Remove Residual BeagleBone Black Related Files

9 files changed, 0 insertions, 663 deletions

diff --git a/ads.service b/ads.service
deleted file mode 100644
index 8f05a77..0000000
--- a/ads.service
+++ /dev/null
@@ -1,15 +0,0 @@
-[Unit]
-Description=ADS
-StartLimitIntervalSec=30
-StartLimitBurst=3
-After=generic-board-startup.service
-
-[Service]
-Type=simple
-User=root
-Restart=on-failure
-RestartSec=30
-ExecStart=/usr/sbin/test_launch
-
-[Install]
-WantedBy=multi-user.target
diff --git a/ads_config.service b/ads_config.service
deleted file mode 100644
index 36d16f1..0000000
--- a/ads_config.service
+++ /dev/null
@@ -1,16 +0,0 @@
-[Unit]
-Description=ADS Config
-StartLimitIntervalSec=30
-StartLimitBurst=3
-After=generic-board-startup.service
-
-[Service]
-Type=simple
-User=root
-Group=root
-Restart=on-failure
-RestartSec=30
-ExecStart=/usr/sbin/test_launch.sh
-
-[Install]
-WantedBy=multi-user.target
diff --git a/src/pru/AM335x_PRU.cmd b/src/pru/AM335x_PRU.cmd
deleted file mode 100644
index b62f044..0000000
--- a/src/pru/AM335x_PRU.cmd
+++ /dev/null
@@ -1,86 +0,0 @@
-/****************************************************************************/
-/*  AM335x_PRU.cmd                                                          */
-/*  Copyright (c) 2015  Texas Instruments Incorporated                      */
-/*                                                                          */
-/*    Description: This file is a linker command file that can be used for  */
-/*                 linking PRU programs built with the C compiler and       */
-/*                 the resulting .out file on an AM335x device.             */
-/****************************************************************************/
-
--cr								/* Link using C conventions */
-
-/* Specify the System Memory Map */
-MEMORY
-{
-      PAGE 0:
-	PRU_IMEM		: org = 0x00000000 len = 0x00002000  /* 8kB PRU0 Instruction RAM */
-
-      PAGE 1:
-
-	/* RAM */
-
-	PRU_DMEM_0_1	: org = 0x00000000 len = 0x00002000 CREGISTER=24 /* 8kB PRU Data RAM 0_1 */
-	PRU_DMEM_1_0	: org = 0x00002000 len = 0x00002000	CREGISTER=25 /* 8kB PRU Data RAM 1_0 */
-
-	  PAGE 2:
-	PRU_SHAREDMEM	: org = 0x00010000 len = 0x00003000 CREGISTER=28 /* 12kB Shared RAM */
-
-	DDR			    : org = 0x80000000 len = 0x00000100	CREGISTER=31
-	L3OCMC			: org = 0x40000000 len = 0x00010000	CREGISTER=30
-
-
-	/* Peripherals */
-
-	PRU_CFG			: org = 0x00026000 len = 0x00000044	CREGISTER=4
-	PRU_ECAP		: org = 0x00030000 len = 0x00000060	CREGISTER=3
-	PRU_IEP			: org = 0x0002E000 len = 0x0000031C	CREGISTER=26
-	PRU_INTC		: org = 0x00020000 len = 0x00001504	CREGISTER=0
-	PRU_UART		: org = 0x00028000 len = 0x00000038	CREGISTER=7
-
-	DCAN0			: org = 0x481CC000 len = 0x000001E8	CREGISTER=14
-	DCAN1			: org = 0x481D0000 len = 0x000001E8	CREGISTER=15
-	DMTIMER2		: org = 0x48040000 len = 0x0000005C	CREGISTER=1
-	PWMSS0			: org = 0x48300000 len = 0x000002C4	CREGISTER=18
-	PWMSS1			: org = 0x48302000 len = 0x000002C4	CREGISTER=19
-	PWMSS2			: org = 0x48304000 len = 0x000002C4	CREGISTER=20
-	GEMAC			: org = 0x4A100000 len = 0x0000128C	CREGISTER=9
-	I2C1			: org = 0x4802A000 len = 0x000000D8	CREGISTER=2
-	I2C2			: org = 0x4819C000 len = 0x000000D8	CREGISTER=17
-	MBX0			: org = 0x480C8000 len = 0x00000140	CREGISTER=22
