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

Browse Source 
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。
This commit is contained in:
cbb
2026-05-23 22:46:32 +08:00
parent bec7c11b87
commit 4c4e47e9e3
62 changed files with 10367 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files
static_test_automotive_business_20260523/metrics.csv
+200
View File
@@ -0,0 +1,200 @@
file,function,start_line,end_line,cyclomatic_complexity,risk
Algorithm/FOC.cpp,FOC_Controller::calibrate_cogging_tick,75,238,33,high
device/Can.cpp,CAN_transmiter::communication_check,1076,1300,27,high
main.cpp,do_task,120,205,17,high
Algorithm/FOC.cpp,FOC_Controller::setSVPWM_PhaseVoltage,392,490,15,medium
sys/flash.cpp,FlashEEPROM::writeFloat,308,383,12,medium
sys/health.cpp,ThermalController::update,35,94,12,medium
device/Can.cpp,can_loopback_test,597,665,11,medium
device/Can.cpp,CAN_transmiter::CANFD_AsyncSend,1448,1504,10,low
sys/flash.cpp,FlashEEPROM::read_saved_system_config,90,161,10,low
sys/flash.cpp,FlashEEPROM::write,237,300,10,low
sys/flash.cpp,FlashEEPROM::writeNodeId,657,717,10,low
sys/flash.cpp,move_app_data,928,1030,10,low
device/Can.cpp,canfd_loopback_test,534,589,9,low
sys/flash.cpp,FlashEEPROM::save_system_config,413,482,9,low
sys/flash.cpp,OTA_SET,792,879,9,low
sys/health.cpp,power_manage,113,149,9,low
device/ADC.cpp,sampler::get_current,194,219,8,low
sys/flash.cpp,FlashEEPROM::writeCRC,724,776,8,low
sys/systick.cpp,app_prepare_deep_sleep,244,298,8,low
device/Timer.cpp,TIMER2_IRQHandler,134,184,7,low
sys/initial.cpp,get_reset_cause,256,290,7,low
Algorithm/FOC.cpp,FOC_Controller::fast_voltage_check,603,642,6,low
device/Can.cpp,CAN_transmiter::CAN_AsyncSend,1399,1440,6,low
sys/flash.cpp,read_node_id_struct,521,558,6,low
sys/initial.cpp,OTA_initial,296,351,6,low
Algorithm/Filter.cpp,EncoderAngleKalman::update,162,200,5,low
device/Can.cpp,CAN_RX_ReadMetadata,800,824,5,low
device/Can.cpp,DMA0_Channel4_IRQHandler,1355,1383,5,low
sys/flash.cpp,FlashEEPROM::read,169,192,5,low
sys/flash.cpp,FlashEEPROM::readFloat,200,229,5,low
Algorithm/FOC.cpp,FOC_Controller::get_cogging_compensation,39,59,4,low
Algorithm/FOC.cpp,FOC_Controller::angle_control_with_velocity_limit,753,796,4,low
device/ADC.cpp,sampler::update_mcu_temp,238,252,4,low
device/ADC.cpp,sampler::update_drv_temp,257,272,4,low
device/ADC.cpp,sampler::update_vbus_voltage,297,311,4,low
device/Can.cpp,CANFD_NormalizeLength,735,744,4,low
device/Can.cpp,CAN_RX_QueuePushFromIsr,758,773,4,low
device/Can.cpp,CAN_RX_PumpFifo0,858,875,4,low
device/Can.cpp,CAN_TX_ServiceQueue,975,990,4,low
device/Can.cpp,CAN0_RX0_IRQHandler,1330,1349,4,low
device/ang_sensor.cpp,angle_sensor::update,263,288,4,low
main.cpp,main,60,86,4,low
