Remove Residual BeagleBone Black Related Files

1 files changed, 0 insertions, 239 deletions

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);
-}
-