-	MCASP0_DMA		: org = 0x46000000 len = 0x00000100	CREGISTER=8
-	MCSPI0			: org = 0x48030000 len = 0x000001A4	CREGISTER=6
-	MCSPI1			: org = 0x481A0000 len = 0x000001A4	CREGISTER=16
-	MMCHS0			: org = 0x48060000 len = 0x00000300	CREGISTER=5
-	SPINLOCK		: org = 0x480CA000 len = 0x00000880	CREGISTER=23
-	TPCC			: org = 0x49000000 len = 0x00001098	CREGISTER=29
-	UART1			: org = 0x48022000 len = 0x00000088	CREGISTER=11
-	UART2			: org = 0x48024000 len = 0x00000088	CREGISTER=12
-
-	RSVD10			: org = 0x48318000 len = 0x00000100	CREGISTER=10
-	RSVD13			: org = 0x48310000 len = 0x00000100	CREGISTER=13
-	RSVD21			: org = 0x00032400 len = 0x00000100	CREGISTER=21
-	RSVD27			: org = 0x00032000 len = 0x00000100	CREGISTER=27
-
-}
-
-/* Specify the sections allocation into memory */
-SECTIONS {
-	/* Forces _c_int00 to the start of PRU IRAM. Not necessary when loading
-	   an ELF file, but useful when loading a binary */
-	.text:_c_int00*	>  0x0, PAGE 0
-
-	.text		>  PRU_IMEM, PAGE 0
-	.stack		>  PRU_DMEM_0_1, PAGE 1
-	.bss		>  PRU_DMEM_0_1, PAGE 1
-	.cio		>  PRU_DMEM_0_1, PAGE 1
-	.data		>  PRU_DMEM_0_1, PAGE 1
-	.switch		>  PRU_DMEM_0_1, PAGE 1
-	.sysmem		>  PRU_DMEM_0_1, PAGE 1
-	.cinit		>  PRU_DMEM_0_1, PAGE 1
-	.rodata		>  PRU_DMEM_0_1, PAGE 1
-	.rofardata	>  PRU_DMEM_0_1, PAGE 1
-	.farbss		>  PRU_DMEM_0_1, PAGE 1
-	.fardata	>  PRU_DMEM_0_1, PAGE 1
-
-	.resource_table > PRU_DMEM_0_1, PAGE 1
-}
diff --git a/src/pru/intc_map.h b/src/pru/intc_map.h
deleted file mode 100644
index eebf27b..0000000
--- a/src/pru/intc_map.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (C) 2021 Texas Instruments Incorporated - http://www.ti.com/
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- *      * Redistributions of source code must retain the above copyright
- *        notice, this list of conditions and the following disclaimer.
- *
- *      * Redistributions in binary form must reproduce the above copyright
- *        notice, this list of conditions and the following disclaimer in the
- *        documentation and/or other materials provided with the
- *        distribution.
- *
- *      * Neither the name of Texas Instruments Incorporated nor the names of
- *        its contributors may be used to endorse or promote products derived
- *        from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
- * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
- * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
- * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
- * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
- * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
- * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-#ifndef _INTC_MAP_0_H_
-#define _INTC_MAP_0_H_
-
-/*
- * ======== PRU INTC Map ========
- *
- * Define the INTC mapping for interrupts going to the ICSS / ICSSG:
- * 	ICSS Host interrupts 0, 1
- * 	ICSSG Host interrupts 0, 1, 10-19
- *
- * Note that INTC interrupts going to the ARM Linux host should not be defined
- * in this file (ICSS/ICSSG Host interrupts 2-9).
- *
- * The INTC configuration for interrupts going to the ARM host should be defined
- * in the device tree node of the client driver, "interrupts" property.
- * See Documentation/devicetree/bindings/interrupt-controller/ti,pruss-intc.yaml
- * entry #interrupt-cells for more.
