1 files changed, 22 insertions, 89 deletions

diff --git a/fw/fe310/eos/eve/eve_vtrack.c b/fw/fe310/eos/eve/eve_vtrack.c
index bf65ec8..dfa8ba8 100644
--- a/fw/fe310/eos/eve/eve_vtrack.c
+++ b/fw/fe310/eos/eve/eve_vtrack.c
@@ -4,11 +4,11 @@
 #include "eve.h"
 
 static EVEVTrack _vtrack;
-static EVEVTrackInert _vtrack_inert;
+static EVEPhyAcc _vtrack_acc;
 
 void eve_vtrack_init(void) {
-    eve_vtrack_inert_init(&_vtrack_inert, EVE_VTRACK_FRICTION);
-    eve_vtrack_set(eve_vtrack_inert_start, eve_vtrack_inert_tick, eve_vtrack_inert_stop, &_vtrack_inert);
+    eve_phy_acc_init(&_vtrack_acc, -EVE_VTRACK_ACC_A);
+    eve_vtrack_reset();
 }
 
 EVEVTrack *eve_vtrack_get(void) {
@@ -23,110 +23,43 @@ void eve_vtrack_set(eve_vtrack_start_t start, eve_vtrack_tick_t tick, eve_vtrack
 }
 
 void eve_vtrack_reset(void) {
-    eve_vtrack_set(eve_vtrack_inert_start, eve_vtrack_inert_tick, eve_vtrack_inert_stop, &_vtrack_inert);
+    eve_vtrack_set(eve_vtrack_acc_start, eve_vtrack_acc_tick, NULL, &_vtrack_acc);
 }
 
-void eve_vtrack_start(uint8_t tag0, int i) {
-    EVETouch *touch = eve_touch_get(i);
-
-    eve_touch_timer_set(tag0, i, EVE_TOUCH_ETYPE_TRACK, EVE_TOUCH_TIMEOUT_TRACK);
+void eve_vtrack_start(EVETouch *touch, uint8_t tag0, uint32_t to) {
+    eve_touch_timer_set(touch, EVE_TOUCH_ETYPE_TRACK, tag0, to);
     if (_vtrack.start) _vtrack.start(touch, _vtrack.param);
 }
 
-void eve_vtrack_stop(void) {
-    eve_touch_timer_clear();
+void eve_vtrack_stop(EVETouch *touch) {
+    eve_touch_timer_clear(touch);
     eve_vtrack_reset();
 }
 
-
-EVEVTrackInert *eve_vtrack_inert_get_param(void) {
-    return &_vtrack_inert;
-}
-
-void eve_vtrack_inert_init(EVEVTrackInert *param, int fc) {
-    param->fc = fc;
+void eve_vtrack_acc_start(EVETouch *touch, void *p) {
+    EVEPhyAcc *param = (EVEPhyAcc *)p;
+    eve_phy_acc_start(param, touch->x, touch->y, touch->vx, touch->vy);
 }
 
-void eve_vtrack_inert_start(EVETouch *touch, void *p) {
-    EVEVTrackInert *param = (EVEVTrackInert *)p;
-    double d = sqrt(touch->vx * touch->vx + touch->vy * touch->vy);
+int eve_vtrack_acc_tick(EVETouch *touch, void *p) {
+    EVEPhyAcc *param = (EVEPhyAcc *)p;
 
-    param->x0 = touch->x;
-    param->y0 = touch->y;
-    param->f = (double)(EVE_RTC_FREQ) * d / param->fc;
+    return eve_phy_acc_tick(param, eve_time_get_tick() - touch->t, &touch->x, &touch->y);
 }
 
-int eve_vtrack_inert_tick(EVETouch *touch, void *p) {
-    EVEVTrackInert *param = (EVEVTrackInert *)p;
-    int dt = eve_time_get_tick() - touch->t;
-    int f = param->f;
-    int more = 1;
+void eve_vtrack_lho_start(EVETouch *touch, void *p) {
+    EVEPhyLHO *param = (EVEPhyLHO *)p;
 
-    if (dt >= f / 2) {
-        dt = f / 2;
-        more = 0;
-    }
-    touch->x = param->x0 + (touch->vx * dt - touch->vx * dt / f * dt) / (int)(EVE_RTC_FREQ);
-    touch->y = param->y0 + (touch->vy * dt - touch->vy * dt / f * dt) / (int)(EVE_RTC_FREQ);
-
-    return more;
-}
-
-void eve_vtrack_inert_stop(EVETouch *touch, void *p) {
-    touch->evt |= EVE_TOUCH_ETYPE_TRACK_STOP;
+    eve_phy_lho_start(param, touch->x, touch->y);
 }
 
+int eve_vtrack_lho_tick(EVETouch *touch, void *p) {
+    EVEPhyLHO *param = (EVEPhyLHO *)p;
 
-static EVEVTrackOsc _vtrack_osc;
-
-EVEVTrackOsc *eve_vtrack_osc_get_param(void) {
-    return &_vtrack_osc;
+    return eve_phy_lho_tick(param, eve_time_get_tick() - touch->t, &touch->x, &touch->y);
 }
 
-void eve_vtrack_osc_init(EVEVTrackOsc *param, int x, int y, uint32_t T, double d, uint32_t t_max) {
-    double f0 = 2 * M_PI / (T * EVE_RTC_FREQ / 1000);
-
-    if (d < 0) d = 0;
-    if (d > 1) d = 1;
-    param->x = x;
-    param->y = y;
-    param->f = d ? f0 * sqrt(1 - d * d) : f0;
-    param->d = d;
-    param->a = -d * f0;
-    param->t_max = t_max;
-}
-
-void eve_vtrack_osc_start(EVETouch *touch, void *p) {
-    EVEVTrackOsc *param = (EVEVTrackOsc *)p;
-
-    param->x0 = touch->x;
-    param->y0 = touch->y;
-}
-
-int eve_vtrack_osc_tick(EVETouch *touch, void *p) {
-    EVEVTrackOsc *param = (EVEVTrackOsc *)p;
-    int dt = eve_time_get_tick() - touch->t;
-    int ax = param->x0 - param->x;
-    int ay = param->y0 - param->y;
-    int more = 1;
-
-    if (param->t_max && (dt >= param->t_max)) {
-        dt = param->t_max;
-        more = 0;
-    }
-    if (param->d) {
-        double e = exp(param->a * dt);
-        ax = ax * e;
-        ay = ay * e;
-        if ((ax == 0) && (ay == 0)) more = 0;
-    }
-    touch->x = param->x + ax * cos(param->f * dt);
-    touch->y = param->y + ay * cos(param->f * dt);
-
-    return more;
-}
-
-void eve_vtrack_osc_stop(EVETouch *touch, void *p) {
-    touch->evt |= EVE_TOUCH_ETYPE_TRACK_STOP;
+void eve_vtrack_lho_stop(EVETouch *touch, void *p) {
     eve_vtrack_reset();
 }
+