & 0x07ff;
        sbusChannels.ch13 = ((uint16_t)sbusBuf[18] >> 7 | (uint16_t)(sbusBuf[19] << 1) |
                             (uint16_t)(sbusBuf[20] << 9)) &
                            0x07ff;
        sbusChannels.ch14 = ((uint16_t)sbusBuf[20] >> 2 | (uint16_t)(sbusBuf[21] << 6)) & 0x07ff;
        sbusChannels.ch15 = ((uint16_t)sbusBuf[21] >> 5 | (uint16_t)(sbusBuf[22] << 3)) & 0x07ff;
      }
    }
  }
}

// 定义S.Bus发送函数
void sendSbusData(void) {
  static uint8_t sbusBuf[25];
  sbusBuf[0] = 0x0f; // 帧头为0x0f
  sbusBuf[23] = 0x00; // 最后一个字节为0x00
  sbusBuf[24] = 0x00; // 最后一个字节为0x00
  sbusBuf[1] = (sbusChannels.ch0 & 0x00ff);
  sbusBuf[2] = ((sbusChannels.ch0 & 0x07ff) >> 8) | ((sbusChannels.ch1 & 0x07ff) << 3);
  sbusBuf[3] = (sbusChannels.ch1 & 0x07ff) >> 5 | ((sbusChannels.ch2 & 0x07ff) << 6);
  sbusBuf[4] = (sbusChannels.ch2 & 0x07ff) >> 2;
  sbusBuf[5] = ((sbusChannels.ch2 & 0x07ff) >> 10) | ((sbusChannels.ch3 & 0x07ff) << 1);
  sbusBuf[6] = (sbusChannels.ch3 & 0x07ff) >> 7 | ((sbusChannels.ch4 & 0x07ff) << 4);
  sbusBuf[7] = (sbusChannels.ch4 & 0x07ff) >> 4 | ((sbusChannels.ch5 & 0x07ff) << 7);
  sbusBuf[8] = (sbusChannels.ch5 & 0x07ff) >> 1;
  sbusBuf[9] = ((sbusChannels.ch5 & 0x07ff) >> 9) | ((sbusChannels.ch6 & 0x07ff) << 2);
  sbusBuf[10] = (sbusChannels.ch6 & 0x07ff) >> 6 | ((sbusChannels.ch7 & 0x07ff) << 5);
  sbusBuf[11] = (sbusChannels.ch7 & 0x07ff) >> 3;
  sbusBuf[12] = (sbusChannels.ch8 & 0x00ff);
  sbusBuf[13] = ((sbusChannels.ch8 & 0x07ff) >> 8) | ((sbusChannels.ch9 & 0x07ff) << 3);
  sbusBuf[14] = (sbusChannels.ch9 & 0x07ff) >> 5 | ((sbusChannels.ch10 & 0x07ff) << 6);
  sbusBuf[15] = (sbusChannels.ch10 & 0x07ff) >> 2;
  sbusBuf[16] = ((sbusChannels.ch10 & 0x07ff) >> 10) | ((sbusChannels.ch11 & 0x07ff) << 1);
  sbusBuf[17] = (sbusChannels.ch11 & 0x07ff) >> 7 | ((sbusChannels.ch12 & 0x07ff) << 4);
  sbusBuf[18] = (sbusChannels.ch12 & 0x07ff) >> 4 | ((sbusChannels.ch13 & 0x07ff) << 7);
  sbusBuf[19] = (sbusChannels.ch13 & 0x07ff) >> 1;
  sbusBuf[20] = ((sbusChannels.ch13 & 0x07ff) >> 9) | ((sbusChannels.ch14 & 0x07ff) << 2);
  sbusBuf[21] = (sbusChannels.ch14 & 0x07ff) >> 6 | ((sbusChannels.ch15 & 0x07ff) << 5);
  sbusBuf[22] = (sbusChannels.ch15 & 0x07ff) >> 3;
  HAL_UART_Transmit(&huart1, sbusBuf, 25, 1000); // UART1为S.Bus发送口
}

以上代码仅供参考，具体实现可能会因为硬件平台和工程环境的不同而有所差异。在实际使用中，需要根据具体情况进行调试和优化。