- *
- * For example, on ICSSG:
- *
- * &client_driver0 {
- * 	interrupt-parent = <&icssg0_intc>;
- * 	interrupts = <21 2 2>, <22 3 3>;
- * 	interrupt-names = "interrupt_name1", "interrupt_name2";
- * };
- *
- */
-
-#include <stddef.h>
-#include <rsc_types.h>
-
-/*
- * .pru_irq_map is used by the RemoteProc driver during initialization. However,
- * the map is NOT used by the PRU firmware. That means DATA_SECTION and RETAIN
- * are required to prevent the PRU compiler from optimizing out .pru_irq_map.
- */
-#pragma DATA_SECTION(my_irq_rsc, ".pru_irq_map")
-#pragma RETAIN(my_irq_rsc)
-
-struct pru_irq_rsc my_irq_rsc  = {
-	0,			/* type = 0 */
-	1,			/* number of system events being mapped */
-	{
-		{7, 1, 1},	/* {sysevt, channel, host interrupt} */
-	},
-};
-
-#endif /* _INTC_MAP_0_H_ */
diff --git a/src/pru/pru_pwm.c b/src/pru/pru_pwm.c
deleted file mode 100644
index 796040b..0000000
--- a/src/pru/pru_pwm.c
+++ /dev/null
@@ -1,102 +0,0 @@
-#include <stdint.h>
-#include <pru_cfg.h>
-#include <pru_intc.h>
-#include <pru_iep.h>
-#include "intc_map.h"
-#include "resource_table_empty.h"
-
-#define CYCLES_PER_SECOND 200000000
-#define CYCLES_PER_PERIOD (CYCLES_PER_SECOND / 800)
-#define DEFAULT_DUTY_CYCLE 0
-#define P8_12 (1 << 14)
-#define P8_12_n ~(1 << 14)
-#define PRU0_DRAM 0x00000                 // Offset to DRAM
-#define PRU_TIMER_PASSCODE 0x31138423
-#define BURN_TIME 2 // seconds for motor burn
-
-volatile uint32_t *pru0_dram = (uint32_t *) (PRU0_DRAM + 0x200);
-
-
-volatile register uint32_t __R30;
-volatile register uint32_t __R31;
-
-
-void main(void) {
-    uint32_t duty_cycle = DEFAULT_DUTY_CYCLE;
-    uint32_t off_cycles = ((100 - duty_cycle) * CYCLES_PER_PERIOD / 100);
-    uint32_t on_cycles = ((100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100);
-    uint32_t off_count = off_cycles;
-    uint32_t on_count = on_cycles;
-    *pru0_dram = duty_cycle;
-
-    /* Clear SYSCFG[STANDBY_INIT] to enable OCP master port */
-    CT_CFG.SYSCFG_bit.STANDBY_INIT = 0;
-
-    while (1) {
-        if (pru0_dram[1] == PRU_TIMER_PASSCODE) {
-            /* Disable counter */
-            CT_IEP.TMR_GLB_CFG_bit.CNT_EN = 0;
-
-            /* Reset Count register */
-            CT_IEP.TMR_CNT = 0x0;
-
-            /* Clear overflow status register */
-            CT_IEP.TMR_GLB_STS_bit.CNT_OVF = 0x1;
-
-            /* Set compare value */
-            CT_IEP.TMR_CMP0 = (BURN_TIME * CYCLES_PER_SECOND); // 10 seconds @ 200MHz
-
-            /* Clear compare status */
-            CT_IEP.TMR_CMP_STS_bit.CMP_HIT = 0xFF;
-
-            /* Disable compensation */
-            CT_IEP.TMR_COMPEN_bit.COMPEN_CNT = 0x0;
-
-            /* Enable CMP0 and reset on event */
-            CT_IEP.TMR_CMP_CFG_bit.CMP0_RST_CNT_EN = 0x1;
-            CT_IEP.TMR_CMP_CFG_bit.CMP_EN = 0x1;
-
-            /* Clear the status of all interrupts */
-            CT_INTC.SECR0 = 0xFFFFFFFF;
-            CT_INTC.SECR1 = 0xFFFFFFFF;
-
-            /* Enable counter */
-            CT_IEP.TMR_GLB_CFG = 0x11;
-            break;
-        }
-    }
-
-	/* Poll until R31.31 is set */
-	do {
