#include "timer.h"
#include "read.h"
bool Start_80_hz = false;
bool Start_10_hz = false;
bool Start_5_hz = false;
bool Start_1_hz = false;

// 12.5ms进一次中断
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
    static uint8_t time_count = 0;

    Start_80_hz = true;

    time_count++;

    if (time_count % 8 == 0)
    {
        Start_10_hz = true;
    }
    if (time_count % 26 == 0)
    {
        Start_5_hz = true;
    }
    if (time_count % 80 == 0)
    {
        Start_1_hz = true;
        time_count = 0;
    }
}

void delay_us(uint16_t us)
{
    HAL_TIM_Base_Start(&htim3);

    __HAL_TIM_SET_COUNTER(&htim3, 0); //  清零计数

    us = (us > 4) ? (us - 2) : 1;

    while (us > __HAL_TIM_GET_COUNTER(&htim3))
        ;

    HAL_TIM_Base_Stop(&htim3);
}