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Motor_v2/static_test_automotive_business_20260523/report.html
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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

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<!doctype html><html lang="zh-CN"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><title>ROBOT_V2 APP 汽车电子静态测试报告</title>
<style>
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.issue-row.done td:nth-child(6) { text-decoration: line-through; }
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.check-note { color:var(--muted); font-size:13px; line-height:1.6; margin-top:8px; }
</style></head><body><div class="container">
<div class="hero"><h1>ROBOT_V2 APP 汽车电子静态测试报告</h1><div class="subtitle">范围:业务代码 <code>Algorithm/</code>、<code>device/</code>、<code>sys/</code>、<code>main.cpp</code>、<code>main.h</code>;排除第三方 GD32 RTE。<br>本版本已加入补充筛查:Doxygen 覆盖、全局状态、switch default、无限循环、关中断成对性、ISR、magic number、浮点比较等。只生成报告,不修改源码逻辑。</div><div class="status">未发现 Error 级硬性高风险项</div></div>
<div class="grid"><div class="card"><div class="label">扫描文件数</div><div class="num">29</div></div><div class="card"><div class="label">非空代码行估算</div><div class="num">4272</div></div><div class="card"><div class="label">主规则 Warning</div><div class="num" style="color:var(--warn)">40</div></div><div class="card"><div class="label">补充 Warning</div><div class="num" style="color:var(--warn)">207</div></div></div>
<section class="two"><div class="card"><h2>主规则命中分布</h2><div class="bars"><div class="bar-row"><span class="bar-label"><code>AUTO-ARRAY-001</code></span><span class="bar"><i style="width:100%"></i></span><span class="bar-num">251</span></div><div class="bar-row"><span class="bar-label"><code>AUTO-CAST-001</code></span><span class="bar"><i style="width:88%"></i></span><span class="bar-num">223</span></div><div class="bar-row"><span class="bar-label"><code>AUTO-FUNC-002</code></span><span class="bar"><i style="width:12%"></i></span><span class="bar-num">31</span></div><div class="bar-row"><span class="bar-label"><code>AUTO-MACRO-001</code></span><span class="bar"><i style="width:11%"></i></span><span class="bar-num">29</span></div><div class="bar-row"><span class="bar-label"><code>AUTO-ASM-001</code></span><span class="bar"><i style="width:3%"></i></span><span class="bar-num">10</span></div><div class="bar-row"><span class="bar-label"><code>AUTO-CTRL-002</code></span><span class="bar"><i style="width:3%"></i></span><span class="bar-num">6</span></div><div class="bar-row"><span class="bar-label"><code>AUTO-MET-001</code></span><span class="bar"><i style="width:3%"></i></span><span class="bar-num">3</span></div></div></div><div class="card"><h2>补充规则命中分布</h2><div class="bars"><div class="bar-row"><span class="bar-label"><code>SUP-MAG-001</code></span><span class="bar"><i class="warn" style="width:100%"></i></span><span class="bar-num">439</span></div><div class="bar-row"><span class="bar-label"><code>SUP-GLB-001</code></span><span class="bar"><i class="warn" style="width:43%"></i></span><span class="bar-num">189</span></div><div class="bar-row"><span class="bar-label"><code>SUP-GLB-002</code></span><span class="bar"><i class="warn" style="width:10%"></i></span><span class="bar-num">47</span></div><div class="bar-row"><span class="bar-label"><code>SUP-ISR-001</code></span><span class="bar"><i class="warn" style="width:4%"></i></span><span class="bar-num">18</span></div><div class="bar-row"><span class="bar-label"><code>SUP-CMP-001</code></span><span class="bar"><i class="warn" style="width:3%"></i></span><span class="bar-num">14</span></div><div class="bar-row"><span class="bar-label"><code>SUP-DOC-001</code></span><span class="bar"><i class="warn" style="width:3%"></i></span><span class="bar-num">12</span></div><div class="bar-row"><span class="bar-label"><code>SUP-LOOP-001</code></span><span class="bar"><i class="warn" style="width:3%"></i></span><span class="bar-num">4</span></div><div class="bar-row"><span class="bar-label"><code>SUP-IRQ-001</code></span><span class="bar"><i class="warn" style="width:3%"></i></span><span class="bar-num">3</span></div><div class="bar-row"><span class="bar-label"><code>SUP-SW-001</code></span><span class="bar"><i class="warn" style="width:3%"></i></span><span class="bar-num">1</span></div></div></div></section>
<section class="card"><h2>高优先级结论</h2><ul class="note"><li>主规则仍未发现动态内存、goto、高风险 C 字符串/输入函数等硬性高风险项。</li><li>补充筛查发现:全局可变状态较多、1 处 switch 缺少 default 候选、3 处关中断成对性需人工确认、14 处浮点阈值比较需确认语义。</li><li>裸数字常量命中较多,不建议机械全改,应优先处理安全阈值、时间常数、比例系数。</li></ul></section>
<section class="card" id="fix-checklist">
<h2>可保存修复确认清单</h2>
<div class="note">
每条审查项都可以打勾。勾选状态会自动保存到当前浏览器的 localStorage。Chromium 浏览器还可以点“绑定进度 JSON 文件”,授权后每次勾选都会同步写入该 JSON;每次打开可点“读取绑定文件”恢复。为防止换电脑或清缓存丢失,也可以用“导出/导入进度 JSON”。
</div>
<div class="check-toolbar">
<div class="progress-wrap"><div class="progress"><i id="checkProgressBar"></i></div><span id="checkStats">0 / 254</span></div>
<input id="issueSearch" type="search" placeholder="搜索文件/规则/说明...">
<select id="issueFilter">
<option value="all">全部</option>
<option value="open">未完成</option>
<option value="done">已完成</option>
</select>
<select id="groupFilter">
<option value="all">全部分组</option>
<option value="主规则">主规则 (40)</option><option value="复杂度评审">复杂度评审 (7)</option><option value="补充筛查">补充筛查 (207)</option>
</select>
<button type="button" id="checkAllVisible">勾选当前可见</button>
<button type="button" id="uncheckAllVisible">取消当前可见</button>
<button type="button" id="exportProgress">导出进度 JSON</button>
<label class="import-btn" for="importProgress">导入进度 JSON</label><input id="importProgress" type="file" accept="application/json,.json" style="display:none">
<button type="button" id="bindProgressFile">绑定进度 JSON 文件</button>
<button type="button" id="loadBoundProgressFile">读取绑定文件</button>
<span id="fileSyncStatus" class="check-note">文件同步:未绑定</span>
</div>
<div class="check-note">本清单共 254 项:error 0,warning 250,info 4。保存键:<code>robot_v2_app_static_report_checklist_v1</code></div>
<div class="scroll">
<table id="checklistTable">
<thead><tr><th>确认</th><th>级别</th><th>分组</th><th>规则</th><th>位置</th><th>说明</th><th>证据</th><th>建议</th></tr></thead>
<tbody>
<tr class="issue-row severity-warning" data-issue-id="main-3117cb79205a" data-group="主规则" data-severity="warning" data-rule="AUTO-CTRL-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-3117cb79205a" data-id="main-3117cb79205a"><label for="ck-main-3117cb79205a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-CTRL-002</code></td>
<td><code>device/Can.cpp:1124</code></td>
<td>continue 需避免或说明偏离</td>
<td><code>continue;</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-527272d22f5f" data-group="主规则" data-severity="warning" data-rule="AUTO-CTRL-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-527272d22f5f" data-id="main-527272d22f5f"><label for="ck-main-527272d22f5f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-CTRL-002</code></td>
<td><code>device/Can.cpp:1194</code></td>
<td>continue 需避免或说明偏离</td>
<td><code>continue;</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-5ceb0ceaf414" data-group="主规则" data-severity="warning" data-rule="AUTO-CTRL-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-5ceb0ceaf414" data-id="main-5ceb0ceaf414"><label for="ck-main-5ceb0ceaf414" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-CTRL-002</code></td>
<td><code>device/Can.cpp:1199</code></td>
<td>continue 需避免或说明偏离</td>
<td><code>continue;</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-0d853312a4fb" data-group="主规则" data-severity="warning" data-rule="AUTO-CTRL-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-0d853312a4fb" data-id="main-0d853312a4fb"><label for="ck-main-0d853312a4fb" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-CTRL-002</code></td>
<td><code>main.cpp:80</code></td>
<td>continue 需避免或说明偏离</td>
<td><code>continue;</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-d5c0067cb8c9" data-group="主规则" data-severity="warning" data-rule="AUTO-CTRL-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-d5c0067cb8c9" data-id="main-d5c0067cb8c9"><label for="ck-main-d5c0067cb8c9" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-CTRL-002</code></td>
<td><code>sys/flash.cpp:693</code></td>
<td>continue 需避免或说明偏离</td>
<td><code>continue;</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-b3497022fd57" data-group="主规则" data-severity="warning" data-rule="AUTO-CTRL-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-b3497022fd57" data-id="main-b3497022fd57"><label for="ck-main-b3497022fd57" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-CTRL-002</code></td>
<td><code>sys/systick.cpp:264</code></td>
<td>continue 需避免或说明偏离</td>
<td><code>continue;</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-cd72d3b37996" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-cd72d3b37996" data-id="main-cd72d3b37996"><label for="ck-main-cd72d3b37996" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:100</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-eecf1f323336" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-eecf1f323336" data-id="main-eecf1f323336"><label for="ck-main-eecf1f323336" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:161</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;,</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-44e5b708ced1" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-44e5b708ced1" data-id="main-44e5b708ced1"><label for="ck-main-44e5b708ced1" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:195</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-c8ae670ed482" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-c8ae670ed482" data-id="main-c8ae670ed482"><label for="ck-main-c8ae670ed482" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:198</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;, angle_deg, cogging_table[i]);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-778a368d79d3" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-778a368d79d3" data-id="main-778a368d79d3"><label for="ck-main-778a368d79d3" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:203</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-668e5afb0750" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-668e5afb0750" data-id="main-668e5afb0750"><label for="ck-main-668e5afb0750" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:206</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;, angle_deg, cogging_table_rev[i]);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-dca22002f30a" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-dca22002f30a" data-id="main-dca22002f30a"><label for="ck-main-dca22002f30a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:211</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-92473d3ec470" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-92473d3ec470" data-id="main-92473d3ec470"><label for="ck-main-92473d3ec470" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:212</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-efc8f847b950" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-efc8f847b950" data-id="main-efc8f847b950"><label for="ck-main-efc8f847b950" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:214</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>if (i % 8 == 0) printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-344a33bfcf2b" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-344a33bfcf2b" data-id="main-344a33bfcf2b"><label for="ck-main-344a33bfcf2b" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:215</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;, cogging_table[i]);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-4117283cf3e7" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-4117283cf3e7" data-id="main-4117283cf3e7"><label for="ck-main-4117283cf3e7" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:216</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>if (i &lt; COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-843a028f8696" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-843a028f8696" data-id="main-843a028f8696"><label for="ck-main-843a028f8696" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:217</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-2665cbd3f00e" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-2665cbd3f00e" data-id="main-2665cbd3f00e"><label for="ck-main-2665cbd3f00e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:220</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-cc75af885325" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-cc75af885325" data-id="main-cc75af885325"><label for="ck-main-cc75af885325" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:223</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-29a13abcf59d" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-29a13abcf59d" data-id="main-29a13abcf59d"><label for="ck-main-29a13abcf59d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:224</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-1bfba6db3552" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-1bfba6db3552" data-id="main-1bfba6db3552"><label for="ck-main-1bfba6db3552" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:226</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>if (i % 8 == 0) printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-a61db2bcd87e" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-a61db2bcd87e" data-id="main-a61db2bcd87e"><label for="ck-main-a61db2bcd87e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:227</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;, cogging_table_rev[i]);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-e8581b775b86" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-e8581b775b86" data-id="main-e8581b775b86"><label for="ck-main-e8581b775b86" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:228</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>if (i &lt; COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-a0e7f44822d5" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-a0e7f44822d5" data-id="main-a0e7f44822d5"><label for="ck-main-a0e7f44822d5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:229</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-e8d34916ef43" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-e8d34916ef43" data-id="main-e8d34916ef43"><label for="ck-main-e8d34916ef43" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:232</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-fb0f6eef33ee" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-fb0f6eef33ee" data-id="main-fb0f6eef33ee"><label for="ck-main-fb0f6eef33ee" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>Algorithm/FOC.cpp:234</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-3d52cdf723db" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-3d52cdf723db" data-id="main-3d52cdf723db"><label for="ck-main-3d52cdf723db" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>device/Can.cpp:30</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define CAN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-a22197731662" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-a22197731662" data-id="main-a22197731662"><label for="ck-main-a22197731662" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>device/ang_sensor.cpp:22</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define ANG_SENS_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-0c3a88910d56" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-0c3a88910d56" data-id="main-0c3a88910d56"><label for="ck-main-0c3a88910d56" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>device/motor.cpp:38</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>printf(&quot;&quot;);</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-687056efb188" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-687056efb188" data-id="main-687056efb188"><label for="ck-main-687056efb188" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>main.cpp:22</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define MAIN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-2787e912f9ed" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-2787e912f9ed" data-id="main-2787e912f9ed"><label for="ck-main-2787e912f9ed" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>sys/flash.cpp:22</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-f53db085a93d" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-f53db085a93d" data-id="main-f53db085a93d"><label for="ck-main-f53db085a93d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>sys/flash.cpp:31</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-552e5d7b3055" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-552e5d7b3055" data-id="main-552e5d7b3055"><label for="ck-main-552e5d7b3055" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>sys/initial.cpp:23</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-4e82e66f670a" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-4e82e66f670a" data-id="main-4e82e66f670a"><label for="ck-main-4e82e66f670a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>sys/initial.cpp:32</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-a82cf38aaae0" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-a82cf38aaae0" data-id="main-a82cf38aaae0"><label for="ck-main-a82cf38aaae0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>sys/initial.cpp:129</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>snprintf(buffer, bufSize, &quot;&quot;, version.major, version.minor,</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-ce883b19cd52" data-group="主规则" data-severity="warning" data-rule="AUTO-FUNC-002">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-ce883b19cd52" data-id="main-ce883b19cd52"><label for="ck-main-ce883b19cd52" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-FUNC-002</code></td>
<td><code>sys/systick.cpp:47</code></td>
<td>printf/格式化输出需确认调试隔离和实时性影响</td>
<td><code>#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td>
<td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-5240bf640bb6" data-group="主规则" data-severity="warning" data-rule="AUTO-MET-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-5240bf640bb6" data-id="main-5240bf640bb6"><label for="ck-main-5240bf640bb6" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-MET-001</code></td>
<td><code>Algorithm/FOC.cpp:75</code></td>