-		while ((__R31 & 0x80000000) == 0) {
-		}
-		/* Verify that the IEP is the source of the interrupt */
-	} while ((CT_INTC.SECR0 & (1 << 7)) == 0);
-
-	/* Disable counter */
-	CT_IEP.TMR_GLB_CFG_bit.CNT_EN = 0x0;
-
-	/* Disable Compare0 */
-	CT_IEP.TMR_CMP_CFG = 0x0;
-
-	/* Clear Compare status */
-	CT_IEP.TMR_CMP_STS = 0xFF;
-
-	/* Clear the status of the interrupt */
-	CT_INTC.SECR0 = (1 << 7);
-
-    while (1) {
-        if (on_count) {
-            __R30 |= P8_12;		// Set the GPIO pin to 1
-            on_count--;
-            __delay_cycles(3);
-        } else if (off_count) {
-            __R30 &= P8_12_n;		// Clear the GPIO pin
-            off_count--;
-        } else {
-            duty_cycle = *pru0_dram;
-            off_count = ((100 - duty_cycle) * CYCLES_PER_PERIOD / 100);
-            on_count = ((100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100);
-        }
-    }
-}
diff --git a/src/pru/pwm_test.c b/src/pru/pwm_test.c
deleted file mode 100644
index 9c19314..0000000
--- a/src/pru/pwm_test.c
+++ /dev/null
@@ -1,82 +0,0 @@
-/* 
- *
- *  pwm tester
- *	The on cycle and off cycles are stored in each PRU's Data memory
- *
- */
-
-#include <stdio.h>
-#include <stdint.h>
-#include <fcntl.h>
-#include <sys/mman.h>
-
-#define PRU_ADDR		0x4A300000		// Start of PRU memory Page 184 am335x TRM
-#define PRU_LEN			0x80000			// Length of PRU memory
-#define PRU0_DRAM		0x00000			// Offset to DRAM
-#define PRU1_DRAM		0x02000
-#define PRU_SHAREDMEM	0x10000			// Offset to shared memory
-
-#define CYCLES_PER_SECOND 200000000
-#define CYCLES_PER_PERIOD (CYCLES_PER_SECOND / 800)
-#define PRU_TIMER_PASSCODE 0x31138423
-
-uint32_t	*pru0DRAM_32int_ptr;		// Points to the start of local DRAM
-uint32_t	*pru1DRAM_32int_ptr;		// Points to the start of local DRAM
-uint32_t	*prusharedMem_32int_ptr;	// Points to the start of the shared memory
-
-/*******************************************************************************
-* int start_pwm_count(int ch, int countOn, int countOff)
-* 
-* Starts a pwm pulse on for countOn and off for countOff to a single channel (ch)
-*******************************************************************************/
-int start_pwm_count(uint32_t duty_cycle) {
-	uint32_t *pruDRAM_32int_ptr = pru0DRAM_32int_ptr;
-    uint32_t old_duty_cycle = pruDRAM_32int_ptr[0];
-    uint32_t old_count_on = (100 - (100 - old_duty_cycle)) * CYCLES_PER_PERIOD / 100;
-    uint32_t old_count_off = (100 - old_duty_cycle) * CYCLES_PER_PERIOD / 100;
-    uint32_t new_count_on = (100 - (100 - duty_cycle)) * CYCLES_PER_PERIOD / 100;
-    uint32_t new_count_off = (100 - duty_cycle) * CYCLES_PER_PERIOD / 100;
-	
-	printf("old:\n\tcountOn: %d, countOff: %d, count: %d\nnew:\n\tcountOn: %d, countOff: %d, count: %d\n", old_count_on, old_count_off, old_count_off + old_count_on, new_count_on, new_count_off, new_count_off + new_count_on);
-	// write to PRU shared memory
-	pruDRAM_32int_ptr[1] = PRU_TIMER_PASSCODE;
-	pruDRAM_32int_ptr[0] = duty_cycle;	// On time
-	return 0;
-}
-
-int main(int argc, char *argv[])
-{
-	uint32_t *pru;		// Points to start of PRU memory.