sys/flash.cpp,write_node_id_struct,567,599,4,low
Algorithm/FOC.cpp,FOC_Controller::resume_from_thermal,517,523,3,low
Algorithm/FOC.cpp,FOC_Controller::drv_hold,532,541,3,low
Algorithm/FOC.cpp,FOC_Controller::current_control,725,744,3,low
device/ADC.cpp,sampler::update_current,277,292,3,low
device/Can.cpp,CAN_transmiter::load_node_id_from_flash,151,175,3,low
device/Can.cpp,CAN_transmiter::save_node_id_to_flash,185,200,3,low
device/Can.cpp,CAN_transmiter::check_silent_mode,270,278,3,low
device/Can.cpp,can_config,341,395,3,low
device/Can.cpp,can_loopback_init,480,526,3,low
device/Can.cpp,CANFD_DlcToLength,725,728,3,low
device/Can.cpp,CAN_TX_HasEmptyMailbox,789,793,3,low
device/Can.cpp,CAN_RX_StartPayloadDma,831,852,3,low
device/Can.cpp,CAN_TX_QueuePush,903,922,3,low
device/ang_sensor.cpp,angle_sensor::read_sensorAngle,236,257,3,low
sys/config.h,normalizeAngle360,426,430,3,low
sys/flash.cpp,FlashEEPROM::format,390,407,3,low
sys/flash.cpp,FlashEEPROM::readNodeId,627,646,3,low
sys/systick.cpp,systick_config,108,120,3,low
Algorithm/FOC.cpp,FOC_Controller::update_power,568,577,2,low
Algorithm/FOC.cpp,FOC_Controller::velocity_control,693,719,2,low
Algorithm/FOC.cpp,FOC_Controller::MIT_Mode,805,842,2,low
Algorithm/Filter.h,update,90,105,2,low
Algorithm/pid.cpp,PIDController::operator,23,53,2,low
device/ADC.cpp,sampler::init,140,166,2,low
device/Can.cpp,CAN_transmiter::is_message_for_me,115,118,2,low
device/Can.cpp,CAN_transmiter::set_node_id,135,140,2,low
device/Can.cpp,CAN_transmiter::dequeue_rx_message,236,243,2,low
device/Can.cpp,CAN_RX_QueuePop,882,896,2,low
device/Can.cpp,CAN_TX_QueuePeek,929,938,2,low
device/Can.cpp,CAN_TX_QueuePop,945,957,2,low
device/Can.cpp,CAN_TX_DisableTmeIfQueueEmpty,963,969,2,low
device/Can.cpp,CAN_transmiter::CANFD_all_Send,1025,1069,2,low
device/Can.cpp,CAN0_TX_IRQHandler,1509,1513,2,low
device/Can.h,enqueue_rx_message_from_isr,351,357,2,low
device/Timer.cpp,TIMER1_IRQHandler,281,285,2,low
device/Timer.cpp,Set_Pwm,296,303,2,low
sys/flash.cpp,FlashEEPROM::init,68,82,2,low
sys/flash.cpp,FlashEEPROM::read_angle,488,494,2,low
sys/flash.cpp,FlashEEPROM::eraseNodeId,605,620,2,low
sys/flash.cpp,jumpToBOOT,886,921,2,low
sys/initial.cpp,fputc,224,229,2,low
sys/systick.cpp,delay_1s,156,161,2,low
sys/systick.cpp,delay_1ms,169,174,2,low
sys/systick.cpp,delay_decrement,182,186,2,low
sys/systick.cpp,busy_task_enter,198,202,2,low
sys/systick.cpp,busy_task_exit,207,211,2,low
sys/systick.cpp,system_soft_reset,225,236,2,low
Algorithm/FOC.cpp,calibrate_zero_position,253,274,1,low
Algorithm/FOC.cpp,FOC_Controller::init,322,375,1,low
Algorithm/FOC.cpp,FOC_Controller::shut_down,496,500,1,low
Algorithm/FOC.cpp,FOC_Controller::shut_down_thermal,506,511,1,low
