GCC Code Coverage Report

Directory: ../../
Coverage: low: ≥ 0% medium: ≥ 75.0% high: ≥ 90.0%
Coverage Exec / Excl / Total
Lines: 39.5% 15 / 0 / 38
Functions: 33.3% 1 / 0 / 3
Branches: 29.2% 7 / 0 / 24
app/rev2/state_transition.c
Line Branch Exec Source
1 /*******************************************************************************
2 * *
3 * FILE: *
4 * launch_detect.c *
5 * *
6 * DESCRIPTION: *
7 * Includes functions that handle launch detection based on sensor *
8 * readouts. *
9 * *
10 * CRITICALITY: *
11 * FQ - Flight Qualified *
12 * *
13 * COPYRIGHT: *
14 * Copyright (c) 2025 Sun Devil Rocketry. *
15 * All rights reserved. *
16 * *
17 * This software is licensed under terms that can be found in the LICENSE *
18 * file in the root directory of this software component. *
19 * If no LICENSE file comes with this software, it is covered under the *
20 * BSD-3-Clause. *
21 * *
22 * https://opensource.org/license/bsd-3-clause *
23 * *
24 *******************************************************************************/
25
26 /*------------------------------------------------------------------------------
27 Standard Includes
28 ------------------------------------------------------------------------------*/
29 #include <stdint.h>
30 #include <stdbool.h>
31
32 /*------------------------------------------------------------------------------
33 Project Includes
34 ------------------------------------------------------------------------------*/
35
36 /* Application Layer */
37 #include "main.h"
38
39 /* Error Handling */
40 #include "error_sdr.h"
41
42 #include "math_sdr.h"
43
44 /*------------------------------------------------------------------------------
45 Global Variables
46 ------------------------------------------------------------------------------*/
47
48 /* DAQ */
49 extern PRESET_DATA preset_data; /* Struct with preset data */
50 extern SENSOR_DATA sensor_data; /* Struct with all sensor */
51
52 /*------------------------------------------------------------------------------
53 Procedures
54 ------------------------------------------------------------------------------*/
55
56 /*********************************************************************************
57 * *
58 * FUNCTION: *
59 * launch_detection *
60 * *
61 * DESCRIPTION: *
62 * Launch detection using acceleration or baro readout. Sets *
63 * launch_detect_flag to true if detected. *
64 * *
65 * NOTE: *
66 * Only use in the main application loop *
67 * *
68 *********************************************************************************/
69 1157 bool launch_detection
70 (
71 uint32_t* launch_detect_time
72 )
73 {
74 1157 static uint8_t acc_detect_cnts = 0;
75 1157 static uint8_t baro_detect_cnts = 0;
76 1157 float accX = sensor_data.imu_converted.accel_x;
77 1157 float pressure = sensor_data.baro_pressure;
78 1157 float acc_scalar = fabsf(accX);
79
80
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 1157 if ( preset_data.config_settings.enabled_features & LAUNCH_DETECT_ACCEL_ENABLED )
81 {
82
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 1157 if ( acc_scalar > (float)preset_data.config_settings.launch_detect_accel_threshold * 9.81f )
83 {
84 // Count detection counts
85 ✗ acc_detect_cnts++;
86 }
87 else
88 {
89 1157 acc_detect_cnts = 0;
90 }
91 }
92
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 1157 if ( preset_data.config_settings.enabled_features & LAUNCH_DETECT_BARO_ENABLED )
93 {
94
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 1157 if ( pressure < ( preset_data.baro_preset.baro_pres - preset_data.config_settings.launch_detect_baro_threshold ) )
95 {
96 ✗ baro_detect_cnts++;
97 }
98 else
99 {
100 1157 baro_detect_cnts = 0;
101 }
102 }
103
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 1157 if ( !( preset_data.config_settings.enabled_features & ( LAUNCH_DETECT_BARO_ENABLED | LAUNCH_DETECT_ACCEL_ENABLED ) ) )
104 {
105 /* neither case is hit. for now, throw an error. */
106 ✗ error_fail_fast( ERROR_UNSUPPORTED_OP_ERROR ); /* DOES NOT MEET FQ STANDARD. */
107 }
108
109
110 // Trigger the flag once pass the threshold for number of times
111
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 1157 if ( acc_detect_cnts > preset_data.config_settings.launch_detect_accel_samples
112
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 1157 || baro_detect_cnts > preset_data.config_settings.launch_detect_baro_samples )
113 {
114 ✗ *launch_detect_time = HAL_GetTick();
115 ✗ return true;
116 }
117 else
118 {
119 return false;
120 }
121
122 } /* launch_detection */
123
124
125 /*********************************************************************************
126 * *
127 * FUNCTION: *
128 * apogee_detect *
129 * *
130 * DESCRIPTION: *
131 * Detects apogee based on a series of decreasing altitude values. *
132 * If the barometric altitude decreases for 'apogee_detect_window' *
133 * consecutive samples, apogee is detected. *
134 * *
135 *********************************************************************************/
136 ✗ bool apogee_detect
137 (
138 void
139 )
140 {
141 ✗ static float prev_alt = 0.0f;
142 ✗ static uint8_t decreasing_count = 0;
143 ✗ float curr_alt = sensor_data.baro_alt;
144
145 ✗ if( prev_alt != 0.0f )
146 {
147 ✗ if( curr_alt < prev_alt )
148 {
149 ✗ decreasing_count++;
150 }
151 else
152 {
153 ✗ decreasing_count = 0;
154 }
155 }
156
157 ✗ prev_alt = curr_alt;
158
159 ✗ if( decreasing_count >= preset_data.config_settings.apogee_detect_samples )
160 {
161 return true; /* Apogee detected */
162 }
163 else
164 {
165 ✗ return false; /* Apogee not detected */
166 }
167
168 } /* apogee_detect */
169
170
171 /*********************************************************************************
172 * *
173 * FUNCTION: *
174 * coast_detect *
175 * *
176 * DESCRIPTION: *
177 * Detects initial motor burnout by measuring a sharp drop in acceleration *
178 * on the axis of thrust. *
179 * *
180 *********************************************************************************/
181 ✗ bool coast_detect
182 (
183 void
184 )
185 {
186 /* local variables */
187 ✗ static uint8_t positive_readings = 0;
188
189 /* check if accel is sufficiently low */
190 ✗ if ( sensor_data.imu_converted.accel_x < COAST_DETECT_THRESHOLD * GRAVITY )
191 {
192 ✗ positive_readings++;
193 }
194 else
195 {
196 ✗ positive_readings = 0;
197 }
198
199 /* check if we've hit our sample threshold */
200 ✗ if( positive_readings >= COAST_DETECT_SAMPLES )
201 {
202 return true;
203 }
204 else
205 {
206 ✗ return false;
207 }
208
209 } /* coast_detect */
210