<td>圈复杂度 33 超过建议阈值 15</td>
<td><code>FOC_Controller::calibrate_cogging_tick</code></td>
<td>建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-977f3df23a03" data-group="主规则" data-severity="warning" data-rule="AUTO-MET-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-977f3df23a03" data-id="main-977f3df23a03"><label for="ck-main-977f3df23a03" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-MET-001</code></td>
<td><code>device/Can.cpp:1076</code></td>
<td>圈复杂度 27 超过建议阈值 15</td>
<td><code>CAN_transmiter::communication_check</code></td>
<td>建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="main-61c463500c61" data-group="主规则" data-severity="warning" data-rule="AUTO-MET-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-main-61c463500c61" data-id="main-61c463500c61"><label for="ck-main-61c463500c61" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>主规则</td>
<td><code>AUTO-MET-001</code></td>
<td><code>main.cpp:120</code></td>
<td>圈复杂度 17 超过建议阈值 15</td>
<td><code>do_task</code></td>
<td>建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-be0750f37b75" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-be0750f37b75" data-id="supp-be0750f37b75"><label for="ck-supp-be0750f37b75" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:53</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>if (rt_velocity &lt; -0.5f) last_table = cogging_table_rev;</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-babc355f3ba4" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-babc355f3ba4" data-id="supp-babc355f3ba4"><label for="ck-supp-babc355f3ba4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:54</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>else if (rt_velocity &gt; 0.5f) last_table = cogging_table;</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-07a2fcbd63fb" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-07a2fcbd63fb" data-id="supp-07a2fcbd63fb"><label for="ck-supp-07a2fcbd63fb" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:404</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>u8 sector_code = (X &gt; 0.0f ? 1u : 0u)</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c48ffa36def4" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c48ffa36def4" data-id="supp-c48ffa36def4"><label for="ck-supp-c48ffa36def4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:405</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>+ (Y &gt; 0.0f ? 2u : 0u)</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-7464d86d386a" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-7464d86d386a" data-id="supp-7464d86d386a"><label for="ck-supp-7464d86d386a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:406</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>+ (Z &gt; 0.0f ? 4u : 0u);</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c2c374b8a410" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c2c374b8a410" data-id="supp-c2c374b8a410"><label for="ck-supp-c2c374b8a410" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:534</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>if (HOLD_PWM_DUTY &gt; 0.95f) {</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-f303809c0871" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-f303809c0871" data-id="supp-f303809c0871"><label for="ck-supp-f303809c0871" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:536</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>} else if (HOLD_PWM_DUTY &lt; 0.0f) {</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-897f14107d25" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-897f14107d25" data-id="supp-897f14107d25"><label for="ck-supp-897f14107d25" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:569</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>if (voltage &lt; 36.0f and voltage &gt; 8.0f) {</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-bc539f456a7e" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-bc539f456a7e" data-id="supp-bc539f456a7e"><label for="ck-supp-bc539f456a7e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:763</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>if (target_velocity &lt; -120.0f) {</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-6466d05c08ad" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-6466d05c08ad" data-id="supp-6466d05c08ad"><label for="ck-supp-6466d05c08ad" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/FOC.cpp:765</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>} else if (target_velocity &lt; -30.0f) {</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e14bc6bcacd6" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e14bc6bcacd6" data-id="supp-e14bc6bcacd6"><label for="ck-supp-e14bc6bcacd6" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/Filter.cpp:190</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>if (error &gt; 180.0f) error -= 360.0f;</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-73804b17c385" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-73804b17c385" data-id="supp-73804b17c385"><label for="ck-supp-73804b17c385" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>Algorithm/Filter.cpp:191</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>else if (error &lt; -180.0f) error += 360.0f;</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b07105c03caa" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b07105c03caa" data-id="supp-b07105c03caa"><label for="ck-supp-b07105c03caa" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>sys/config.h:427</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>while (angle &gt;= 360.0f) angle -= 360.0f;</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a374b2a62cc3" data-group="补充筛查" data-severity="warning" data-rule="SUP-CMP-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a374b2a62cc3" data-id="supp-a374b2a62cc3"><label for="ck-supp-a374b2a62cc3" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-CMP-001</code></td>
<td><code>sys/config.h:428</code></td>
<td>浮点变量比较需确认容差或离散状态含义</td>
<td><code>while (angle &lt; 0.0f) angle += 360.0f;</code></td>
<td>建议确认是否应使用阈值/容差比较。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-212345faf28b" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-212345faf28b" data-id="supp-212345faf28b"><label for="ck-supp-212345faf28b" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>Algorithm/FOC.cpp:23</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>FOC_Controller FOC;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9838229d4cbb" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9838229d4cbb" data-id="supp-9838229d4cbb"><label for="ck-supp-9838229d4cbb" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ADC.cpp:20</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ADC_SCALE = 3.3f / 4096.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-3038da272c7c" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-3038da272c7c" data-id="supp-3038da272c7c"><label for="ck-supp-3038da272c7c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ADC.cpp:22</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float TEMP_FACTOR = 1000.0f / 4.3f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-0d2a8817da44" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-0d2a8817da44" data-id="supp-0d2a8817da44"><label for="ck-supp-0d2a8817da44" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ADC.cpp:24</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VCC_FACTOR = 11.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-89c98258c38a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-89c98258c38a" data-id="supp-89c98258c38a"><label for="ck-supp-89c98258c38a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ADC.cpp:26</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float CURRENT_FACTOR =</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-528a6cec1e84" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-528a6cec1e84" data-id="supp-528a6cec1e84"><label for="ck-supp-528a6cec1e84" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ADC.cpp:30</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>sampler sampler;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e242b707d647" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e242b707d647" data-id="supp-e242b707d647"><label for="ck-supp-e242b707d647" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ADC.cpp:33</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile u8 adc_current_frame_ready = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9c6e067632b0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9c6e067632b0" data-id="supp-9c6e067632b0"><label for="ck-supp-9c6e067632b0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:37</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANX = CAN0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-570cf82a0ea5" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-570cf82a0ea5" data-id="supp-570cf82a0ea5"><label for="ck-supp-570cf82a0ea5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:48</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>dma_parameter_struct dma_rx_parameter;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b848b2393298" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b848b2393298" data-id="supp-b848b2393298"><label for="ck-supp-b848b2393298" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:51</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile bool can_rx_dma_busy = false;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2dd905d3d33a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2dd905d3d33a" data-id="supp-2dd905d3d33a"><label for="ck-supp-2dd905d3d33a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:52</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static can_receive_message_struct can_rx_dma_message;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-151515384d9d" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-151515384d9d" data-id="supp-151515384d9d"><label for="ck-supp-151515384d9d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:72</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile u8 rx_queue_head = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-834473d55cbd" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-834473d55cbd" data-id="supp-834473d55cbd"><label for="ck-supp-834473d55cbd" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:73</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile u8 rx_queue_tail = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-0ed73a1e9822" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-0ed73a1e9822" data-id="supp-0ed73a1e9822"><label for="ck-supp-0ed73a1e9822" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:74</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile u8 rx_queue_count = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-1f41a4e9399a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-1f41a4e9399a" data-id="supp-1f41a4e9399a"><label for="ck-supp-1f41a4e9399a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:77</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile u8 tx_queue_head = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-0d1b7279df03" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-0d1b7279df03" data-id="supp-0d1b7279df03"><label for="ck-supp-0d1b7279df03" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:78</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile u8 tx_queue_tail = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-3b9068c82c27" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-3b9068c82c27" data-id="supp-3b9068c82c27"><label for="ck-supp-3b9068c82c27" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:79</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static volatile u8 tx_queue_count = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-7a89b7e99a15" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-7a89b7e99a15" data-id="supp-7a89b7e99a15"><label for="ck-supp-7a89b7e99a15" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Can.cpp:84</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>CAN_transmiter CAN0_transmiter;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-0512b0719836" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-0512b0719836" data-id="supp-0512b0719836"><label for="ck-supp-0512b0719836" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/Timer.cpp:18</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile u32 total_us100_counter = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2bdf5602b64c" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2bdf5602b64c" data-id="supp-2bdf5602b64c"><label for="ck-supp-2bdf5602b64c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ang_sensor.cpp:38</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile bool spi_dma_tx_complete = false;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-014e603e9a05" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-014e603e9a05" data-id="supp-014e603e9a05"><label for="ck-supp-014e603e9a05" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ang_sensor.cpp:39</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile bool spi_dma_rx_complete = false;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-192ee126bacd" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-192ee126bacd" data-id="supp-192ee126bacd"><label for="ck-supp-192ee126bacd" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>device/ang_sensor.cpp:41</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>angle_sensor KTH7823;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5e8bbfb22dca" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5e8bbfb22dca" data-id="supp-5e8bbfb22dca"><label for="ck-supp-5e8bbfb22dca" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>main.cpp:39</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>TaskScheduler scheduler = {0};</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-cfd2894ba6c6" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-cfd2894ba6c6" data-id="supp-cfd2894ba6c6"><label for="ck-supp-cfd2894ba6c6" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>main.cpp:40</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>u32 motor_runtime_50us = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-80fbfa1e7f2a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-80fbfa1e7f2a" data-id="supp-80fbfa1e7f2a"><label for="ck-supp-80fbfa1e7f2a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>main.cpp:41</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>u32 cnt_test = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2687440608b0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2687440608b0" data-id="supp-2687440608b0"><label for="ck-supp-2687440608b0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:32</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 SOFTWARE_VERSION_MAJOR = 26;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-19455bafa3ac" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-19455bafa3ac" data-id="supp-19455bafa3ac"><label for="ck-supp-19455bafa3ac" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:34</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 SOFTWARE_VERSION_MINOR = 5;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-6e12b0ca84d2" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-6e12b0ca84d2" data-id="supp-6e12b0ca84d2"><label for="ck-supp-6e12b0ca84d2" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:36</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 SOFTWARE_VERSION_PATCH = 19;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-05a59d0def43" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-05a59d0def43" data-id="supp-05a59d0def43"><label for="ck-supp-05a59d0def43" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:38</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 SOFTWARE_VERSION_BUILD = 2;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e7dccd9a4003" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e7dccd9a4003" data-id="supp-e7dccd9a4003"><label for="ck-supp-e7dccd9a4003" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:41</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 HARDWARE_VERSION_MAJOR = 25;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5df96dbf6738" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5df96dbf6738" data-id="supp-5df96dbf6738"><label for="ck-supp-5df96dbf6738" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:43</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 HARDWARE_VERSION_MINOR = 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-8148e3027849" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-8148e3027849" data-id="supp-8148e3027849"><label for="ck-supp-8148e3027849" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:45</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 HARDWARE_VERSION_PATCH = 01;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c5e6fb0e92b3" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c5e6fb0e92b3" data-id="supp-c5e6fb0e92b3"><label for="ck-supp-c5e6fb0e92b3" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:47</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 HARDWARE_VERSION_BUILD = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-f21a6ce0ca0e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-f21a6ce0ca0e" data-id="supp-f21a6ce0ca0e"><label for="ck-supp-f21a6ce0ca0e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:50</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 BOOT_VERSION_MAJOR = 26;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-d3c74b81ee6f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-d3c74b81ee6f" data-id="supp-d3c74b81ee6f"><label for="ck-supp-d3c74b81ee6f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:52</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 BOOT_VERSION_MINOR = 1;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-206d431ac433" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-206d431ac433" data-id="supp-206d431ac433"><label for="ck-supp-206d431ac433" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:54</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 BOOT_VERSION_PATCH = 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-8f19a6ce3b2b" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-8f19a6ce3b2b" data-id="supp-8f19a6ce3b2b"><label