Algorithm/FOC.cpp,FOC_Controller::drv_stop,528,528,1,low
Algorithm/FOC.cpp,FOC_Controller::PWM_out,547,551,1,low
Algorithm/FOC.cpp,FOC_Controller::resume,558,563,1,low
Algorithm/FOC.cpp,FOC_Controller::velocity_open_loop,650,664,1,low
Algorithm/FOC.cpp,FOC_Controller::angle_control,672,685,1,low
Algorithm/FOC.h,update_pid_limits,226,231,1,low
Algorithm/Filter.cpp,medium_filter,63,72,1,low
Algorithm/Filter.cpp,kalman,93,93,1,low
Algorithm/Filter.cpp,EncoderVelocityKalman::update,101,108,1,low
Algorithm/Filter.cpp,EncoderVelocityKalman::getVelocity,114,114,1,low
Algorithm/Filter.cpp,EncoderVelocityKalman::setProcessNoise,121,123,1,low
Algorithm/Filter.cpp,EncoderVelocityKalman::setMeasurementNoise,130,132,1,low
Algorithm/Filter.cpp,last_update_count,149,153,1,low
Algorithm/Filter.cpp,EncoderAngleKalman::getAngle,206,206,1,low
Algorithm/Filter.cpp,EncoderAngleKalman::getVelocity,211,211,1,low
Algorithm/Filter.cpp,EncoderAngleKalman::setProcessNoise,218,220,1,low
Algorithm/Filter.cpp,EncoderAngleKalman::setMeasurementNoise,227,229,1,low
Algorithm/Filter.cpp,CurrentKalman::update,259,261,1,low
Algorithm/Filter.cpp,CurrentKalman::getCurrent,267,267,1,low
Algorithm/Filter.cpp,CurrentKalman::setProcessNoise,274,274,1,low
Algorithm/Filter.cpp,CurrentKalman::setMeasurementNoise,281,283,1,low
Algorithm/Filter.h,R,56,56,1,low
Algorithm/Filter.h,predict,63,66,1,low
Algorithm/Filter.h,update,74,83,1,low
Algorithm/Filter.h,getState,111,111,1,low
Algorithm/Filter.h,setProcessNoise,118,118,1,low
Algorithm/Filter.h,setMeasurementNoise,125,125,1,low
Algorithm/Filter.h,resetCovariance,132,132,1,low
Algorithm/Filter.h,getCovariance,138,138,1,low
Algorithm/Filter.h,getProcessNoise,144,144,1,low
Algorithm/Filter.h,init,187,191,1,low
Algorithm/Filter.h,getstate,239,239,1,low
Algorithm/Filter.h,init,247,254,1,low
Algorithm/Filter.h,init,296,300,1,low
Algorithm/pid.cpp,error_prev,20,20,1,low
Algorithm/pid.cpp,PIDController::set_PID,63,67,1,low
Algorithm/pid.cpp,PIDController::set_P,75,77,1,low
Algorithm/pid.cpp,PIDController::set_limit,85,85,1,low
Algorithm/pid.cpp,PIDController::reset,92,96,1,low
Algorithm/pid.cpp,PIDController::reset_integral,103,103,1,low
device/ADC.cpp,current_adc_to_ma,40,42,1,low
device/ADC.cpp,dma_config,50,75,1,low
device/ADC.cpp,adc_config,83,136,1,low
device/ADC.cpp,sampler::get_mcu_temp,172,174,1,low
device/ADC.cpp,sampler::get_drv_temp,183,185,1,low
device/ADC.cpp,sampler::get_vbus_voltage,228,230,1,low
device/Can.cpp,CAN_transmiter::build_can_id,102,104,1,low
device/Can.cpp,CAN_transmiter::get_node_id,126,126,1,low
device/Can.cpp,CAN_transmiter::is_rx_buffer_full,212,214,1,low
device/Can.cpp,CAN_transmiter::is_rx_buffer_empty,223,225,1,low
device/Can.cpp,CAN_transmiter::enter_silent_mode,256,260,1,low
