#include "soft_timer.h"
#include "auto_pilot.h"
#include "control_attitude.h"
#include "control_rate.h"
#include "control_throttle.h"
#include "flight_mode.h"
#include "hard_system_timer.h"
#include "pilot_navigation.h"
#include "soft_imu.h"
#include "soft_motor_output.h"
#include "soft_port_uart4.h"
#include "soft_rc_input.h"
#include "soft_time.h"
#include "ver_config.h"

void system_timer_initial(void) { system_timer_init(); }

unsigned short hz_counts = 0;

volatile bool hz_400_flag = false, hz_200_flag = false, hz_100_flag = false,
              hz_50_flag = false, hz_20_flag = false, hz_10_flag = false,
              hz_5_flag = false, hz_2_flag = false, hz_1_flag = false;

void timer_hookfunction(void)
{
    hz_counts++;

    hz_400_flag = true;

    // 只能用if  不能用else if
    //  200HZ中断
    if (hz_counts % 2 == 0)
    {
        hz_200_flag = true;
    }
    // 100HZ中断
    if (hz_counts % 4 == 0)
    {
        hz_100_flag = true;
    }
    // 50HZ中断
    if (hz_counts % 8 == 0)
    {
        // 获取平滑的目标航向, 因为SD卡的延迟, 需要放到此中断来做
        hz_50_flag = true;
        get_target_yaw_by_flight_mode(flight_mode, 0.02f);
    }
    // 20HZ中断
    if (hz_counts % 20 == 0)
    {
        hz_20_flag = true;
    }
    // 10HZ中断
    if (hz_counts % 40 == 0)
    {
        hz_10_flag = true;
    }
    // 5HZ中断
    if (hz_counts % 80 == 0)
    {
        hz_5_flag = true;
    }

    if (hz_counts % 200 == 0)
    {
        hz_2_flag = true;
    }

    // 1HZ中断
    if (hz_counts % 400 == 0)
    {
        hz_1_flag = true;
        hz_counts = 0;
    }
}