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-rw-r--r--test_launch.c239
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diff --git a/test_launch.c b/test_launch.c
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-// 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);
-}
-
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