Motor_v2/static_test_automotive_business_20260523/metrics.csv at e646544f7f7d58dc4a49ba9aaba0fbb8d0d57d63

Files

T

cbb 4c4e47e9e3 refactor(FOC): 添加Doxygen文档注释并优化SVPWM算法性能

添加了完整的Doxygen文档注释到FOC算法模块的所有函数、类和变量，提升了代码可读性和维护性。同时优化了SVPWM算法实现，将atan2f替换为符号法扇区判断，显著提升计算效率（约15周期vs atan2f 300周期），并改进了arm_sin_cos_f32替代sqrtf提高性能。

feat(FOC): 统一电气角度计算避免重复运算

重构代码以统一电气角度计算，在各个控制循环中只计算一次电气角度并传递给需要的函数，避免了多次重复的fmodf运算和角度归一化操作，提升了实时控制性能。

refactor(Filter): 改进α-β观测器角度处理精度

修改角度卡尔曼滤波器在归一化角度空间[0,360)内工作，避免大累积角度的浮点精度损失问题，确保静止状态下不会产生虚假速度，同时保持与下游代码的兼容性。

refactor: 为算法模块添加完整文档注释

为所有算法模块(FOC、Filter、pid、thermal)添加了详细的Doxygen文档注释，包括函数说明、参数描述、返回值说明等，便于代码理解和API文档生成。