for="ck-supp-8f19a6ce3b2b" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:56</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 BOOT_VERSION_BUILD = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-dc7c842eaf8a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-dc7c842eaf8a" data-id="supp-dc7c842eaf8a"><label for="ck-supp-dc7c842eaf8a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:60</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 BOOTLOADER_SIZE = 0x6000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b646b277d882" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b646b277d882" data-id="supp-b646b277d882"><label for="ck-supp-b646b277d882" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:62</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 BOOTLOADER_START_ADDR = 0x08000000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-8035701aea54" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-8035701aea54" data-id="supp-8035701aea54"><label for="ck-supp-8035701aea54" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:64</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 APPLATEST_START_ADDR = 0x08012000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-8c8575a287e0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-8c8575a287e0" data-id="supp-8c8575a287e0"><label for="ck-supp-8c8575a287e0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:66</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 APPBACK_START_ADDR = 0x08006000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9345c6e7b49b" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9345c6e7b49b" data-id="supp-9345c6e7b49b"><label for="ck-supp-9345c6e7b49b" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:68</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 APP_MAX_SIZE = 0xC000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2871d296449d" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2871d296449d" data-id="supp-2871d296449d"><label for="ck-supp-2871d296449d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:70</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 FMC_PAGE_SIZE = 0x400;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-d86607ccbc20" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-d86607ccbc20" data-id="supp-d86607ccbc20"><label for="ck-supp-d86607ccbc20" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:72</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 SLEEP_CONFIG_START = 0x0801E400;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-eb4e342e74d7" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-eb4e342e74d7" data-id="supp-eb4e342e74d7"><label for="ck-supp-eb4e342e74d7" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:74</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 SLEEP_CONFIG_END = 0x0801E800;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-23f2e81c8f43" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-23f2e81c8f43" data-id="supp-23f2e81c8f43"><label for="ck-supp-23f2e81c8f43" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:76</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 FLASH_EMPTY = 0xFFFFFFFF;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-1a4ed985430d" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-1a4ed985430d" data-id="supp-1a4ed985430d"><label for="ck-supp-1a4ed985430d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:78</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 SLEEP_ENABLE = 0x11111111;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-cef1f0c10332" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-cef1f0c10332" data-id="supp-cef1f0c10332"><label for="ck-supp-cef1f0c10332" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:80</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 SLEEP_DISABLE = 0x00000000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-cfa7b96290df" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-cfa7b96290df" data-id="supp-cfa7b96290df"><label for="ck-supp-cfa7b96290df" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:92</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 NODE_ID_PAGE_ADDR = 0x0801E800;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-8066dac3a4e4" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-8066dac3a4e4" data-id="supp-8066dac3a4e4"><label for="ck-supp-8066dac3a4e4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:94</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 NODE_ID_PRIMARY_ADDR = 0x0801E800;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-045b8947a919" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-045b8947a919" data-id="supp-045b8947a919"><label for="ck-supp-045b8947a919" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:96</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 NODE_ID_BACKUP_ADDR = 0x0801E840;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-39a61666efaf" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-39a61666efaf" data-id="supp-39a61666efaf"><label for="ck-supp-39a61666efaf" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:98</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 NODE_ID_MAGIC = 0x4E4F4445;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-da4349769920" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-da4349769920" data-id="supp-da4349769920"><label for="ck-supp-da4349769920" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:100</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 DEFAULT_NODE_ID = 1;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-df53690c09aa" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-df53690c09aa" data-id="supp-df53690c09aa"><label for="ck-supp-df53690c09aa" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:102</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 BROADCAST_NODE_ID = 0x1FFF;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a977c6fa3fc0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a977c6fa3fc0" data-id="supp-a977c6fa3fc0"><label for="ck-supp-a977c6fa3fc0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:104</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 MAX_NODE_ID = 0x1FFE;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-90bbab9c52ba" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-90bbab9c52ba" data-id="supp-90bbab9c52ba"><label for="ck-supp-90bbab9c52ba" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:113</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 NODE_ID_STRUCT_SIZE = 0x10;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-7e9875638f06" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-7e9875638f06" data-id="supp-7e9875638f06"><label for="ck-supp-7e9875638f06" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:115</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 NODE_ID_MAGIC_OFFSET = 0x00;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2cb25842f03e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2cb25842f03e" data-id="supp-2cb25842f03e"><label for="ck-supp-2cb25842f03e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:117</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 NODE_ID_VALUE_OFFSET = 0x04;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5f1962ce4046" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5f1962ce4046" data-id="supp-5f1962ce4046"><label for="ck-supp-5f1962ce4046" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:119</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 NODE_ID_COUNTER_OFFSET = 0x08;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-89f2f99e8e8d" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-89f2f99e8e8d" data-id="supp-89f2f99e8e8d"><label for="ck-supp-89f2f99e8e8d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:121</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 NODE_ID_CRC_OFFSET = 0x0C;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-6f6ffee00f58" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-6f6ffee00f58" data-id="supp-6f6ffee00f58"><label for="ck-supp-6f6ffee00f58" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:125</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 OTA_CONFIG_NUM = 6;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-da022ec3d833" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-da022ec3d833" data-id="supp-da022ec3d833"><label for="ck-supp-da022ec3d833" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:127</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801E000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-1f027dfb746a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-1f027dfb746a" data-id="supp-1f027dfb746a"><label for="ck-supp-1f027dfb746a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:129</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801E004;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9dd3d0dbc734" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9dd3d0dbc734" data-id="supp-9dd3d0dbc734"><label for="ck-supp-9dd3d0dbc734" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:131</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801E008;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a6c89579f6e4" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a6c89579f6e4" data-id="supp-a6c89579f6e4"><label for="ck-supp-a6c89579f6e4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:133</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801E00C;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-41033b3cde59" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-41033b3cde59" data-id="supp-41033b3cde59"><label for="ck-supp-41033b3cde59" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:135</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801E010;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e6f6ac38039c" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e6f6ac38039c" data-id="supp-e6f6ac38039c"><label for="ck-supp-e6f6ac38039c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:137</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801E014;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-816cb5806281" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-816cb5806281" data-id="supp-816cb5806281"><label for="ck-supp-816cb5806281" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:139</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-85f55cfb9bd2" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-85f55cfb9bd2" data-id="supp-85f55cfb9bd2"><label for="ck-supp-85f55cfb9bd2" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:141</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 OTA_AVAL = 0x00000000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-4a07cfb831d2" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-4a07cfb831d2" data-id="supp-4a07cfb831d2"><label for="ck-supp-4a07cfb831d2" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:145</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 PP = 11;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-473f9bd57824" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-473f9bd57824" data-id="supp-473f9bd57824"><label for="ck-supp-473f9bd57824" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:147</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DIR = 1.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-fd66a295e97d" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-fd66a295e97d" data-id="supp-fd66a295e97d"><label for="ck-supp-fd66a295e97d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:149</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 REDUCTION_RATIO = 25;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a3df150b3937" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a3df150b3937" data-id="supp-a3df150b3937"><label for="ck-supp-a3df150b3937" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:151</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float CURRENT_OFFSET = -3.31f / 2.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-4cf2fa02952e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-4cf2fa02952e" data-id="supp-4cf2fa02952e"><label for="ck-supp-4cf2fa02952e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:153</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float HOLD_PWM_DUTY = 0.1f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-d88f31fa5c0e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-d88f31fa5c0e" data-id="supp-d88f31fa5c0e"><label for="ck-supp-d88f31fa5c0e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:155</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 ANGLESENS_OFFSET = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-09cce3719ad2" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-09cce3719ad2" data-id="supp-09cce3719ad2"><label for="ck-supp-09cce3719ad2" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:157</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLESENS_CALIBRATION_ANGLE = 83.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-479efab46368" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-479efab46368" data-id="supp-479efab46368"><label for="ck-supp-479efab46368" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:159</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float KE_FACTOR = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e0380903f6c3" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e0380903f6c3" data-id="supp-e0380903f6c3"><label for="ck-supp-e0380903f6c3" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:163</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_KALMAN_INITIAL_STATE = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-1fbd51d49dad" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-1fbd51d49dad" data-id="supp-1fbd51d49dad"><label for="ck-supp-1fbd51d49dad" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:165</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_KALMAN_INITIAL_COVARIANCE = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-aa5f59116193" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-aa5f59116193" data-id="supp-aa5f59116193"><label for="ck-supp-aa5f59116193" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:167</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_KALMAN_PROCESS_NOISE_Q = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2c87813f8aa3" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2c87813f8aa3" data-id="supp-2c87813f8aa3"><label for="ck-supp-2c87813f8aa3" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:169</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_KALMAN_MEASUREMENT_NOISE_R = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-07a2866f170a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-07a2866f170a" data-id="supp-07a2866f170a"><label for="ck-supp-07a2866f170a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:171</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_OBSERVER_ALPHA = 0.75f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9946aa57c8a9" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9946aa57c8a9" data-id="supp-9946aa57c8a9"><label for="ck-supp-9946aa57c8a9" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:173</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_OBSERVER_BETA = 0.002f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-3dbd2f0de758" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-3dbd2f0de758" data-id="supp-3dbd2f0de758"><label for="ck-supp-3dbd2f0de758" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:177</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VELOCITY_KALMAN_INITIAL_STATE = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-df5a0f8d5a72" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-df5a0f8d5a72" data-id="supp-df5a0f8d5a72"><label for="ck-supp-df5a0f8d5a72" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:179</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VELOCITY_KALMAN_INITIAL_COVARIANCE = 1e-3f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-007928464d9b" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-007928464d9b" data-id="supp-007928464d9b"><label for="ck-supp-007928464d9b" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:181</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VELOCITY_KALMAN_PROCESS_NOISE_Q =</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-6495be6cf728" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-6495be6cf728" data-id="supp-6495be6cf728"><label for="ck-supp-6495be6cf728" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:184</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VELOCITY_KALMAN_MEASUREMENT_NOISE_R =</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b163701fc702" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b163701fc702" data-id="supp-b163701fc702"><label for="ck-supp-b163701fc702" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:189</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float CURRENT_KALMAN_INITIAL_STATE = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9d4b1e19e4f1" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9d4b1e19e4f1" data-id="supp-9d4b1e19e4f1"><label for="ck-supp-9d4b1e19e4f1" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:191</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float CURRENT_KALMAN_INITIAL_COVARIANCE = 100.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-63c6dddf8bf5" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-63c6dddf8bf5" data-id="supp-63c6dddf8bf5"><label for="ck-supp-63c6dddf8bf5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:193</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float CURRENT_KALMAN_PROCESS_NOISE_Q = 10.