-	int	fd;
-	printf("Servo tester\n");
-	
-	fd = open ("/dev/mem", O_RDWR | O_SYNC);
-	if (fd == -1) {
-		printf ("ERROR: could not open /dev/mem.\n\n");
-		return 1;
-	}
-	pru = mmap (0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR);
-	if (pru == MAP_FAILED) {
-		printf ("ERROR: could not map memory.\n\n");
-		return 1;
-	}
-	close(fd);
-	printf ("Using /dev/mem.\n");
-	
-	pru0DRAM_32int_ptr =     pru + PRU0_DRAM/4 + 0x200/4;	// Points to 0x200 of PRU0 memory
-	pru1DRAM_32int_ptr =     pru + PRU1_DRAM/4 + 0x200/4;	// Points to 0x200 of PRU1 memory
-	prusharedMem_32int_ptr = pru + PRU_SHAREDMEM/4;	// Points to start of shared memory
-
-    uint32_t desired_duty_cycle = 0;
-    while (1) {
-        printf("Enter a duty cycle: ");
-        scanf("%d", &desired_duty_cycle);
-        start_pwm_count(desired_duty_cycle);
-    }
-	
-	if(munmap(pru, PRU_LEN)) {
-		printf("munmap failed\n");
-	} else {
-		printf("munmap succeeded\n");
-	}
-}
diff --git a/src/pru/resource_table_empty.h b/src/pru/resource_table_empty.h
deleted file mode 100644
index 8e7743e..0000000
--- a/src/pru/resource_table_empty.h
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- *  ======== resource_table_empty.h ========
- *
- *  Define the resource table entries for all PRU cores. This will be
- *  incorporated into corresponding base images, and used by the remoteproc
- *  on the host-side to allocated/reserve resources.  Note the remoteproc
- *  driver requires that all PRU firmware be built with a resource table.
- *
- *  This file contains an empty resource table.  It can be used either as:
- *
- *        1) A template, or
- *        2) As-is if a PRU application does not need to configure PRU_INTC
- *                  or interact with the rpmsg driver
- *
- */
-
-#ifndef _RSC_TABLE_PRU_H_
-#define _RSC_TABLE_PRU_H_
-
-#include <stddef.h>
-#include <rsc_types.h>
-
-struct my_resource_table {
-	struct resource_table base;
-
-	uint32_t offset[1]; /* Should match 'num' in actual definition */
-};
-
-#pragma DATA_SECTION(pru_remoteproc_ResourceTable, ".resource_table")
-#pragma RETAIN(pru_remoteproc_ResourceTable)
-struct my_resource_table pru_remoteproc_ResourceTable = {
-	1,	/* we're the first version that implements this */
-	0,	/* number of entries in the table */
-	0, 0,	/* reserved, must be zero */
-	0,	/* offset[0] */
-};
-
-#endif /* _RSC_TABLE_PRU_H_ */
diff --git a/test_launch.c b/test_launch.c
deleted file mode 100644
index 2086269..0000000
--- a/test_launch.c
+++ /dev/null
@@ -1,239 +0,0 @@
-// Distributed with a free-will license.
-// Use it any way you want, profit or free, provided it fits in the licenses of its associated works.
-// MPL3115A2
-// This code is designed to work with the MPL3115A2_I2CS I2C Mini Module available from ControlEverything.com.