2026-05-23 22:46:32 +08:00

10 KiB

Raw Blame History

1	file	function	start_line	end_line	cyclomatic_complexity	risk
2	Algorithm/FOC.cpp	FOC_Controller::calibrate_cogging_tick	75	238	33	high
3	device/Can.cpp	CAN_transmiter::communication_check	1076	1300	27	high
4	main.cpp	do_task	120	205	17	high
5	Algorithm/FOC.cpp	FOC_Controller::setSVPWM_PhaseVoltage	392	490	15	medium
6	sys/flash.cpp	FlashEEPROM::writeFloat	308	383	12	medium
7	sys/health.cpp	ThermalController::update	35	94	12	medium
8	device/Can.cpp	can_loopback_test	597	665	11	medium
9	device/Can.cpp	CAN_transmiter::CANFD_AsyncSend	1448	1504	10	low
10	sys/flash.cpp	FlashEEPROM::read_saved_system_config	90	161	10	low
11	sys/flash.cpp	FlashEEPROM::write	237	300	10	low
12	sys/flash.cpp	FlashEEPROM::writeNodeId	657	717	10	low
13	sys/flash.cpp	move_app_data	928	1030	10	low
14	device/Can.cpp	canfd_loopback_test	534	589	9	low
15	sys/flash.cpp	FlashEEPROM::save_system_config	413	482	9	low
16	sys/flash.cpp	OTA_SET	792	879	9	low
17	sys/health.cpp	power_manage	113	149	9	low
18	device/ADC.cpp	sampler::get_current	194	219	8	low
19	sys/flash.cpp	FlashEEPROM::writeCRC	724	776	8	low
20	sys/systick.cpp	app_prepare_deep_sleep	244	298	8	low
21	device/Timer.cpp	TIMER2_IRQHandler	134	184	7	low
22	sys/initial.cpp	get_reset_cause	256	290	7	low
23	Algorithm/FOC.cpp	FOC_Controller::fast_voltage_check	603	642	6	low
24	device/Can.cpp	CAN_transmiter::CAN_AsyncSend	1399	1440	6	low
25	sys/flash.cpp	read_node_id_struct	521	558	6	low
26	sys/initial.cpp	OTA_initial	296	351	6	low
27	Algorithm/Filter.cpp	EncoderAngleKalman::update	162	200	5	low
28	device/Can.cpp	CAN_RX_ReadMetadata	800	824	5	low
29	device/Can.cpp	DMA0_Channel4_IRQHandler	1355	1383	5	low
30	sys/flash.cpp	FlashEEPROM::read	169	192	5	low
31	sys/flash.cpp	FlashEEPROM::readFloat	200	229	5	low
32	Algorithm/FOC.cpp	FOC_Controller::get_cogging_compensation	39	59	4	low
33	Algorithm/FOC.cpp	FOC_Controller::angle_control_with_velocity_limit	753	796	4	low
34	device/ADC.cpp	sampler::update_mcu_temp	238	252	4	low
35	device/ADC.cpp	sampler::update_drv_temp	257	272	4	low
36	device/ADC.cpp	sampler::update_vbus_voltage	297	311	4	low
37	device/Can.cpp	CANFD_NormalizeLength	735	744	4	low
38	device/Can.cpp	CAN_RX_QueuePushFromIsr	758	773	4	low
39	device/Can.cpp	CAN_RX_PumpFifo0	858	875	4	low
40	device/Can.cpp	CAN_TX_ServiceQueue	975	990	4	low
41	device/Can.cpp	CAN0_RX0_IRQHandler	1330	1349	4	low
42	device/ang_sensor.cpp	angle_sensor::update	263	288	4	low
43	main.cpp	main	60	86	4	low
44	sys/flash.cpp	write_node_id_struct	567	599	4	low
45	Algorithm/FOC.cpp	FOC_Controller::resume_from_thermal	517	523	3	low
46	Algorithm/FOC.cpp	FOC_Controller::drv_hold	532	541	3	low
47	Algorithm/FOC.cpp	FOC_Controller::current_control	725	744	3	low
48	device/ADC.cpp	sampler::update_current	277	292	3	low
49	device/Can.cpp	CAN_transmiter::load_node_id_from_flash	151	175	3	low
50	device/Can.cpp	CAN_transmiter::save_node_id_to_flash	185	200	3	low
51	device/Can.cpp	CAN_transmiter::check_silent_mode	270	278	3	low
52	device/Can.cpp	can_config	341	395	3	low
53	device/Can.cpp	can_loopback_init	480	526	3	low
54	device/Can.cpp	CANFD_DlcToLength	725	728	3	low
55	device/Can.cpp	CAN_TX_HasEmptyMailbox	789	793	3	low
56	device/Can.cpp	CAN_RX_StartPayloadDma	831	852	3	low
57	device/Can.cpp	CAN_TX_QueuePush	903	922	3	low
58	device/ang_sensor.cpp	angle_sensor::read_sensorAngle	236	257	3	low
59	sys/config.h	normalizeAngle360	426	430	3	low
60	sys/flash.cpp	FlashEEPROM::format	390	407	3	low
61	sys/flash.cpp	FlashEEPROM::readNodeId	627	646	3	low
62	sys/systick.cpp	systick_config	108	120	3	low
63	Algorithm/FOC.cpp	FOC_Controller::update_power	568	577	2	low
64	Algorithm/FOC.cpp	FOC_Controller::velocity_control	693	719	2	low