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-ff8f09c6bfa5" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-ff8f09c6bfa5" data-id="supp-ff8f09c6bfa5"><label for="ck-supp-ff8f09c6bfa5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:195</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float CURRENT_KALMAN_MEASUREMENT_NOISE_R = 5e-5f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2eaa8c7f0941" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2eaa8c7f0941" data-id="supp-2eaa8c7f0941"><label for="ck-supp-2eaa8c7f0941" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:199</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_current_loop_p = 0.1f / 100 * 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-4becb5ead2c4" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-4becb5ead2c4" data-id="supp-4becb5ead2c4"><label for="ck-supp-4becb5ead2c4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:201</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float current_loop_Ki = 0.55f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-4182de41f8da" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-4182de41f8da" data-id="supp-4182de41f8da"><label for="ck-supp-4182de41f8da" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:203</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float current_loop_Kd = 3e-4f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-442b031030c0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-442b031030c0" data-id="supp-442b031030c0"><label for="ck-supp-442b031030c0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:206</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_vel_loop_p = 0.018f / 100 * 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-58df8dc7015c" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-58df8dc7015c" data-id="supp-58df8dc7015c"><label for="ck-supp-58df8dc7015c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:208</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_loop_Ku = 3.600000e-03 * 0.7 * 100 / 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-624129e18b9e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-624129e18b9e" data-id="supp-624129e18b9e"><label for="ck-supp-624129e18b9e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:210</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_loop_Tu = 17.0f * 1e-3f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-cb34e84dcbdf" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-cb34e84dcbdf" data-id="supp-cb34e84dcbdf"><label for="ck-supp-cb34e84dcbdf" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:212</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_loop_Ki = 1.2 * vel_loop_Ku / vel_loop_Tu;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-334250f82da0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-334250f82da0" data-id="supp-334250f82da0"><label for="ck-supp-334250f82da0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:214</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_loop_Kd = 0.075 * vel_loop_Ku * vel_loop_Tu * 2;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-191496d69aae" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-191496d69aae" data-id="supp-191496d69aae"><label for="ck-supp-191496d69aae" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:217</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_vel_angloop_p = 0.4f / 100;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a954c6db3be8" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a954c6db3be8" data-id="supp-a954c6db3be8"><label for="ck-supp-a954c6db3be8" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:219</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_angloop_Ki = 5.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b59a8a08dd46" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b59a8a08dd46" data-id="supp-b59a8a08dd46"><label for="ck-supp-b59a8a08dd46" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:221</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_angloop_Kd = 5e-05f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-ec2f21ab7179" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-ec2f21ab7179" data-id="supp-ec2f21ab7179"><label for="ck-supp-ec2f21ab7179" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:224</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_angle_angloop_p =</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-f938632efd00" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-f938632efd00" data-id="supp-f938632efd00"><label for="ck-supp-f938632efd00" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:227</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ang_angloop_Ki = 0.00f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-7c9b992c78be" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-7c9b992c78be" data-id="supp-7c9b992c78be"><label for="ck-supp-7c9b992c78be" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:229</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ang_angloop_Kd = 8e-04f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-674252936cac" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-674252936cac" data-id="supp-674252936cac"><label for="ck-supp-674252936cac" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:232</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_angle_loop_p = 60.0f / 100 * 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-2ec9227ef7dd" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-2ec9227ef7dd" data-id="supp-2ec9227ef7dd"><label for="ck-supp-2ec9227ef7dd" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:235</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_angle_MIT_p = 100.0f / 100 * 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-8f1a0be480db" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-8f1a0be480db" data-id="supp-8f1a0be480db"><label for="ck-supp-8f1a0be480db" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:237</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float angle_MIT_Ki = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-09cf228fa618" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-09cf228fa618" data-id="supp-09cf228fa618"><label for="ck-supp-09cf228fa618" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:239</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float angle_MIT_Kd = 8e-04f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-fb700e5b9217" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-fb700e5b9217" data-id="supp-fb700e5b9217"><label for="ck-supp-fb700e5b9217" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:242</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_vel_MIT_p = 5.0f / 100;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-262745c8fde4" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-262745c8fde4" data-id="supp-262745c8fde4"><label for="ck-supp-262745c8fde4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:244</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_MIT_Ki = 15.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-7265bf9ffeb6" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-7265bf9ffeb6" data-id="supp-7265bf9ffeb6"><label for="ck-supp-7265bf9ffeb6" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:246</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float vel_MIT_Kd = 1e-04f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-d7851021e615" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-d7851021e615" data-id="supp-d7851021e615"><label for="ck-supp-d7851021e615" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:249</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEFAULT_current_MIT_p = 0.2f / 100 * 12;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b187de9b2c71" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b187de9b2c71" data-id="supp-b187de9b2c71"><label for="ck-supp-b187de9b2c71" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:251</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float current_MIT_Ki = 0.1f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-fbc927cfd61d" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-fbc927cfd61d" data-id="supp-fbc927cfd61d"><label for="ck-supp-fbc927cfd61d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:253</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float current_MIT_Kd = 3e-4f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-1acaf41cfdae" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-1acaf41cfdae" data-id="supp-1acaf41cfdae"><label for="ck-supp-1acaf41cfdae" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:260</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ADC_MAX = 65536.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-f3b55e35f9d0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-f3b55e35f9d0" data-id="supp-f3b55e35f9d0"><label for="ck-supp-f3b55e35f9d0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:262</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float PI = 3.14159265358979323846f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-20a5d232f926" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-20a5d232f926" data-id="supp-20a5d232f926"><label for="ck-supp-20a5d232f926" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:264</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float INV_PI_3 = 3.0f / PI;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-378c2eadddd6" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-378c2eadddd6" data-id="supp-378c2eadddd6"><label for="ck-supp-378c2eadddd6" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:266</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float PI_3 = PI / 3.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5bf3d6123aea" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5bf3d6123aea" data-id="supp-5bf3d6123aea"><label for="ck-supp-5bf3d6123aea" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:268</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float _1_SQRT3 = 0.57735026919f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-4f9e1ff5f977" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-4f9e1ff5f977" data-id="supp-4f9e1ff5f977"><label for="ck-supp-4f9e1ff5f977" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:270</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float _3PI_2 = 4.71238898038f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-fd0c805a01cb" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-fd0c805a01cb" data-id="supp-fd0c805a01cb"><label for="ck-supp-fd0c805a01cb" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:272</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float SQRT3 = 1.7320508075688772f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-4b1489b395b5" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-4b1489b395b5" data-id="supp-4b1489b395b5"><label for="ck-supp-4b1489b395b5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:274</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float SQRT3DV2 = 0.8660254037844386f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-177d79286976" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-177d79286976" data-id="supp-177d79286976"><label for="ck-supp-177d79286976" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:276</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float COS_PI_3 = 0.5f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b464d624b89c" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b464d624b89c" data-id="supp-b464d624b89c"><label for="ck-supp-b464d624b89c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:278</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_FACTOR = 25.0f / 180.0f * PI;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-fba82de9f335" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-fba82de9f335" data-id="supp-fba82de9f335"><label for="ck-supp-fba82de9f335" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:280</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float DEG2RAD = 1.0f / 180.0f * PI;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-02752fc39463" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-02752fc39463" data-id="supp-02752fc39463"><label for="ck-supp-02752fc39463" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:282</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float RAD2DEG = 180.0f / PI;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-d47f02ccdc6f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-d47f02ccdc6f" data-id="supp-d47f02ccdc6f"><label for="ck-supp-d47f02ccdc6f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:284</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 DEFAULT_VALUE = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a372ad7cc25f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a372ad7cc25f" data-id="supp-a372ad7cc25f"><label for="ck-supp-a372ad7cc25f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:286</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 CONFIG_SAVED_NUM = 6;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c843a8b60fa0" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c843a8b60fa0" data-id="supp-c843a8b60fa0"><label for="ck-supp-c843a8b60fa0" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:290</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 LUT_SIZE = 1024;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9d2d2a633571" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9d2d2a633571" data-id="supp-9d2d2a633571"><label for="ck-supp-9d2d2a633571" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:301</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 DEV_CAN0_ID = 0x0000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-476cb8529804" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-476cb8529804" data-id="supp-476cb8529804"><label for="ck-supp-476cb8529804" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:303</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 DEV_CAN0_MASK = 0x0000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9e0e93117b39" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9e0e93117b39" data-id="supp-9e0e93117b39"><label for="ck-supp-9e0e93117b39" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:305</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-7eca8869fe8d" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-7eca8869fe8d" data-id="supp-7eca8869fe8d"><label for="ck-supp-7eca8869fe8d" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:308</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_STATUS_ID = 0x0100;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-cd1b03277370" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-cd1b03277370" data-id="supp-cd1b03277370"><label for="ck-supp-cd1b03277370" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:310</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_CONFIG_ID = 0x0101;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-52e7dfa0bd8a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-52e7dfa0bd8a" data-id="supp-52e7dfa0bd8a"><label for="ck-supp-52e7dfa0bd8a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:312</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_VERSION_ID = 0x00FF;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5f5afb443061" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5f5afb443061" data-id="supp-5f5afb443061"><label for="ck-supp-5f5afb443061" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:315</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_CMD_ID = 0x0200;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-415c4b510e1b" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-415c4b510e1b" data-id="supp-415c4b510e1b"><label for="ck-supp-415c4b510e1b" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:317</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_RESET_ID = 0x0301;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-eb8c172d8fa7" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-eb8c172d8fa7" data-id="supp-eb8c172d8fa7"><label for="ck-supp-eb8c172d8fa7" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:320</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_SET_NODE_ID = 0x0400;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-1f9a0ad0330e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-1f9a0ad0330e" data-id="supp-1f9a0ad0330e"><label for="ck-supp-1f9a0ad0330e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:322</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_GET_NODE_ID = 0x0401;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-ddcf3c5981d6" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-ddcf3c5981d6" data-id="supp-ddcf3c5981d6"><label for="ck-supp-ddcf3c5981d6" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:326</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_BOOT_ID = 0x0000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-038975fb0589" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-038975fb0589" data-id="supp-038975fb0589"><label for="ck-supp-038975fb0589" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:328</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_OTA_REQ_ID = 0x0100;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-6c02c2686174" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-6c02c2686174" data-id="supp-6c02c2686174"><label for="ck-supp-6c02c2686174" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:330</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_OTA_DATA_ID = 0x0101;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b038358270db" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b038358270db" data-id="supp-b038358270db"><label for="ck-supp-b038358270db" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:332</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_OTA_ACK_ID = 0x0102;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-296377880c63" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-296377880c63" data-id="supp-296377880c63"><label for="ck-supp-296377880c63" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:334</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 CANFD_OTA_WAIT_ID = 0x0103;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a2c7b377ff4e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a2c7b377ff4e" data-id="supp-a2c7b377ff4e"><label for="ck-supp-a2c7b377ff4e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:338</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 ADC_FILTER_SIZE = 6;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5f838841063f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5f838841063f" data-id="supp-5f838841063f"><label for="ck-supp-5f838841063f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:340</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u8 BLOCK_SIZE = ADC_FILTER_SIZE * SIZE_FLOAT;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-97688039a586" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-97688039a586" data-id="supp-97688039a586"><label for="ck-supp-97688039a586" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:342</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ERROR_ADC_VAL = 255.