-// https://www.controleverything.com/products
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <linux/i2c-dev.h>
-#include <unistd.h>
-#include <sys/ioctl.h>
-#include <fcntl.h>
-#include <time.h>
-
-#include <stdint.h>
-#include <sys/mman.h>
-
-#define BILLION 1000000000L;
-
-#define PRU_ADDR		0x4A300000		// Start of PRU memory Page 184 am335x TRM
-#define PRU_LEN			0x80000			// Length of PRU memory
-#define PRU0_DRAM		0x00000			// Offset to DRAM
-#define PRU1_DRAM		0x02000
-#define PRU_SHAREDMEM	0x10000			// Offset to shared memory
-
-#define CYCLES_PER_SECOND 200000000
-#define CYCLES_PER_PERIOD (CYCLES_PER_SECOND / 800)
-#define PRU_TIMER_PASSCODE 0x31138423
-
-volatile uint32_t	*pru0DRAM_32int_ptr;		// Points to the start of local DRAM
-volatile uint32_t	*pru1DRAM_32int_ptr;		// Points to the start of local DRAM
-volatile uint32_t	*prusharedMem_32int_ptr;	// Points to the start of the shared memory
-
-typedef enum {
-    PAD,
-    MOTOR_BURN,
-    COAST,
-    APOGEE,
-    RECOVERY,
-    END
-} rocket_state;
-
-typedef enum {
-    RETRACT,
-    EXTEND
-} ads_state;
-
-int start_pwm_count(uint32_t duty_cycle) {
-	// write to PRU shared memory
-	pru0DRAM_32int_ptr[0] = duty_cycle;	// On time
-	return 0;
-}
-
-void update_state(rocket_state* state, int base_altitude, int current_alt, int prev_alt, double time_delta) {
-    double velocity = ((current_alt - prev_alt) / time_delta);
-    static double motor_burn_time = 0.0f;
-    static double recovery_time = 0.0f;
-    switch (*state) {
-        case PAD:
-            if (velocity >= 50.0f) {
-                *state = MOTOR_BURN;
-                pru0DRAM_32int_ptr[1] = PRU_TIMER_PASSCODE;
-            }
-            break;
-        case MOTOR_BURN:
-            if (motor_burn_time >= 1.8f) {
-                *state = COAST;
-                break;
-            }
-            motor_burn_time += time_delta;
-            break;
-        case COAST:
-            if (velocity <= -50.0f) {
-                *state = APOGEE;
-            }
-            break;
-        case APOGEE:
-            *state = RECOVERY;
-            break;
-        case RECOVERY:
-            if (recovery_time >= 30.0f) {
-                *state = END;
-                break;
-            }
-            recovery_time += time_delta;
-            break;
-    }
-}
-
-void update_ads(ads_state state) {
-    switch (state) {
-        case RETRACT:
-            start_pwm_count(15);
-            break;
-        case EXTEND:
-            start_pwm_count(3);
-            break;
-    }
-}
-
-void main()  {
-    int base_altitude = -1;
-    int curr_altitude = 0;
-    int prev_altitude = 0;
-    rocket_state r_state = PAD;
-    struct timespec start, current, previous;
-    double time_delta;
-
-    system("echo 'stop' > /sys/class/remoteproc/remoteproc1/state");
-    system("cp -r /home/debian/bbb_pru_test_act/pru_pwm /lib/firmware/am335x-pru0-fw");
-    system("echo 'start' > /sys/class/remoteproc/remoteproc1/state");
-
-	// Create I2C bus
-	int file;
-	char *bus = "/dev/i2c-2";
-	if((file = open(bus, O_RDWR)) < 0) 
-	{
-		printf("Failed to open the bus. \n");
-		exit(1);
-	}
-	// Get I2C device, TSL2561 I2C address is 0x60(96)
-	ioctl(file, I2C_SLAVE, 0x60);
-
-	// Select control register(0x26)
-	// Active mode, OSR = 128, altimeter mode(0xB9)
-	char config[2] = {0};
-	config[0] = 0x26;
-	config[1] = 0xB9;
-	write(file, config, 2);
-	// Select data configuration register(0x13)
-	// Data ready event enabled for altitude, pressure, temperature(0x07)
-	config[0] = 0x13;
-	config[1] = 0x07;
-	write(file, config, 2);
-	// Select control register(0x26)
-	// Active mode, OSR = 128, altimeter mode(0xB9)
-	config[0] = 0x26;
-	config[1] = 0xB9;
-	write(file, config, 2);
-	sleep(1);
-
-////////////////////////// SERVO SHIT
-	uint32_t *pru;		// Points to start of PRU memory.
