1 files changed, 23 insertions, 7 deletions

diff --git a/fw/fe310/eos/eve/eve_phy.c b/fw/fe310/eos/eve/eve_phy.c
index 1e255fe..cfddc80 100644
--- a/fw/fe310/eos/eve/eve_phy.c
+++ b/fw/fe310/eos/eve/eve_phy.c
@@ -9,30 +9,44 @@ 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, int dt, int *x, int *y) {
+int eve_phy_acc_tick(EVEPhyAcc *param, uint32_t dt, int *x, int *y) {
     int k = param->k;
     int x0 = param->x0;
     int y0 = param->y0;
     int v0x = param->v0x;
     int v0y = param->v0y;
+    int _dt = dt;
     int more = 1;
 
+    if (k == 0) {
+        if (x) *x = x0;
+        if (y) *y = y0;
+        return 0;
+    }
+
     if ((k < 0) && (dt >= -k / 2)) {
         dt = -k / 2;
         more = 0;
     }
-    if (x) *x = x0 + (v0x * dt + v0x * dt / k * dt) / (int)(EVE_RTC_FREQ);
-    if (y) *y = y0 + (v0y * dt + v0y * dt / k * dt) / (int)(EVE_RTC_FREQ);
+    if (x) *x = x0 + (v0x * _dt + v0x * _dt / k * _dt) / EVE_RTC_FREQ;
+    if (y) *y = y0 + (v0y * _dt + v0y * _dt / k * _dt) / EVE_RTC_FREQ;
 
     return more;
 }
@@ -53,9 +67,11 @@ 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, int dt, int *x, int *y) {
+int eve_phy_lho_tick(EVEPhyLHO *param, uint32_t dt, int *x, int *y) {
     int ax = param->x0 - param->x;
     int ay = param->y0 - param->y;
     int more = 1;