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-57ed4b5aeb01" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-57ed4b5aeb01" data-id="supp-57ed4b5aeb01"><label for="ck-supp-57ed4b5aeb01" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:344</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float MAX_TEMP = 150.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-54f7152d525f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-54f7152d525f" data-id="supp-54f7152d525f"><label for="ck-supp-54f7152d525f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:346</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float MIN_TEMP = -40.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-d6a6beb85f8e" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-d6a6beb85f8e" data-id="supp-d6a6beb85f8e"><label for="ck-supp-d6a6beb85f8e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:348</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float MAX_CURRENT = 40.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-bfd02b0e6428" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-bfd02b0e6428" data-id="supp-bfd02b0e6428"><label for="ck-supp-bfd02b0e6428" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:350</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float MIN_CURRENT = -40.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-0ba6f0a3cbb6" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-0ba6f0a3cbb6" data-id="supp-0ba6f0a3cbb6"><label for="ck-supp-0ba6f0a3cbb6" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:352</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float MAX_VCC = 65.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-9631705a92be" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-9631705a92be" data-id="supp-9631705a92be"><label for="ck-supp-9631705a92be" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:354</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float MIN_VCC = -0.1f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e82e3e95d9c3" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e82e3e95d9c3" data-id="supp-e82e3e95d9c3"><label for="ck-supp-e82e3e95d9c3" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:358</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 VEL_FILTER_SIZE = 4;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c8fcf2049028" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c8fcf2049028" data-id="supp-c8fcf2049028"><label for="ck-supp-c8fcf2049028" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:360</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 DEFAULT_COMMAND = 0x0000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a0b262ee0d7f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a0b262ee0d7f" data-id="supp-a0b262ee0d7f"><label for="ck-supp-a0b262ee0d7f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:362</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 FAULT_RECEIVE = 0xFFFF;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-18273d7ff405" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-18273d7ff405" data-id="supp-18273d7ff405"><label for="ck-supp-18273d7ff405" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:364</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_WRAP_THRESHOLD = 300.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-4db7e8721b38" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-4db7e8721b38" data-id="supp-4db7e8721b38"><label for="ck-supp-4db7e8721b38" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:366</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLE_WRAP_VALUE = 360.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-cfb32941b86c" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-cfb32941b86c" data-id="supp-cfb32941b86c"><label for="ck-supp-cfb32941b86c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:368</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float RAD_FACTOR = 1.0f / ADC_MAX * 2.0f * PI;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b684bf6daa82" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b684bf6daa82" data-id="supp-b684bf6daa82"><label for="ck-supp-b684bf6daa82" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:370</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-26a75340d328" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-26a75340d328" data-id="supp-26a75340d328"><label for="ck-supp-26a75340d328" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:374</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr int TIMER2_PRESCALER = 119;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-955e70ca702a" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-955e70ca702a" data-id="supp-955e70ca702a"><label for="ck-supp-955e70ca702a" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:376</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr int TIMER2_PERIOD = 49;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-7b0c20306d7f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-7b0c20306d7f" data-id="supp-7b0c20306d7f"><label for="ck-supp-7b0c20306d7f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:378</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr int MOTOR_PERIOD = 1;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-fc1eb40a78e5" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-fc1eb40a78e5" data-id="supp-fc1eb40a78e5"><label for="ck-supp-fc1eb40a78e5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:380</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float TIME_SLICE =</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-cdd0a4a9b8e7" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-cdd0a4a9b8e7" data-id="supp-cdd0a4a9b8e7"><label for="ck-supp-cdd0a4a9b8e7" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:383</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float TIMER2_FREQUENCY = 1 / TIME_SLICE;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a00f50fd7e91" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a00f50fd7e91" data-id="supp-a00f50fd7e91"><label for="ck-supp-a00f50fd7e91" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:385</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float MOTOR_FREQUENCY = 1 / TIME_SLICE / MOTOR_PERIOD;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-dba1f5ee2bac" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-dba1f5ee2bac" data-id="supp-dba1f5ee2bac"><label for="ck-supp-dba1f5ee2bac" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:389</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr int TIMER1_PRESCALER = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-091ea0cb4563" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-091ea0cb4563" data-id="supp-091ea0cb4563"><label for="ck-supp-091ea0cb4563" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:391</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr int TIMER1_PERIOD = 2999;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b251edcd19a4" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b251edcd19a4" data-id="supp-b251edcd19a4"><label for="ck-supp-b251edcd19a4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:393</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr int TIMER1_DEFAULT_PULSE = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-72780618de89" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-72780618de89" data-id="supp-72780618de89"><label for="ck-supp-72780618de89" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:395</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr int TIMER1_CH3_COMPARE_VALUE =</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-428c4d2d4361" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-428c4d2d4361" data-id="supp-428c4d2d4361"><label for="ck-supp-428c4d2d4361" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:400</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 COGGING_TABLE_SIZE = 128;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5bc6c7028f31" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5bc6c7028f31" data-id="supp-5bc6c7028f31"><label for="ck-supp-5bc6c7028f31" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:402</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float COGGING_COMP_SCALE = 0.005f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5f30c71b560c" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5f30c71b560c" data-id="supp-5f30c71b560c"><label for="ck-supp-5f30c71b560c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:413</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VBUS_DROP_THRESHOLD = 5.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-ec236e967cf5" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-ec236e967cf5" data-id="supp-ec236e967cf5"><label for="ck-supp-ec236e967cf5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:415</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VBUS_ABSOLUTE_MIN = 12.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-6c83765299a8" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-6c83765299a8" data-id="supp-6c83765299a8"><label for="ck-supp-6c83765299a8" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:417</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u32 VBUS_DEBOUNCE_COUNT = 5;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-a3f3ec52d5c9" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-a3f3ec52d5c9" data-id="supp-a3f3ec52d5c9"><label for="ck-supp-a3f3ec52d5c9" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/config.h:419</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr float VBUS_RECOVERY_RATIO = 0.9f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-0a7fb6af2bfa" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-0a7fb6af2bfa" data-id="supp-0a7fb6af2bfa"><label for="ck-supp-0a7fb6af2bfa" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/health.cpp:19</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>ThermalController thermalController;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-79489853ba70" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-79489853ba70" data-id="supp-79489853ba70"><label for="ck-supp-79489853ba70" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/health.cpp:25</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>constexpr u16 PROTECT_TIME = 6000;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-8f5907226506" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-8f5907226506" data-id="supp-8f5907226506"><label for="ck-supp-8f5907226506" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/health.cpp:28</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static VoltageState voltage_state = VoltageState::NORMAL;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-da2839ee2717" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-da2839ee2717" data-id="supp-da2839ee2717"><label for="ck-supp-da2839ee2717" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/health.cpp:29</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>static float last_vbus_slow = 0.0f;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c7cb3cd0801f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c7cb3cd0801f" data-id="supp-c7cb3cd0801f"><label for="ck-supp-c7cb3cd0801f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/initial.cpp:39</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>VersionManager Version;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-5c8269165c25" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-5c8269165c25" data-id="supp-5c8269165c25"><label for="ck-supp-5c8269165c25" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/systick.cpp:53</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile static uint32_t delay;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c08e7fa1d6c4" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c08e7fa1d6c4" data-id="supp-c08e7fa1d6c4"><label for="ck-supp-c08e7fa1d6c4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/systick.cpp:54</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile static uint32_t systick_ms = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e92b16152a23" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e92b16152a23" data-id="supp-e92b16152a23"><label for="ck-supp-e92b16152a23" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/systick.cpp:70</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile static uint32_t task_enter_cyccnt = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c3fac9483ce8" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c3fac9483ce8" data-id="supp-c3fac9483ce8"><label for="ck-supp-c3fac9483ce8" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/systick.cpp:71</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile static uint32_t busy_cycles_accum = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-74fddf697b8f" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-74fddf697b8f" data-id="supp-74fddf697b8f"><label for="ck-supp-74fddf697b8f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/systick.cpp:72</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile static uint16_t sample_seconds = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-191ba764ae89" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-191ba764ae89" data-id="supp-191ba764ae89"><label for="ck-supp-191ba764ae89" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/systick.cpp:73</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile static uint8_t cpu_usage = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-c0e88a884841" data-group="补充筛查" data-severity="warning" data-rule="SUP-GLB-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-c0e88a884841" data-id="supp-c0e88a884841"><label for="ck-supp-c0e88a884841" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-GLB-001</code></td>
<td><code>sys/systick.cpp:74</code></td>
<td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td>
<td><code>volatile static uint8_t dwt_initialized = 0;</code></td>
<td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-220ae6c1673f" data-group="补充筛查" data-severity="warning" data-rule="SUP-IRQ-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-220ae6c1673f" data-id="supp-220ae6c1673f"><label for="ck-supp-220ae6c1673f" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-IRQ-001</code></td>
<td><code>device/Can.cpp:709</code></td>
<td>关中断后未在短窗口内看到开中断,需人工确认成对性</td>
<td><code>__disable_irq();</code></td>
<td>确认所有路径均恢复中断;避免临界区过长。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-e73532e2d89c" data-group="补充筛查" data-severity="warning" data-rule="SUP-IRQ-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-e73532e2d89c" data-id="supp-e73532e2d89c"><label for="ck-supp-e73532e2d89c" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-IRQ-001</code></td>
<td><code>sys/flash.cpp:888</code></td>
<td>关中断后未在短窗口内看到开中断,需人工确认成对性</td>
<td><code>__disable_irq();</code></td>
<td>确认所有路径均恢复中断;避免临界区过长。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-b0ab1b3cde0e" data-group="补充筛查" data-severity="warning" data-rule="SUP-IRQ-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-b0ab1b3cde0e" data-id="supp-b0ab1b3cde0e"><label for="ck-supp-b0ab1b3cde0e" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-IRQ-001</code></td>
<td><code>sys/systick.cpp:256</code></td>
<td>关中断后未在短窗口内看到开中断,需人工确认成对性</td>
<td><code>__disable_irq();</code></td>
<td>确认所有路径均恢复中断;避免临界区过长。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="supp-52ca6be1c9f5" data-group="补充筛查" data-severity="warning" data-rule="SUP-SW-001">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-supp-52ca6be1c9f5" data-id="supp-52ca6be1c9f5"><label for="ck-supp-52ca6be1c9f5" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>补充筛查</td>
<td><code>SUP-SW-001</code></td>
<td><code>Algorithm/FOC.cpp:89</code></td>
<td>switch 语句疑似缺少 default 分支</td>
<td><code>switch (cog_calib_state) {</code></td>
<td>MISRA 通常要求 default;如枚举已全覆盖也建议显式说明。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="metric-ac925d0fa661" data-group="复杂度评审" data-severity="warning" data-rule="METRIC-CC">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-metric-ac925d0fa661" data-id="metric-ac925d0fa661"><label for="ck-metric-ac925d0fa661" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>复杂度评审</td>
<td><code>METRIC-CC</code></td>
<td><code>Algorithm/FOC.cpp:75</code></td>
<td>FOC_Controller::calibrate_cogging_tick 圈复杂度 33,risk=high</td>
<td><code>Algorithm/FOC.cpp:75-238 FOC_Controller::calibrate_cogging_tick</code></td>
<td>人工评审分支完整性;必要时补单元测试或后续拆分。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="metric-98b568f0e6b4" data-group="复杂度评审" data-severity="warning" data-rule="METRIC-CC">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-metric-98b568f0e6b4" data-id="metric-98b568f0e6b4"><label for="ck-metric-98b568f0e6b4" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>复杂度评审</td>
<td><code>METRIC-CC</code></td>
<td><code>device/Can.cpp:1076</code></td>
<td>CAN_transmiter::communication_check 圈复杂度 27,risk=high</td>
<td><code>device/Can.cpp:1076-1300 CAN_transmiter::communication_check</code></td>
<td>人工评审分支完整性;必要时补单元测试或后续拆分。</td>
</tr>
<tr class="issue-row severity-warning" data-issue-id="metric-0dfc09c00e94" data-group="复杂度评审" data-severity="warning" data-rule="METRIC-CC">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-metric-0dfc09c00e94" data-id="metric-0dfc09c00e94"><label for="ck-metric-0dfc09c00e94" class="sr">确认</label></td>
<td><span class="badge warning">warning</span></td>
<td>复杂度评审</td>
<td><code>METRIC-CC</code></td>
<td><code>main.cpp:120</code></td>
<td>do_task 圈复杂度 17,risk=high</td>
<td><code>main.cpp:120-205 do_task</code></td>
<td>人工评审分支完整性;必要时补单元测试或后续拆分。</td>
</tr>
<tr class="issue-row severity-info" data-issue-id="metric-f6c2bfb36b40" data-group="复杂度评审" data-severity="info" data-rule="METRIC-CC">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-metric-f6c2bfb36b40" data-id="metric-f6c2bfb36b40"><label for="ck-metric-f6c2bfb36b40" class="sr">确认</label></td>
<td><span class="badge info">info</span></td>
<td>复杂度评审</td>
<td><code>METRIC-CC</code></td>
<td><code>Algorithm/FOC.cpp:392</code></td>
<td>FOC_Controller::setSVPWM_PhaseVoltage 圈复杂度 15,risk=medium</td>
<td><code>Algorithm/FOC.cpp:392-490 FOC_Controller::setSVPWM_PhaseVoltage</code></td>
<td>人工评审分支完整性;必要时补单元测试或后续拆分。</td>
</tr>