65	Algorithm/FOC.cpp	FOC_Controller::MIT_Mode	805	842	2	low
66	Algorithm/Filter.h	update	90	105	2	low
67	Algorithm/pid.cpp	PIDController::operator	23	53	2	low
68	device/ADC.cpp	sampler::init	140	166	2	low
69	device/Can.cpp	CAN_transmiter::is_message_for_me	115	118	2	low
70	device/Can.cpp	CAN_transmiter::set_node_id	135	140	2	low
71	device/Can.cpp	CAN_transmiter::dequeue_rx_message	236	243	2	low
72	device/Can.cpp	CAN_RX_QueuePop	882	896	2	low
73	device/Can.cpp	CAN_TX_QueuePeek	929	938	2	low
74	device/Can.cpp	CAN_TX_QueuePop	945	957	2	low
75	device/Can.cpp	CAN_TX_DisableTmeIfQueueEmpty	963	969	2	low
76	device/Can.cpp	CAN_transmiter::CANFD_all_Send	1025	1069	2	low
77	device/Can.cpp	CAN0_TX_IRQHandler	1509	1513	2	low
78	device/Can.h	enqueue_rx_message_from_isr	351	357	2	low
79	device/Timer.cpp	TIMER1_IRQHandler	281	285	2	low
80	device/Timer.cpp	Set_Pwm	296	303	2	low
81	sys/flash.cpp	FlashEEPROM::init	68	82	2	low
82	sys/flash.cpp	FlashEEPROM::read_angle	488	494	2	low
83	sys/flash.cpp	FlashEEPROM::eraseNodeId	605	620	2	low
84	sys/flash.cpp	jumpToBOOT	886	921	2	low
85	sys/initial.cpp	fputc	224	229	2	low
86	sys/systick.cpp	delay_1s	156	161	2	low
87	sys/systick.cpp	delay_1ms	169	174	2	low
88	sys/systick.cpp	delay_decrement	182	186	2	low
89	sys/systick.cpp	busy_task_enter	198	202	2	low
90	sys/systick.cpp	busy_task_exit	207	211	2	low
91	sys/systick.cpp	system_soft_reset	225	236	2	low
92	Algorithm/FOC.cpp	calibrate_zero_position	253	274	1	low
93	Algorithm/FOC.cpp	FOC_Controller::init	322	375	1	low
94	Algorithm/FOC.cpp	FOC_Controller::shut_down	496	500	1	low
95	Algorithm/FOC.cpp	FOC_Controller::shut_down_thermal	506	511	1	low
96	Algorithm/FOC.cpp	FOC_Controller::drv_stop	528	528	1	low
97	Algorithm/FOC.cpp	FOC_Controller::PWM_out	547	551	1	low
98	Algorithm/FOC.cpp	FOC_Controller::resume	558	563	1	low
99	Algorithm/FOC.cpp	FOC_Controller::velocity_open_loop	650	664	1	low
100	Algorithm/FOC.cpp	FOC_Controller::angle_control	672	685	1	low
101	Algorithm/FOC.h	update_pid_limits	226	231	1	low
102	Algorithm/Filter.cpp	medium_filter	63	72	1	low
103	Algorithm/Filter.cpp	kalman	93	93	1	low
104	Algorithm/Filter.cpp	EncoderVelocityKalman::update	101	108	1	low
105	Algorithm/Filter.cpp	EncoderVelocityKalman::getVelocity	114	114	1	low
106	Algorithm/Filter.cpp	EncoderVelocityKalman::setProcessNoise	121	123	1	low
107	Algorithm/Filter.cpp	EncoderVelocityKalman::setMeasurementNoise	130	132	1	low
108	Algorithm/Filter.cpp	last_update_count	149	153	1	low
109	Algorithm/Filter.cpp	EncoderAngleKalman::getAngle	206	206	1	low
110	Algorithm/Filter.cpp	EncoderAngleKalman::getVelocity	211	211	1	low
111	Algorithm/Filter.cpp	EncoderAngleKalman::setProcessNoise	218	220	1	low
112	Algorithm/Filter.cpp	EncoderAngleKalman::setMeasurementNoise	227	229	1	low
113	Algorithm/Filter.cpp	CurrentKalman::update	259	261	1	low
114	Algorithm/Filter.cpp	CurrentKalman::getCurrent	267	267	1	low
115	Algorithm/Filter.cpp	CurrentKalman::setProcessNoise	274	274	1	low
116	Algorithm/Filter.cpp	CurrentKalman::setMeasurementNoise	281	283	1	low
117	Algorithm/Filter.h	R	56	56	1	low
118	Algorithm/Filter.h	predict	63	66	1	low
119	Algorithm/Filter.h	update	74	83	1	low
120	Algorithm/Filter.h	getState	111	111	1	low
121	Algorithm/Filter.h	setProcessNoise	118	118	1	low
122	Algorithm/Filter.h	setMeasurementNoise	125	125	1	low
123	Algorithm/Filter.h	resetCovariance	132	132	1	low
124	Algorithm/Filter.h	getCovariance	138	138	1	low
125	Algorithm/Filter.h	getProcessNoise	144	144	1	low
126	Algorithm/Filter.h	init	187	191	1	low
127	Algorithm/Filter.h	getstate	239	239	1	low
128	Algorithm/Filter.h	init	247	254	1	low
129	Algorithm/Filter.h	init	296	300	1	low
130	Algorithm/pid.cpp	error_prev	20	20	1	low
131	Algorithm/pid.cpp	PIDController::set_PID	63	67	1	low
132	Algorithm/pid.cpp	PIDController::set_P	75	77	1	low