-	int	fd;
-	printf("Servo tester\n");
-	
-	fd = open ("/dev/mem", O_RDWR | O_SYNC);
-	if (fd == -1) {
-		printf ("ERROR: could not open /dev/mem.\n\n");
-	}
-	pru = mmap (0, PRU_LEN, PROT_READ | PROT_WRITE, MAP_SHARED, fd, PRU_ADDR);
-	if (pru == MAP_FAILED) {
-		printf ("ERROR: could not map memory.\n\n");
-	}
-	close(fd);
-	pru0DRAM_32int_ptr =     pru + PRU0_DRAM/4 + 0x200/4;	// Points to 0x200 of PRU0 memory
-	pru1DRAM_32int_ptr =     pru + PRU1_DRAM/4 + 0x200/4;	// Points to 0x200 of PRU1 memory
-	prusharedMem_32int_ptr = pru + PRU_SHAREDMEM/4;	// Points to start of shared memory
-
-////////////////////////////////
-    while (base_altitude == -1) {
-        char reg[1] = {0x00};
-        write(file, reg, 1);
-        char data[4] = {0};
-        if(read(file, data, 4) == 4) {
-            base_altitude = (((data[1] << 16) | (data[2] << 8) | (data[3] & 0xF0)) >> 8);
-            curr_altitude = base_altitude;
-            prev_altitude = base_altitude;
-            break;
-        }
-    }
-    clock_gettime( CLOCK_REALTIME, &start);
-    clock_gettime( CLOCK_REALTIME, &current);
-    FILE* log = fopen("ads_log", "a");
-    int pad_logged = 0;
-    while (1) {
-        // Read 6 bytes of data from address 0x00(00)
-        // status, tHeight msb1, tHeight msb, tHeight lsb, temp msb, temp lsb
-        char reg[1] = {0x00};
-        write(file, reg, 1);
-        char data[4] = {0};
-        if(read(file, data, 4) != 4) {
-            printf("Error : Input/Output error \n");
-            continue;
-        }
-
-        // Convert the data
-        prev_altitude = curr_altitude;
-        curr_altitude = (((data[1] << 16) | (data[2] << 8) | (data[3] & 0xF0)) >> 8);
-        previous = current;
-        clock_gettime( CLOCK_REALTIME, &current);
-        time_delta = ( current.tv_sec - previous.tv_sec ) + ((double) ( current.tv_nsec - previous.tv_nsec )) / BILLION;
-
-        update_state(&r_state, base_altitude, curr_altitude, prev_altitude, time_delta);
-        double time_since_start = ( current.tv_sec - start.tv_sec ) + ((double) ( current.tv_nsec - start.tv_nsec )) / BILLION;
-
-        switch (r_state) {
-            case PAD:
-                update_ads(RETRACT);
-		if (pad_logged) {
-		    fprintf(log, "%.2f - PAD: ", time_since_start);
-		    pad_logged = 1;
-		}
-                break;
-            case MOTOR_BURN:
-                update_ads(RETRACT);
-                fprintf(log, "%.2f - MOTOR_BURN: ", time_since_start);
-                break;
-            case COAST:
-                update_ads(EXTEND);
-                fprintf(log, "%.2f - COAST: ", time_since_start);
-                break;
-            case APOGEE:
-                update_ads(RETRACT);
-                fprintf(log, "%.2f - APOGEE: ", time_since_start);
-                break;
-            case RECOVERY:
-                update_ads(RETRACT);
-                fprintf(log, "%.2f - RECOVERY: ", time_since_start);
-                break;
-            case END:
-                break;
-        }
-
-    	fprintf(log, "Altitude: %d m  Velocity: %.2f  Time Delta: %.2f\n", curr_altitude, ((curr_altitude - prev_altitude) / time_delta), time_delta);
-        fflush(log);
-        usleep(250000);
-    }
-
-    close(file);
-    fclose(log);
-    if(munmap(pru, PRU_LEN)) {
-		printf("munmap failed\n");
-	} else {
-		printf("munmap succeeded\n");
-	}
-	exit(0);
-}
-
diff --git a/test_launch.sh b/test_launch.sh
deleted file mode 100644
index 2e5bd4c..0000000
--- a/test_launch.sh
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-
-config-pin p8.12 pruout
-echo 'start' > /sys/class/remoteproc/remoteproc1/state