<tr class="issue-row severity-info" data-issue-id="metric-e7f74eabf84b" data-group="复杂度评审" data-severity="info" data-rule="METRIC-CC">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-metric-e7f74eabf84b" data-id="metric-e7f74eabf84b"><label for="ck-metric-e7f74eabf84b" class="sr">确认</label></td>
<td><span class="badge info">info</span></td>
<td>复杂度评审</td>
<td><code>METRIC-CC</code></td>
<td><code>sys/flash.cpp:308</code></td>
<td>FlashEEPROM::writeFloat 圈复杂度 12,risk=medium</td>
<td><code>sys/flash.cpp:308-383 FlashEEPROM::writeFloat</code></td>
<td>人工评审分支完整性;必要时补单元测试或后续拆分。</td>
</tr>
<tr class="issue-row severity-info" data-issue-id="metric-65df715e5faa" data-group="复杂度评审" data-severity="info" data-rule="METRIC-CC">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-metric-65df715e5faa" data-id="metric-65df715e5faa"><label for="ck-metric-65df715e5faa" class="sr">确认</label></td>
<td><span class="badge info">info</span></td>
<td>复杂度评审</td>
<td><code>METRIC-CC</code></td>
<td><code>sys/health.cpp:35</code></td>
<td>ThermalController::update 圈复杂度 12,risk=medium</td>
<td><code>sys/health.cpp:35-94 ThermalController::update</code></td>
<td>人工评审分支完整性;必要时补单元测试或后续拆分。</td>
</tr>
<tr class="issue-row severity-info" data-issue-id="metric-48d7e9621754" data-group="复杂度评审" data-severity="info" data-rule="METRIC-CC">
<td class="check-cell"><input type="checkbox" class="issue-check" id="ck-metric-48d7e9621754" data-id="metric-48d7e9621754"><label for="ck-metric-48d7e9621754" class="sr">确认</label></td>
<td><span class="badge info">info</span></td>
<td>复杂度评审</td>
<td><code>METRIC-CC</code></td>
<td><code>device/Can.cpp:597</code></td>
<td>can_loopback_test 圈复杂度 11,risk=medium</td>
<td><code>device/Can.cpp:597-665 can_loopback_test</code></td>
<td>人工评审分支完整性;必要时补单元测试或后续拆分。</td>
</tr></tbody>
</table>
</div>
</section>
<section class="card"><h2>Top 圈复杂度</h2><table><thead><tr><th>风险</th><th>复杂度</th><th>位置</th><th>函数</th></tr></thead><tbody><tr><td><span class="risk high">high</span></td><td>33</td><td><code>Algorithm/FOC.cpp:75-238</code></td><td><code>FOC_Controller::calibrate_cogging_tick</code></td></tr><tr><td><span class="risk high">high</span></td><td>27</td><td><code>device/Can.cpp:1076-1300</code></td><td><code>CAN_transmiter::communication_check</code></td></tr><tr><td><span class="risk high">high</span></td><td>17</td><td><code>main.cpp:120-205</code></td><td><code>do_task</code></td></tr><tr><td><span class="risk medium">medium</span></td><td>15</td><td><code>Algorithm/FOC.cpp:392-490</code></td><td><code>FOC_Controller::setSVPWM_PhaseVoltage</code></td></tr><tr><td><span class="risk medium">medium</span></td><td>12</td><td><code>sys/flash.cpp:308-383</code></td><td><code>FlashEEPROM::writeFloat</code></td></tr><tr><td><span class="risk medium">medium</span></td><td>12</td><td><code>sys/health.cpp:35-94</code></td><td><code>ThermalController::update</code></td></tr><tr><td><span class="risk medium">medium</span></td><td>11</td><td><code>device/Can.cpp:597-665</code></td><td><code>can_loopback_test</code></td></tr><tr><td><span class="risk low">low</span></td><td>10</td><td><code>device/Can.cpp:1448-1504</code></td><td><code>CAN_transmiter::CANFD_AsyncSend</code></td></tr><tr><td><span class="risk low">low</span></td><td>10</td><td><code>sys/flash.cpp:90-161</code></td><td><code>FlashEEPROM::read_saved_system_config</code></td></tr><tr><td><span class="risk low">low</span></td><td>10</td><td><code>sys/flash.cpp:237-300</code></td><td><code>FlashEEPROM::write</code></td></tr><tr><td><span class="risk low">low</span></td><td>10</td><td><code>sys/flash.cpp:657-717</code></td><td><code>FlashEEPROM::writeNodeId</code></td></tr><tr><td><span class="risk low">low</span></td><td>10</td><td><code>sys/flash.cpp:928-1030</code></td><td><code>move_app_data</code></td></tr><tr><td><span class="risk low">low</span></td><td>9</td><td><code>device/Can.cpp:534-589</code></td><td><code>canfd_loopback_test</code></td></tr><tr><td><span class="risk low">low</span></td><td>9</td><td><code>sys/flash.cpp:413-482</code></td><td><code>FlashEEPROM::save_system_config</code></td></tr><tr><td><span class="risk low">low</span></td><td>9</td><td><code>sys/flash.cpp:792-879</code></td><td><code>OTA_SET</code></td></tr><tr><td><span class="risk low">low</span></td><td>9</td><td><code>sys/health.cpp:113-149</code></td><td><code>power_manage</code></td></tr><tr><td><span class="risk low">low</span></td><td>8</td><td><code>device/ADC.cpp:194-219</code></td><td><code>sampler::get_current</code></td></tr><tr><td><span class="risk low">low</span></td><td>8</td><td><code>sys/flash.cpp:724-776</code></td><td><code>FlashEEPROM::writeCRC</code></td></tr><tr><td><span class="risk low">low</span></td><td>8</td><td><code>sys/systick.cpp:244-298</code></td><td><code>app_prepare_deep_sleep</code></td></tr><tr><td><span class="risk low">low</span></td><td>7</td><td><code>device/Timer.cpp:134-184</code></td><td><code>TIMER2_IRQHandler</code></td></tr><tr><td><span class="risk low">low</span></td><td>7</td><td><code>sys/initial.cpp:256-290</code></td><td><code>get_reset_cause</code></td></tr><tr><td><span class="risk low">low</span></td><td>6</td><td><code>Algorithm/FOC.cpp:603-642</code></td><td><code>FOC_Controller::fast_voltage_check</code></td></tr><tr><td><span class="risk low">low</span></td><td>6</td><td><code>device/Can.cpp:1399-1440</code></td><td><code>CAN_transmiter::CAN_AsyncSend</code></td></tr><tr><td><span class="risk low">low</span></td><td>6</td><td><code>sys/flash.cpp:521-558</code></td><td><code>read_node_id_struct</code></td></tr><tr><td><span class="risk low">low</span></td><td>6</td><td><code>sys/initial.cpp:296-351</code></td><td><code>OTA_initial</code></td></tr><tr><td><span class="risk low">low</span></td><td>5</td><td><code>Algorithm/Filter.cpp:162-200</code></td><td><code>EncoderAngleKalman::update</code></td></tr><tr><td><span class="risk low">low</span></td><td>5</td><td><code>device/Can.cpp:800-824</code></td><td><code>CAN_RX_ReadMetadata</code></td></tr><tr><td><span class="risk low">low</span></td><td>5</td><td><code>device/Can.cpp:1355-1383</code></td><td><code>DMA0_Channel4_IRQHandler</code></td></tr><tr><td><span class="risk low">low</span></td><td>5</td><td><code>sys/flash.cpp:169-192</code></td><td><code>FlashEEPROM::read</code></td></tr><tr><td><span class="risk low">low</span></td><td>5</td><td><code>sys/flash.cpp:200-229</code></td><td><code>FlashEEPROM::readFloat</code></td></tr></tbody></table></section>
<section class="card"><h2>优先级评审清单</h2><div class="priority-list"><div class="priority-card"><div class="priority-title">**P1 复杂度超阈值** `Algorithm/FOC.cpp:75` `FOC_Controller::calibrate_cogging_tick`</div><div class="priority-desc">CC=33,需人工评审分支/异常路径;后续可加单元测试或拆分。</div></div><div class="priority-card"><div class="priority-title">**P1 复杂度超阈值** `device/Can.cpp:1076` `CAN_transmiter::communication_check`</div><div class="priority-desc">CC=27,需人工评审分支/异常路径;后续可加单元测试或拆分。</div></div><div class="priority-card"><div class="priority-title">**P1 复杂度超阈值** `main.cpp:120` `do_task`</div><div class="priority-desc">CC=17,需人工评审分支/异常路径;后续可加单元测试或拆分。</div></div><div class="priority-card"><div class="priority-title">**P2 continue 偏离候选** `device/Can.cpp:1124`</div><div class="priority-desc">确认是否可重构;若暂不改逻辑,形成偏离说明。</div></div><div class="priority-card"><div class="priority-title">**P2 continue 偏离候选** `device/Can.cpp:1194`</div><div class="priority-desc">确认是否可重构;若暂不改逻辑,形成偏离说明。</div></div><div class="priority-card"><div class="priority-title">**P2 continue 偏离候选** `device/Can.cpp:1199`</div><div class="priority-desc">确认是否可重构;若暂不改逻辑,形成偏离说明。</div></div><div class="priority-card"><div class="priority-title">**P2 continue 偏离候选** `main.cpp:80`</div><div class="priority-desc">确认是否可重构;若暂不改逻辑,形成偏离说明。</div></div><div class="priority-card"><div class="priority-title">**P2 continue 偏离候选** `sys/flash.cpp:693`</div><div class="priority-desc">确认是否可重构;若暂不改逻辑,形成偏离说明。</div></div><div class="priority-card"><div class="priority-title">**P2 continue 偏离候选** `sys/systick.cpp:264`</div><div class="priority-desc">确认是否可重构;若暂不改逻辑,形成偏离说明。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `Algorithm/FOC.cpp`</div><div class="priority-desc">21 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `device/Can.cpp`</div><div class="priority-desc">1 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `device/ang_sensor.cpp`</div><div class="priority-desc">1 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `device/motor.cpp`</div><div class="priority-desc">1 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `main.cpp`</div><div class="priority-desc">1 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `sys/flash.cpp`</div><div class="priority-desc">2 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `sys/initial.cpp`</div><div class="priority-desc">3 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P2 调试输出隔离** `sys/systick.cpp`</div><div class="priority-desc">1 处 printf/snprint 类调用;确认宏隔离、量产关闭、实时性影响。</div></div><div class="priority-card"><div class="priority-title">**P3 平台/中断指令偏离候选** `device/Can.cpp`</div><div class="priority-desc">1 处关中断/开中断/WFI/汇编;确认临界区长度和安全机制。</div></div><div class="priority-card"><div class="priority-title">**P3 平台/中断指令偏离候选** `main.cpp`</div><div class="priority-desc">3 处关中断/开中断/WFI/汇编;确认临界区长度和安全机制。</div></div><div class="priority-card"><div class="priority-title">**P3 平台/中断指令偏离候选** `sys/flash.cpp`</div><div class="priority-desc">5 处关中断/开中断/WFI/汇编;确认临界区长度和安全机制。</div></div><div class="priority-card"><div class="priority-title">**P3 平台/中断指令偏离候选** `sys/systick.cpp`</div><div class="priority-desc">1 处关中断/开中断/WFI/汇编;确认临界区长度和安全机制。</div></div></div></section>
<section class="card"><h2>主规则清单</h2><table><thead><tr><th>级别</th><th>规则</th><th>数量</th><th>说明</th><th>参考</th></tr></thead><tbody><tr><td><span class="badge info">info</span></td><td><code>AUTO-ARRAY-001</code></td><td>251</td><td>数组下标访问需审查边界保护</td><td>MISRA C:2012 Rule 18.x</td></tr><tr><td><span class="badge info">info</span></td><td><code>AUTO-ASM-001</code></td><td>10</td><td>关中断/低功耗/内联汇编等平台相关指令需审查</td><td>MISRA C:2012 Dir 4.3 / project safety rule</td></tr><tr><td><span class="badge info">info</span></td><td><code>AUTO-CAST-001</code></td><td>223</td><td>C 风格强制类型转换需审查必要性和范围</td><td>MISRA C:2012 Rule 10.x / MISRA C++ 5-2-x</td></tr><tr><td><span class="badge warning">warning</span></td><td><code>AUTO-CTRL-002</code></td><td>6</td><td>continue 需避免或说明偏离</td><td>MISRA C:2012 Rule 15.5 advisory / structured control flow</td></tr><tr><td><span class="badge warning">warning</span></td><td><code>AUTO-FUNC-002</code></td><td>31</td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td>MISRA Dir 4.12 / project safety rule</td></tr><tr><td><span class="badge info">info</span></td><td><code>AUTO-MACRO-001</code></td><td>29</td><td>函数式宏需审查括号、副作用和类型安全</td><td>MISRA C:2012 Rule 20.x</td></tr><tr><td><span class="badge warning">warning</span></td><td><code>AUTO-MET-001</code></td><td>3</td><td>圈复杂度 33 超过建议阈值 15</td><td>Project metric threshold CC &lt;= 15</td></tr></tbody></table></section>
<section class="card"><h2>补充规则清单</h2><table><thead><tr><th>级别</th><th>规则</th><th>数量</th><th>说明</th><th>建议</th></tr></thead><tbody><tr><td><span class="badge warning">warning</span></td><td><code>SUP-CMP-001</code></td><td>14</td><td>浮点变量比较需确认容差或离散状态含义</td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><span class="badge info">info</span></td><td><code>SUP-DOC-001</code></td><td>12</td><td>接口/函数缺少紧邻 Doxygen 注释</td><td>建议补充 @brief/@param/@return;内部小函数可按项目规范豁免。</td></tr><tr><td><span class="badge warning">warning</span></td><td><code>SUP-GLB-001</code></td><td>189</td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><span class="badge info">info</span></td><td><code>SUP-GLB-002</code></td><td>47</td><td>extern 全局对象引用,需确认单一定义和共享访问保护</td><td>确认是否跨 ISR/主循环共享;共享变量建议 volatile 或临界区保护。</td></tr><tr><td><span class="badge warning">warning</span></td><td><code>SUP-IRQ-001</code></td><td>3</td><td>关中断后未在短窗口内看到开中断,需人工确认成对性</td><td>确认所有路径均恢复中断;避免临界区过长。</td></tr><tr><td><span class="badge info">info</span></td><td><code>SUP-ISR-001</code></td><td>18</td><td>中断处理函数需确认执行时间、共享数据保护和禁止阻塞调用</td><td>人工确认 ISR 内无阻塞、无长耗时,并检查共享变量 volatile/临界区。</td></tr><tr><td><span class="badge info">info</span></td><td><code>SUP-LOOP-001</code></td><td>4</td><td>无限循环需确认退出策略、看门狗喂狗和低功耗策略</td><td>确认循环内任务调度、异常退出/复位策略和看门狗策略。</td></tr><tr><td><span class="badge info">info</span></td><td><code>SUP-MAG-001</code></td><td>439</td><td>业务代码中存在裸数字常量,需确认是否应命名化</td><td>安全相关阈值/时间/比例建议用具名常量或配置宏。</td></tr><tr><td><span class="badge warning">warning</span></td><td><code>SUP-SW-001</code></td><td>1</td><td>switch 语句疑似缺少 default 分支</td><td>MISRA 通常要求 default;如枚举已全覆盖也建议显式说明。</td></tr></tbody></table></section>
<section class="card"><h2>主规则 Warning 明细</h2><div class="scroll"><table><thead><tr><th>规则</th><th>位置</th><th>说明</th><th>证据</th><th>建议</th></tr></thead><tbody><tr><td><code>AUTO-CTRL-002</code></td><td><code>device/Can.cpp:1124</code></td><td>continue 需避免或说明偏离</td><td><code>continue;</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-CTRL-002</code></td><td><code>device/Can.cpp:1194</code></td><td>continue 需避免或说明偏离</td><td><code>continue;</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-CTRL-002</code></td><td><code>device/Can.cpp:1199</code></td><td>continue 需避免或说明偏离</td><td><code>continue;</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-CTRL-002</code></td><td><code>main.cpp:80</code></td><td>continue 需避免或说明偏离</td><td><code>continue;</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-CTRL-002</code></td><td><code>sys/flash.cpp:693</code></td><td>continue 需避免或说明偏离</td><td><code>continue;</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-CTRL-002</code></td><td><code>sys/systick.cpp:264</code></td><td>continue 需避免或说明偏离</td><td><code>continue;</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:100</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:161</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;,</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:195</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:198</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;, angle_deg, cogging_table[i]);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:203</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:206</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;, angle_deg, cogging_table_rev[i]);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:211</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:212</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:214</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>if (i % 8 == 0) printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:215</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;, cogging_table[i]);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:216</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>if (i &lt; COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:217</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:220</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:223</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:224</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:226</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>if (i % 8 == 0) printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:227</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;, cogging_table_rev[i]);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:228</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>if (i &lt; COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:229</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:232</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>Algorithm/FOC.cpp:234</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>device/Can.cpp:30</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define CAN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>device/ang_sensor.cpp:22</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define ANG_SENS_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>device/motor.cpp:38</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>printf(&quot;&quot;);</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>main.cpp:22</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define MAIN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>sys/flash.cpp:22</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>sys/flash.cpp:31</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>sys/initial.cpp:23</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>sys/initial.cpp:32</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>sys/initial.cpp:129</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>snprintf(buffer, bufSize, &quot;&quot;, version.major, version.minor,</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-FUNC-002</code></td><td><code>sys/systick.cpp:47</code></td><td>printf/格式化输出需确认调试隔离和实时性影响</td><td><code>#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)</code></td><td>人工确认是否符合项目编码规范;如合理则记录偏离说明。</td></tr><tr><td><code>AUTO-MET-001</code></td><td><code>Algorithm/FOC.cpp:75</code></td><td>圈复杂度 33 超过建议阈值 15</td><td><code>FOC_Controller::calibrate_cogging_tick</code></td><td>建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。</td></tr><tr><td><code>AUTO-MET-001</code></td><td><code>device/Can.cpp:1076</code></td><td>圈复杂度 27 超过建议阈值 15</td><td><code>CAN_transmiter::communication_check</code></td><td>建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。</td></tr><tr><td><code>AUTO-MET-001</code></td><td><code>main.cpp:120</code></td><td>圈复杂度 17 超过建议阈值 15</td><td><code>do_task</code></td><td>建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。</td></tr></tbody></table></div></section>
