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Draft: some results analyzed #27

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90 changes: 67 additions & 23 deletions analysis/ardumower.md
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Original file line number Diff line number Diff line change
Expand Up @@ -20,10 +20,14 @@ code/ardumower/i2c.cpp
[b07e4b72a5d8431441a8bc779a20c60c9af8b99e : code/ardumower/i2c.cpp]{https://github.com/Ardumower/ardumower/blob/b07e4b72a5d8431441a8bc779a20c60c9af8b99e/code/ardumower/i2c.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]
delayMircoseconds -> Magical Waiting number, can't remember whether hard coded fine tuning also applies
delay -> several delay() function calls with different waiting times that remained constant appear, maybe it got them confused?
counter, clockCount -> Variables initialized with a constantvalue, used for counting, no fine tuning.
i -> buffer index, initialized with 0
nDevices -> counter


## Result number #2
Expand All @@ -42,10 +46,13 @@ ardumower/pid.cpp
[54f4753675d236e0b4fee57fb92abd9122345f42 : ardumower/pid.cpp]{https://github.com/Ardumower/ardumower/blob/54f4753675d236e0b4fee57fb92abd9122345f42/ardumower/pid.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]
Ta -> variable value capepd at 1 if computed value is > 1.
y_min, y_max -> same here
lastControlTime -> 42: Ta = ((now - lastControlTime) / 1000000.0);
43: lastControlTime = now; not sure how it got this value


## Result number #3
Expand All @@ -68,11 +75,15 @@ code/ardumower/drivers.cpp
[0e4b3fb1476aa51f335f2ea13338fce80251a85a : code/ardumower/drivers.cpp]{https://github.com/Ardumower/ardumower/blob/0e4b3fb1476aa51f335f2ea13338fce80251a85a/code/ardumower/drivers.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]

formatString -> last 2 index positions are initiliazed with the null '\0' value.
MAX_ECHO_TIME -> when used as argument in pulseIn() function call it has an added value of +1000, false.
delayMicroseconds, delay -> used several times with different inputs, false.
year, month,day, dayOfWeek, hour, minute -> some byte operations on year for storing in buf array, false.
buf -> array initiliazed, false.
t -> counter initiliazed with 0.

## Result number #4

Expand All @@ -90,11 +101,15 @@ tests/imuahrs/imu.cpp
[8f1d027f77c92c5a7633289fa36618ead3ae38c7 : tests/imuahrs/imu.cpp]{https://github.com/Ardumower/ardumower/blob/8f1d027f77c92c5a7633289fa36618ead3ae38c7/tests/imuahrs/imu.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]

now -> unused variable init. to 0.
k -> hard coded.
looptime -> float dtc2=float(looptime)/1000.0; variable used in computing another one.
tau -> indeed hard coded, but not fine tuned. Mathematical constant?
a, P_11, x_bias -> variable init. to 0, false.
Q_Gyro, R_angle, Q_angle -> hard coded.

## Result number #5

Expand Down Expand Up @@ -148,6 +163,7 @@ code/ardumower/rmcs.h
[('STATE_PERI_FIND', '0', '204', 'Robot'), ('STATE_FORWARD', '0', '200', 'Robot'), ('STATE_OFF', '0', '196', 'Robot'), ('indexOf', '3', '183', 'Robot'), ('substring', '5', '177', 'Robot'), (1, '5', '176', 'Robot')]
[('STATE_PERI_FIND', '0', '201', 'Robot'), ('STATE_FORWARD', '0', '197', 'Robot'), ('STATE_OFF', '0', '193', 'Robot'), ('substring', '5', '177', 'Robot'), (1, '5', '176', 'Robot')]


### Files
[3603a9bfd0db3773770528766111789907696b0b : code/ardumower/rmcs.h]{https://github.com/Ardumower/ardumower/blob/3603a9bfd0db3773770528766111789907696b0b/code/ardumower/rmcs.h}
[5b7af40bf59a725ee3ce0003eccf791da6ea93be : code/ardumower/rmcs.h]{https://github.com/Ardumower/ardumower/blob/5b7af40bf59a725ee3ce0003eccf791da6ea93be/code/ardumower/rmcs.h}
Expand All @@ -160,10 +176,22 @@ code/ardumower/rmcs.h
[1e75e2dfff3be5aef84f97f789c7bf0aec7705c0 : code/ardumower/rmcs.h]{https://github.com/Ardumower/ardumower/blob/1e75e2dfff3be5aef84f97f789c7bf0aec7705c0/code/ardumower/rmcs.h}