133	Algorithm/pid.cpp	PIDController::set_limit	85	85	1	low
134	Algorithm/pid.cpp	PIDController::reset	92	96	1	low
135	Algorithm/pid.cpp	PIDController::reset_integral	103	103	1	low
136	device/ADC.cpp	current_adc_to_ma	40	42	1	low
137	device/ADC.cpp	dma_config	50	75	1	low
138	device/ADC.cpp	adc_config	83	136	1	low
139	device/ADC.cpp	sampler::get_mcu_temp	172	174	1	low
140	device/ADC.cpp	sampler::get_drv_temp	183	185	1	low
141	device/ADC.cpp	sampler::get_vbus_voltage	228	230	1	low
142	device/Can.cpp	CAN_transmiter::build_can_id	102	104	1	low
143	device/Can.cpp	CAN_transmiter::get_node_id	126	126	1	low
144	device/Can.cpp	CAN_transmiter::is_rx_buffer_full	212	214	1	low
145	device/Can.cpp	CAN_transmiter::is_rx_buffer_empty	223	225	1	low
146	device/Can.cpp	CAN_transmiter::enter_silent_mode	256	260	1	low
147	device/Can.cpp	CAN_transmiter::is_in_silent_mode	265	265	1	low
148	device/Can.cpp	can_gpio_init	286	302	1	low
149	device/Can.cpp	can_dma_init	310	333	1	low
150	device/Can.cpp	canfd_config	403	472	1	low
151	device/Can.cpp	CAN_transmiter::init	671	701	1	low
152	device/Can.cpp	CAN_EnterCritical	707	711	1	low
153	device/Can.cpp	CAN_ExitCritical	718	718	1	low
154	device/Can.cpp	CANFD_WordCount	751	751	1	low
155	device/Can.cpp	CAN_RX_ReleaseFifo0	775	775	1	low
156	device/Can.cpp	CAN_RX_Fifo0PendingCount	781	783	1	low
157	device/Can.cpp	CAN_transmiter::update	995	1018	1	low
158	device/Can.cpp	CAN_transmiter::CAN_Sleep	1307	1311	1	low
159	device/Can.cpp	CAN_transmiter::CAN_Wakeup	1318	1324	1	low
160	device/Can.cpp	DMA0_Channel5_IRQHandler	1389	1391	1	low
161	device/Can.h	pack_u16_to_bytes	36	39	1	low
162	device/Can.h	unpack_bytes_to_short	64	67	1	low
163	device/Can.h	unpack_bytes_to_u16	76	79	1	low
164	device/Can.h	unpack_bytes_to_float	88	95	1	low
165	device/Timer.cpp	nvic_config	63	70	1	low
166	device/Timer.cpp	TIMER2_config	78	111	1	low
167	device/Timer.cpp	User_timer_init	117	122	1	low
168	device/Timer.cpp	timer1_gpio_config	189	208	1	low
169	device/Timer.cpp	timer1_pwm_config	213	274	1	low
170	device/Timer.cpp	Set_3Pwm	314	319	1	low
171	device/ang_sensor.cpp	spi_dma_init	50	95	1	low
172	device/ang_sensor.cpp	KTH7823_gpio_init	166	184	1	low
173	device/ang_sensor.cpp	KTH7823_spi_init	191	208	1	low
174	device/ang_sensor.cpp	angle_sensor::init	214	219	1	low
175	device/ang_sensor.cpp	angle_sensor::angle_set	226	230	1	low
176	device/ang_sensor.cpp	angle_sensor::getAngle	294	296	1	low
177	device/ang_sensor.cpp	angle_sensor::getRawAngle	302	302	1	low
178	device/ang_sensor.cpp	angle_sensor::getcurrent_sensorangle	308	310	1	low
179	device/motor.cpp	motor_init	16	31	1	low
180	device/motor.cpp	motor_reset	36	40	1	low
181	device/motor.cpp	motor_sleep	45	49	1	low
182	device/motor.cpp	motor_resume	54	58	1	low
183	main.cpp	hardware_init	92	113	1	low
184	sys/flash.cpp	write_ADDRESS	48	57	1	low
185	sys/flash.cpp	calculate_node_id_crc	506	512	1	low
186	sys/health.cpp	angsens_MG_check	99	103	1	low
187	sys/health.h	recoveryRate	53	53	1	low
188	sys/health.h	reset	63	66	1	low
189	sys/initial.cpp	VersionManager::getSoftwareVersion	55	57	1	low
190	sys/initial.cpp	VersionManager::getHardwareVersion	63	65	1	low
191	sys/initial.cpp	VersionManager::getBootVersion	71	73	1	low
192	sys/initial.cpp	VersionManager::sendVersionInfoViaCan	139	179	1	low
193	sys/initial.cpp	VersionManager::printVersions	185	197	1	low
194	sys/initial.cpp	USART0_init	204	207	1	low
195	sys/initial.cpp	watchdog_init	215	222	1	low
196	sys/initial.cpp	unused_pin_init	235	248	1	low
197	sys/systick.cpp	dwt_init	82	90	1	low
198	sys/systick.cpp	get_systick_ms	98	100	1	low
199	sys/systick.cpp	idle_task_count	191	193	1	low
200	sys/systick.cpp	get_cpu_usage	217	217	1	low

10 KiB Raw Blame History

10 KiB

Raw Blame History