<section class="card"><h2>补充筛查 Warning 明细</h2><div class="scroll"><table><thead><tr><th>规则</th><th>位置</th><th>说明</th><th>证据</th><th>建议</th></tr></thead><tbody><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:53</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>if (rt_velocity &lt; -0.5f) last_table = cogging_table_rev;</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:54</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>else if (rt_velocity &gt; 0.5f) last_table = cogging_table;</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:404</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>u8 sector_code = (X &gt; 0.0f ? 1u : 0u)</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:405</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>+ (Y &gt; 0.0f ? 2u : 0u)</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:406</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>+ (Z &gt; 0.0f ? 4u : 0u);</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:534</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>if (HOLD_PWM_DUTY &gt; 0.95f) {</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:536</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>} else if (HOLD_PWM_DUTY &lt; 0.0f) {</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:569</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>if (voltage &lt; 36.0f and voltage &gt; 8.0f) {</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:763</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>if (target_velocity &lt; -120.0f) {</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/FOC.cpp:765</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>} else if (target_velocity &lt; -30.0f) {</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/Filter.cpp:190</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>if (error &gt; 180.0f) error -= 360.0f;</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>Algorithm/Filter.cpp:191</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>else if (error &lt; -180.0f) error += 360.0f;</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>sys/config.h:427</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>while (angle &gt;= 360.0f) angle -= 360.0f;</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-CMP-001</code></td><td><code>sys/config.h:428</code></td><td>浮点变量比较需确认容差或离散状态含义</td><td><code>while (angle &lt; 0.0f) angle += 360.0f;</code></td><td>建议确认是否应使用阈值/容差比较。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>Algorithm/FOC.cpp:23</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>FOC_Controller FOC;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ADC.cpp:20</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ADC_SCALE = 3.3f / 4096.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ADC.cpp:22</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float TEMP_FACTOR = 1000.0f / 4.3f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ADC.cpp:24</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VCC_FACTOR = 11.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ADC.cpp:26</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float CURRENT_FACTOR =</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ADC.cpp:30</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>sampler sampler;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ADC.cpp:33</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile u8 adc_current_frame_ready = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:37</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANX = CAN0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:48</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>dma_parameter_struct dma_rx_parameter;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:51</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile bool can_rx_dma_busy = false;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:52</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static can_receive_message_struct can_rx_dma_message;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:72</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile u8 rx_queue_head = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:73</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile u8 rx_queue_tail = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:74</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile u8 rx_queue_count = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:77</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile u8 tx_queue_head = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:78</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile u8 tx_queue_tail = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:79</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static volatile u8 tx_queue_count = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Can.cpp:84</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>CAN_transmiter CAN0_transmiter;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/Timer.cpp:18</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile u32 total_us100_counter = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ang_sensor.cpp:38</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile bool spi_dma_tx_complete = false;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ang_sensor.cpp:39</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile bool spi_dma_rx_complete = false;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>device/ang_sensor.cpp:41</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>angle_sensor KTH7823;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>main.cpp:39</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>TaskScheduler scheduler = {0};</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>main.cpp:40</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>u32 motor_runtime_50us = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>main.cpp:41</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>u32 cnt_test = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:32</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 SOFTWARE_VERSION_MAJOR = 26;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:34</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 SOFTWARE_VERSION_MINOR = 5;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:36</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 SOFTWARE_VERSION_PATCH = 19;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:38</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 SOFTWARE_VERSION_BUILD = 2;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:41</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 HARDWARE_VERSION_MAJOR = 25;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:43</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 HARDWARE_VERSION_MINOR = 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:45</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 HARDWARE_VERSION_PATCH = 01;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:47</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 HARDWARE_VERSION_BUILD = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:50</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 BOOT_VERSION_MAJOR = 26;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:52</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 BOOT_VERSION_MINOR = 1;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:54</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 BOOT_VERSION_PATCH = 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:56</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 BOOT_VERSION_BUILD = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:60</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 BOOTLOADER_SIZE = 0x6000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:62</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 BOOTLOADER_START_ADDR = 0x08000000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:64</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 APPLATEST_START_ADDR = 0x08012000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:66</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 APPBACK_START_ADDR = 0x08006000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:68</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 APP_MAX_SIZE = 0xC000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:70</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 FMC_PAGE_SIZE = 0x400;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:72</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 SLEEP_CONFIG_START = 0x0801E400;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:74</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 SLEEP_CONFIG_END = 0x0801E800;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:76</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 FLASH_EMPTY = 0xFFFFFFFF;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:78</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 SLEEP_ENABLE = 0x11111111;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:80</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 SLEEP_DISABLE = 0x00000000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:92</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 NODE_ID_PAGE_ADDR = 0x0801E800;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:94</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 NODE_ID_PRIMARY_ADDR = 0x0801E800;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:96</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 NODE_ID_BACKUP_ADDR = 0x0801E840;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:98</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 NODE_ID_MAGIC = 0x4E4F4445;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:100</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 DEFAULT_NODE_ID = 1;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:102</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 BROADCAST_NODE_ID = 0x1FFF;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:104</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 MAX_NODE_ID = 0x1FFE;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:113</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 NODE_ID_STRUCT_SIZE = 0x10;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:115</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 NODE_ID_MAGIC_OFFSET = 0x00;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:117</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 NODE_ID_VALUE_OFFSET = 0x04;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:119</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 NODE_ID_COUNTER_OFFSET = 0x08;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:121</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 NODE_ID_CRC_OFFSET = 0x0C;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:125</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 OTA_CONFIG_NUM = 6;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:127</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801E000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:129</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801E004;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:131</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801E008;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:133</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801E00C;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:135</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801E010;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:137</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801E014;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:139</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:141</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 OTA_AVAL = 0x00000000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:145</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 PP = 11;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:147</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DIR = 1.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:149</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 REDUCTION_RATIO = 25;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:151</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float CURRENT_OFFSET = -3.31f / 2.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:153</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float HOLD_PWM_DUTY = 0.1f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:155</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 ANGLESENS_OFFSET = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:157</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLESENS_CALIBRATION_ANGLE = 83.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:159</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float KE_FACTOR = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:163</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_KALMAN_INITIAL_STATE = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:165</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_KALMAN_INITIAL_COVARIANCE = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:167</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_KALMAN_PROCESS_NOISE_Q = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:169</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_KALMAN_MEASUREMENT_NOISE_R = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:171</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_OBSERVER_ALPHA = 0.75f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:173</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_OBSERVER_BETA = 0.002f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:177</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VELOCITY_KALMAN_INITIAL_STATE = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:179</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VELOCITY_KALMAN_INITIAL_COVARIANCE = 1e-3f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:181</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VELOCITY_KALMAN_PROCESS_NOISE_Q =</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:184</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VELOCITY_KALMAN_MEASUREMENT_NOISE_R =</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:189</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float CURRENT_KALMAN_INITIAL_STATE = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:191</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float CURRENT_KALMAN_INITIAL_COVARIANCE = 100.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:193</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float CURRENT_KALMAN_PROCESS_NOISE_Q = 10.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:195</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float CURRENT_KALMAN_MEASUREMENT_NOISE_R = 5e-5f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:199</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_current_loop_p = 0.1f / 100 * 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:201</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float current_loop_Ki = 0.55f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:203</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float current_loop_Kd = 3e-4f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:206</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_vel_loop_p = 0.018f / 100 * 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:208</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_loop_Ku = 3.600000e-03 * 0.7 * 100 / 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:210</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_loop_Tu = 17.0f * 1e-3f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:212</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_loop_Ki = 1.2 * vel_loop_Ku / vel_loop_Tu;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:214</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_loop_Kd = 0.075 * vel_loop_Ku * vel_loop_Tu * 2;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:217</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_vel_angloop_p = 0.4f / 100;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:219</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_angloop_Ki = 5.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:221</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_angloop_Kd = 5e-05f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:224</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_angle_angloop_p =</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:227</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ang_angloop_Ki = 0.00f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:229</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ang_angloop_Kd = 8e-04f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:232</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_angle_loop_p = 60.0f / 100 * 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:235</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_angle_MIT_p = 100.0f / 100 * 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:237</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float angle_MIT_Ki = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:239</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float angle_MIT_Kd = 8e-04f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:242</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_vel_MIT_p = 5.0f / 100;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:244</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_MIT_Ki = 15.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:246</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float vel_MIT_Kd = 1e-04f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:249</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEFAULT_current_MIT_p = 0.2f / 100 * 12;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:251</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float current_MIT_Ki = 0.1f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:253</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float current_MIT_Kd = 3e-4f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:260</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ADC_MAX = 65536.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:262</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float PI = 3.14159265358979323846f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:264</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float INV_PI_3 = 3.0f / PI;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:266</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float PI_3 = PI / 3.