device/Can.cpp,CAN_transmiter::is_in_silent_mode,265,265,1,low
device/Can.cpp,can_gpio_init,286,302,1,low
device/Can.cpp,can_dma_init,310,333,1,low
device/Can.cpp,canfd_config,403,472,1,low
device/Can.cpp,CAN_transmiter::init,671,701,1,low
device/Can.cpp,CAN_EnterCritical,707,711,1,low
device/Can.cpp,CAN_ExitCritical,718,718,1,low
device/Can.cpp,CANFD_WordCount,751,751,1,low
device/Can.cpp,CAN_RX_ReleaseFifo0,775,775,1,low
device/Can.cpp,CAN_RX_Fifo0PendingCount,781,783,1,low
device/Can.cpp,CAN_transmiter::update,995,1018,1,low
device/Can.cpp,CAN_transmiter::CAN_Sleep,1307,1311,1,low
device/Can.cpp,CAN_transmiter::CAN_Wakeup,1318,1324,1,low
device/Can.cpp,DMA0_Channel5_IRQHandler,1389,1391,1,low
device/Can.h,pack_u16_to_bytes,36,39,1,low
device/Can.h,unpack_bytes_to_short,64,67,1,low
device/Can.h,unpack_bytes_to_u16,76,79,1,low
device/Can.h,unpack_bytes_to_float,88,95,1,low
device/Timer.cpp,nvic_config,63,70,1,low
device/Timer.cpp,TIMER2_config,78,111,1,low
device/Timer.cpp,User_timer_init,117,122,1,low
device/Timer.cpp,timer1_gpio_config,189,208,1,low
device/Timer.cpp,timer1_pwm_config,213,274,1,low
device/Timer.cpp,Set_3Pwm,314,319,1,low
device/ang_sensor.cpp,spi_dma_init,50,95,1,low
device/ang_sensor.cpp,KTH7823_gpio_init,166,184,1,low
device/ang_sensor.cpp,KTH7823_spi_init,191,208,1,low
device/ang_sensor.cpp,angle_sensor::init,214,219,1,low
device/ang_sensor.cpp,angle_sensor::angle_set,226,230,1,low
device/ang_sensor.cpp,angle_sensor::getAngle,294,296,1,low
device/ang_sensor.cpp,angle_sensor::getRawAngle,302,302,1,low
device/ang_sensor.cpp,angle_sensor::getcurrent_sensorangle,308,310,1,low
device/motor.cpp,motor_init,16,31,1,low
device/motor.cpp,motor_reset,36,40,1,low
device/motor.cpp,motor_sleep,45,49,1,low
device/motor.cpp,motor_resume,54,58,1,low
main.cpp,hardware_init,92,113,1,low
sys/flash.cpp,write_ADDRESS,48,57,1,low
sys/flash.cpp,calculate_node_id_crc,506,512,1,low
sys/health.cpp,angsens_MG_check,99,103,1,low
sys/health.h,recoveryRate,53,53,1,low
sys/health.h,reset,63,66,1,low
sys/initial.cpp,VersionManager::getSoftwareVersion,55,57,1,low
sys/initial.cpp,VersionManager::getHardwareVersion,63,65,1,low
sys/initial.cpp,VersionManager::getBootVersion,71,73,1,low
sys/initial.cpp,VersionManager::sendVersionInfoViaCan,139,179,1,low
sys/initial.cpp,VersionManager::printVersions,185,197,1,low
sys/initial.cpp,USART0_init,204,207,1,low
sys/initial.cpp,watchdog_init,215,222,1,low
sys/initial.cpp,unused_pin_init,235,248,1,low
sys/systick.cpp,dwt_init,82,90,1,low
sys/systick.cpp,get_systick_ms,98,100,1,low
sys/systick.cpp,idle_task_count,191,193,1,low
sys/systick.cpp,get_cpu_usage,217,217,1,low
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