# ROBOT_V2 APP 业务代码汽车电子静态测试包

## 范围
- 根目录: `/workzone/ROBOT_V2/APP/Robot_V2`
- 包含: `Algorithm/`, `device/`, `sys/`, `main.cpp`, `main.h`
- 排除: `RTE/` 第三方 GD32 库、工程生成文件、临时目录
- 方式: 只读扫描，不修改代码

## 工具环境限制
- 当前环境未安装 QAC / Polyspace / Coverity / PC-lint / cppcheck / 交叉编译器。
- 本报告为汽车电子规则初筛和评审入口，不等同正式 MISRA/AUTOSAR 合规报告。

## 总览
- 扫描文件数: 29
- 总行数: 8159
- 非空代码行估算: 4272
- error: 0
- warning: 40
- info: 513

## 规则命中统计
- AUTO-ARRAY-001: 251
- AUTO-ASM-001: 10
- AUTO-CAST-001: 223
- AUTO-CTRL-002: 6
- AUTO-FUNC-002: 31
- AUTO-MACRO-001: 29
- AUTO-MET-001: 3

## 高优先级结论
- 未发现动态内存、goto、高风险 C 字符串/输入函数等硬性高风险项。
- 复杂度超过 15 的函数需要人工评审或后续单元测试加强。
- `continue`、调试输出、关中断/开中断属于偏离说明候选。

## Top 圈复杂度
-  33 `Algorithm/FOC.cpp:75-238` `FOC_Controller::calibrate_cogging_tick` risk=high
-  27 `device/Can.cpp:1076-1300` `CAN_transmiter::communication_check` risk=high
-  17 `main.cpp:120-205` `do_task` risk=high
-  15 `Algorithm/FOC.cpp:392-490` `FOC_Controller::setSVPWM_PhaseVoltage` risk=medium
-  12 `sys/flash.cpp:308-383` `FlashEEPROM::writeFloat` risk=medium
-  12 `sys/health.cpp:35-94` `ThermalController::update` risk=medium
-  11 `device/Can.cpp:597-665` `can_loopback_test` risk=medium
-  10 `device/Can.cpp:1448-1504` `CAN_transmiter::CANFD_AsyncSend` risk=low
-  10 `sys/flash.cpp:90-161` `FlashEEPROM::read_saved_system_config` risk=low
-  10 `sys/flash.cpp:237-300` `FlashEEPROM::write` risk=low
-  10 `sys/flash.cpp:657-717` `FlashEEPROM::writeNodeId` risk=low
-  10 `sys/flash.cpp:928-1030` `move_app_data` risk=low
-   9 `device/Can.cpp:534-589` `canfd_loopback_test` risk=low
-   9 `sys/flash.cpp:413-482` `FlashEEPROM::save_system_config` risk=low
-   9 `sys/flash.cpp:792-879` `OTA_SET` risk=low
-   9 `sys/health.cpp:113-149` `power_manage` risk=low
-   8 `device/ADC.cpp:194-219` `sampler::get_current` risk=low
-   8 `sys/flash.cpp:724-776` `FlashEEPROM::writeCRC` risk=low
-   8 `sys/systick.cpp:244-298` `app_prepare_deep_sleep` risk=low
-   7 `device/Timer.cpp:134-184` `TIMER2_IRQHandler` risk=low

## Warning 明细
- [AUTO-CTRL-002] `device/Can.cpp:1124` continue 需避免或说明偏离
  - `continue;`
- [AUTO-CTRL-002] `device/Can.cpp:1194` continue 需避免或说明偏离
  - `continue;`
- [AUTO-CTRL-002] `device/Can.cpp:1199` continue 需避免或说明偏离
  - `continue;`
- [AUTO-CTRL-002] `main.cpp:80` continue 需避免或说明偏离
  - `continue;`
- [AUTO-CTRL-002] `sys/flash.cpp:693` continue 需避免或说明偏离
  - `continue;`
- [AUTO-CTRL-002] `sys/systick.cpp:264` continue 需避免或说明偏离
  - `continue;`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:100` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:161` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("",`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:195` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:198` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("", angle_deg, cogging_table[i]);`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:203` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:206` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("", angle_deg, cogging_table_rev[i]);`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:211` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:212` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:214` printf/格式化输出需确认调试隔离和实时性影响
  - `if (i % 8 == 0) printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:215` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("", cogging_table[i]);`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:216` printf/格式化输出需确认调试隔离和实时性影响
  - `if (i < COGGING_TABLE_SIZE - 1) printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:217` printf/格式化输出需确认调试隔离和实时性影响
  - `if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:220` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:223` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:224` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:226` printf/格式化输出需确认调试隔离和实时性影响
  - `if (i % 8 == 0) printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:227` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("", cogging_table_rev[i]);`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:228` printf/格式化输出需确认调试隔离和实时性影响
  - `if (i < COGGING_TABLE_SIZE - 1) printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:229` printf/格式化输出需确认调试隔离和实时性影响
  - `if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:232` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `Algorithm/FOC.cpp:234` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `device/Can.cpp:30` printf/格式化输出需确认调试隔离和实时性影响
  - `#define CAN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-FUNC-002] `device/ang_sensor.cpp:22` printf/格式化输出需确认调试隔离和实时性影响
  - `#define ANG_SENS_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-FUNC-002] `device/motor.cpp:38` printf/格式化输出需确认调试隔离和实时性影响
  - `printf("");`
- [AUTO-FUNC-002] `main.cpp:22` printf/格式化输出需确认调试隔离和实时性影响
  - `#define MAIN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-FUNC-002] `sys/flash.cpp:22` printf/格式化输出需确认调试隔离和实时性影响
  - `#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-FUNC-002] `sys/flash.cpp:31` printf/格式化输出需确认调试隔离和实时性影响
  - `#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-FUNC-002] `sys/initial.cpp:23` printf/格式化输出需确认调试隔离和实时性影响
  - `#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-FUNC-002] `sys/initial.cpp:32` printf/格式化输出需确认调试隔离和实时性影响
  - `#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-FUNC-002] `sys/initial.cpp:129` printf/格式化输出需确认调试隔离和实时性影响
  - `snprintf(buffer, bufSize, "", version.major, version.minor,`
- [AUTO-FUNC-002] `sys/systick.cpp:47` printf/格式化输出需确认调试隔离和实时性影响
  - `#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)`
- [AUTO-MET-001] `Algorithm/FOC.cpp:75` 圈复杂度 33 超过建议阈值 15
  - `FOC_Controller::calibrate_cogging_tick`
- [AUTO-MET-001] `device/Can.cpp:1076` 圈复杂度 27 超过建议阈值 15
  - `CAN_transmiter::communication_check`
- [AUTO-MET-001] `main.cpp:120` 圈复杂度 17 超过建议阈值 15
  - `do_task`

## 输出文件
- `report.md`: 本摘要
- `findings.csv`: 规则命中明细
- `metrics.csv`: 函数复杂度
- `files.csv`: 文件范围与行数/hash