diff options
Diffstat (limited to 'fw/fe310/eos/eve/eve_phy.c')
| -rw-r--r-- | fw/fe310/eos/eve/eve_phy.c | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/fw/fe310/eos/eve/eve_phy.c b/fw/fe310/eos/eve/eve_phy.c index 09a86c6..cfddc80 100644 --- a/fw/fe310/eos/eve/eve_phy.c +++ b/fw/fe310/eos/eve/eve_phy.c @@ -9,14 +9,21 @@ void eve_phy_acc_init(EVEPhyAcc *param, int a) { param->a = a; } -void eve_phy_acc_start(EVEPhyAcc *param, int x0, int y0, int v0x, int v0y) { - double v0 = sqrt(v0x * v0x + v0y * v0y); +int eve_phy_acc_start(EVEPhyAcc *param, int x0, int y0, uint32_t t0, int v0x, int v0y) { + double v0; + uint32_t dt = eve_get_tick() - t0; + v0 = sqrt(v0x * v0x + v0y * v0y); + param->k = 2 * v0 / param->a * EVE_RTC_FREQ; + if ((param->k < 0) && (dt >= -param->k / 2)) { + return 0; + } param->x0 = x0; param->y0 = y0; param->v0x = v0x; param->v0y = v0y; - param->k = 2 * v0 / param->a * EVE_RTC_FREQ; + + return 1; } int eve_phy_acc_tick(EVEPhyAcc *param, uint32_t dt, int *x, int *y) { @@ -60,6 +67,8 @@ void eve_phy_lho_init(EVEPhyLHO *param, int x, int y, uint32_t T, double d, uint int eve_phy_lho_start(EVEPhyLHO *param, int x0, int y0) { param->x0 = x0; param->y0 = y0; + + return 1; } int eve_phy_lho_tick(EVEPhyLHO *param, uint32_t dt, int *x, int *y) { |