### True or False Positive
[todo]
False Positive

### Note
[todo]
Console -> line 607: rmcsSendIMU(Console,1); , false
0,1 -> line 593: rmcsSendDrop(Console,0,1); , false, similar to the other lines identified
motorRightSpeedRpmSet, motorLeftSpeedRpmSet -> if-else structure, false
STATE_MANUAL -> line 474: setNextState(STATE_MANUAL, 0); , false STATE_MANUAL is not given a value at all
STATE_PERI_FIND, STATE_FORWARD, STATE_OFF -> line 466: setNextState(STATE_PERI_FIND, 0); , false
RMCS_interval_imu, RMCS_interval_drop, RMCS_interval_perimeter, RMCS_interval_gps, RMCS_interval_odometry, RMCS_interval_bumper, RMCS_interval_sonar, RMCS_interval_motor_current, RMCS_interval_state, -> if-else structure, false
commandParts -> line 258, similar for 256: enableTrigger = commandParts[2]; , on line 218 commandParts is initialized, false
indexEndOfCommand -> line 247: commandData = commandData.substring(indexEndOfCommandPart +1); , false

substring -> line 230: String commandData = command.substring(7); , false
frequency, indexArrayCommandParts, indexEndOfCommandPart -> simple int that is initialized to 0, false

indexOf -> line 183: String eventType = command.substring(6 + command.indexOf(','), 3);


## Result number #7
Expand All @@ -186,10 +214,14 @@ ardumower/adcman.cpp
[7978541769ce436b8f720d99471c6da1555240e2 : ardumower/adcman.cpp]{https://github.com/Ardumower/ardumower/blob/7978541769ce436b8f720d99471c6da1555240e2/ardumower/adcman.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]
magic -> variable initialized to 0, used for storing data that is being read from a given address.
value -> line 225: capture[channel][position] = min(SCHAR_MAX, max(SCHAR_MIN, value / 4)); , false
ADC -> line 215: volatile int16_t value = adc_get_latest_value(ADC) >> 2; , false
channel -> line 131: ADMUX = _BV(REFS0) | (channel & 0x07); , false
capturedChannels -> line 245: return captureComplete[ch]; ch not hard coded either, false


## Result number #8
Expand All @@ -205,11 +237,18 @@ ardumower/due.cpp
[15a7b8e45298f545e3e82b9432ed0961eb09eb6a : ardumower/due.cpp]{https://github.com/Ardumower/ardumower/blob/15a7b8e45298f545e3e82b9432ed0961eb09eb6a/ardumower/due.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]

FLASH_ACCESS_MODE_128 -> line 53: retCode = flash_init(FLASH_ACCESS_MODE_128, 6); , false
0 -> 0 and 0 are successive parms for a function call
dataLength -> dataLength and 1 are successive parms for a function call
ulPin -> pinEnabled[ulPin] = 1; in an if case, wouldn't count it as hard coded.
TCChanEnabled -> value set to 1, works as a boolean.
toggle_count -> in if-else structure, used for storing a computed value or it's set on the identified line to -1 if duration < 0, false.
on the other line identified, it's just initialized to 0.
duration -> line 176: if (duration > 0 ) toggle_count = 2 * frequency * duration / 1000; not sure how the value of 1000 showed up.
TC2 -> line 212: TC_GetStatus(TC2, 0);

## Result number #9

Expand Down Expand Up @@ -263,10 +302,10 @@ ardumower/perimeter.cpp
[99b9d83baa40f1827c6f384ca934efc3a4f141a3 : ardumower/perimeter.cpp]{https://github.com/Ardumower/ardumower/blob/99b9d83baa40f1827c6f384ca934efc3a4f141a3/ardumower/perimeter.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]
sum -> variable usedfor summing the values in some arrays.


## Result number #11
Expand Down Expand Up @@ -308,10 +347,13 @@ ardumower/adcman.cpp
[e7219b4e561029165052863133a905f10d28e6dc : ardumower/adcman.cpp]{https://github.com/Ardumower/ardumower/blob/e7219b4e561029165052863133a905f10d28e6dc/ardumower/adcman.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]
capturedChannels -> value is set to 0, works as a counter
channel -> line 104: ADMUX = _BV(REFS0) | (channel & 0x07);
value -> same as previous cases of the "value" variable , it's divided by 4 when used as a parm for a function call.
ADC -> line 151: value = adc_get_latest_value(ADC) >> 2;


## Result number #13
Expand Down Expand Up @@ -558,10 +600,12 @@ ardumower/perimeter.cpp
[99b9d83baa40f1827c6f384ca934efc3a4f141a3 : ardumower/perimeter.cpp]{https://github.com/Ardumower/ardumower/blob/99b9d83baa40f1827c6f384ca934efc3a4f141a3/ardumower/perimeter.cpp}

### True or False Positive
[todo]
False Positive

### Note
[todo]
127 -> sumMax = ((float)sumMax) / ((float)(Hsum*127)) * 4095.0;
all sum* variables -> used for sum operations
idxPin -> used for storing values.


## Result number #22
Expand Down