#include <stdint.h>


float y = 0;
float Lowpassfilter_sim(float x)
{
	float out = 0.9*x + 0.1*y;
	y = x;
	return out;
}

uint32_t Last_Timesamp = 0.0;
float Last_y = 0.0;
float Lowpassfilter(float Tf, float x)
{
	float dt = 0.0;

	//TODO
	uint32_t Timesamp = 0;
	//uint32_t Timestamp = SysTick->VAL;
	if(Timesamp < Last_Timesamp) dt = (float)(Last_Timesamp - Timesamp)/9*1e-6;
	else
		dt = (float)(0xFFFFFF - Timesamp + Last_Timesamp)/9*1e-6;

	if(dt<0.0||dt==0) dt = 0.0015f;
	else if(dt>0.005f)
	{
		Last_y = x;
		Last_Timesamp = Timesamp;
		return x;
	}
	float alpha = Tf / (Tf + dt);
	float y = alpha * Last_y + (1.0f - alpha) * x;
	
	Last_y = y;
	Last_Timesamp = Timesamp;

	
	return y;
}