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:268</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float _1_SQRT3 = 0.57735026919f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:270</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float _3PI_2 = 4.71238898038f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:272</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float SQRT3 = 1.7320508075688772f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:274</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float SQRT3DV2 = 0.8660254037844386f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:276</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float COS_PI_3 = 0.5f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:278</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_FACTOR = 25.0f / 180.0f * PI;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:280</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float DEG2RAD = 1.0f / 180.0f * PI;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:282</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float RAD2DEG = 180.0f / PI;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:284</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 DEFAULT_VALUE = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:286</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 CONFIG_SAVED_NUM = 6;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:290</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 LUT_SIZE = 1024;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:301</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 DEV_CAN0_ID = 0x0000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:303</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 DEV_CAN0_MASK = 0x0000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:305</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:308</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_STATUS_ID = 0x0100;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:310</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_CONFIG_ID = 0x0101;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:312</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_VERSION_ID = 0x00FF;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:315</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_CMD_ID = 0x0200;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:317</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_RESET_ID = 0x0301;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:320</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_SET_NODE_ID = 0x0400;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:322</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_GET_NODE_ID = 0x0401;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:326</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_BOOT_ID = 0x0000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:328</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_OTA_REQ_ID = 0x0100;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:330</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_OTA_DATA_ID = 0x0101;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:332</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_OTA_ACK_ID = 0x0102;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:334</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 CANFD_OTA_WAIT_ID = 0x0103;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:338</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 ADC_FILTER_SIZE = 6;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:340</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u8 BLOCK_SIZE = ADC_FILTER_SIZE * SIZE_FLOAT;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:342</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ERROR_ADC_VAL = 255.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:344</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float MAX_TEMP = 150.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:346</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float MIN_TEMP = -40.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:348</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float MAX_CURRENT = 40.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:350</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float MIN_CURRENT = -40.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:352</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float MAX_VCC = 65.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:354</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float MIN_VCC = -0.1f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:358</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 VEL_FILTER_SIZE = 4;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:360</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 DEFAULT_COMMAND = 0x0000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:362</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 FAULT_RECEIVE = 0xFFFF;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:364</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_WRAP_THRESHOLD = 300.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:366</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLE_WRAP_VALUE = 360.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:368</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float RAD_FACTOR = 1.0f / ADC_MAX * 2.0f * PI;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:370</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:374</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr int TIMER2_PRESCALER = 119;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:376</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr int TIMER2_PERIOD = 49;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:378</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr int MOTOR_PERIOD = 1;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:380</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float TIME_SLICE =</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:383</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float TIMER2_FREQUENCY = 1 / TIME_SLICE;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:385</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float MOTOR_FREQUENCY = 1 / TIME_SLICE / MOTOR_PERIOD;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:389</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr int TIMER1_PRESCALER = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:391</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr int TIMER1_PERIOD = 2999;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:393</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr int TIMER1_DEFAULT_PULSE = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:395</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr int TIMER1_CH3_COMPARE_VALUE =</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:400</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 COGGING_TABLE_SIZE = 128;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:402</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float COGGING_COMP_SCALE = 0.005f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:413</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VBUS_DROP_THRESHOLD = 5.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:415</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VBUS_ABSOLUTE_MIN = 12.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:417</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u32 VBUS_DEBOUNCE_COUNT = 5;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/config.h:419</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr float VBUS_RECOVERY_RATIO = 0.9f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/health.cpp:19</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>ThermalController thermalController;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/health.cpp:25</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>constexpr u16 PROTECT_TIME = 6000;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/health.cpp:28</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static VoltageState voltage_state = VoltageState::NORMAL;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/health.cpp:29</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>static float last_vbus_slow = 0.0f;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/initial.cpp:39</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>VersionManager Version;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/systick.cpp:53</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile static uint32_t delay;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/systick.cpp:54</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile static uint32_t systick_ms = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/systick.cpp:70</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile static uint32_t task_enter_cyccnt = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/systick.cpp:71</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile static uint32_t busy_cycles_accum = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/systick.cpp:72</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile static uint16_t sample_seconds = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/systick.cpp:73</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile static uint8_t cpu_usage = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-GLB-001</code></td><td><code>sys/systick.cpp:74</code></td><td>文件作用域可变全局对象,需确认封装、并发访问和初始化顺序</td><td><code>volatile static uint8_t dwt_initialized = 0;</code></td><td>建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。</td></tr><tr><td><code>SUP-IRQ-001</code></td><td><code>device/Can.cpp:709</code></td><td>关中断后未在短窗口内看到开中断,需人工确认成对性</td><td><code>__disable_irq();</code></td><td>确认所有路径均恢复中断;避免临界区过长。</td></tr><tr><td><code>SUP-IRQ-001</code></td><td><code>sys/flash.cpp:888</code></td><td>关中断后未在短窗口内看到开中断,需人工确认成对性</td><td><code>__disable_irq();</code></td><td>确认所有路径均恢复中断;避免临界区过长。</td></tr><tr><td><code>SUP-IRQ-001</code></td><td><code>sys/systick.cpp:256</code></td><td>关中断后未在短窗口内看到开中断,需人工确认成对性</td><td><code>__disable_irq();</code></td><td>确认所有路径均恢复中断;避免临界区过长。</td></tr><tr><td><code>SUP-SW-001</code></td><td><code>Algorithm/FOC.cpp:89</code></td><td>switch 语句疑似缺少 default 分支</td><td><code>switch (cog_calib_state) {</code></td><td>MISRA 通常要求 default;如枚举已全覆盖也建议显式说明。</td></tr></tbody></table></div></section>
<section class="card"><h2>输出文件</h2><ul class="note"><li><code>report.html</code>:合并后的 HTML 报告</li><li><code>findings.csv</code>:主规则命中明细</li><li><code>supplement_findings.csv</code>:补充筛查明细</li><li><code>metrics.csv</code>:函数复杂度</li><li><code>files.csv</code>:文件范围、行数和 hash</li><li><code>supplement_report.md</code>:补充筛查 Markdown 摘要</li></ul></section><div class="footer">Generated locally. No source code logic changed.</div></div>
<script id="checklist-data" type="application/json">[{&quot;id&quot;: &quot;main-3117cb79205a&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-CTRL-002&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;1124&quot;, &quot;description&quot;: &quot;continue 需避免或说明偏离&quot;, &quot;evidence&quot;: &quot;continue;&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-527272d22f5f&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-CTRL-002&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;1194&quot;, &quot;description&quot;: &quot;continue 需避免或说明偏离&quot;, &quot;evidence&quot;: &quot;continue;&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-5ceb0ceaf414&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-CTRL-002&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;1199&quot;, &quot;description&quot;: &quot;continue 需避免或说明偏离&quot;, &quot;evidence&quot;: &quot;continue;&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-0d853312a4fb&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-CTRL-002&quot;, &quot;file&quot;: &quot;main.cpp&quot;, &quot;line&quot;: &quot;80&quot;, &quot;description&quot;: &quot;continue 需避免或说明偏离&quot;, &quot;evidence&quot;: &quot;continue;&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-d5c0067cb8c9&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-CTRL-002&quot;, &quot;file&quot;: &quot;sys/flash.cpp&quot;, &quot;line&quot;: &quot;693&quot;, &quot;description&quot;: &quot;continue 需避免或说明偏离&quot;, &quot;evidence&quot;: &quot;continue;&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-b3497022fd57&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-CTRL-002&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;264&quot;, &quot;description&quot;: &quot;continue 需避免或说明偏离&quot;, &quot;evidence&quot;: &quot;continue;&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-cd72d3b37996&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;100&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-eecf1f323336&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;161&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;,&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-44e5b708ced1&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;195&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-c8ae670ed482&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;198&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;, angle_deg, cogging_table[i]);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-778a368d79d3&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;203&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-668e5afb0750&quot;, &quot;group&quot;: &quot;主规则&quot;, 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&quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;212&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-efc8f847b950&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;214&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;if (i % 8 == 0) printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-344a33bfcf2b&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;215&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;, cogging_table[i]);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-4117283cf3e7&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;216&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;if (i &lt; COGGING_TABLE_SIZE - 1) printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-843a028f8696&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;217&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-2665cbd3f00e&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;220&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-cc75af885325&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;223&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-29a13abcf59d&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;224&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-1bfba6db3552&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;226&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;if (i % 8 == 0) printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-a61db2bcd87e&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;227&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;, cogging_table_rev[i]);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-e8581b775b86&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;228&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;if (i &lt; COGGING_TABLE_SIZE - 1) printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-a0e7f44822d5&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;229&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-e8d34916ef43&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;232&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-fb0f6eef33ee&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;234&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-3d52cdf723db&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;30&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define CAN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-a22197731662&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;device/ang_sensor.cpp&quot;, &quot;line&quot;: &quot;22&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define ANG_SENS_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-0c3a88910d56&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;device/motor.cpp&quot;, &quot;line&quot;: &quot;38&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;printf(\&quot;\&quot;);&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-687056efb188&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;main.cpp&quot;, &quot;line&quot;: &quot;22&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define MAIN_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-2787e912f9ed&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;sys/flash.cpp&quot;, &quot;line&quot;: &quot;22&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-f53db085a93d&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;sys/flash.cpp&quot;, &quot;line&quot;: &quot;31&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-552e5d7b3055&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;sys/initial.cpp&quot;, &quot;line&quot;: &quot;23&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define OTA_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-4e82e66f670a&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;sys/initial.cpp&quot;, &quot;line&quot;: &quot;32&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define EEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-a82cf38aaae0&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;sys/initial.cpp&quot;, &quot;line&quot;: &quot;129&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;snprintf(buffer, bufSize, \&quot;\&quot;, version.major, version.minor,&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-ce883b19cd52&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-FUNC-002&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;47&quot;, &quot;description&quot;: &quot;printf/格式化输出需确认调试隔离和实时性影响&quot;, &quot;evidence&quot;: &quot;#define SLEEP_DEBUG_PRINT(fmt, ...) printf(fmt, ##__VA_ARGS__)&quot;, &quot;recommendation&quot;: &quot;人工确认是否符合项目编码规范;如合理则记录偏离说明。&quot;}, {&quot;id&quot;: &quot;main-5240bf640bb6&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-MET-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;75&quot;, &quot;description&quot;: &quot;圈复杂度 33 超过建议阈值 15&quot;, &quot;evidence&quot;: &quot;FOC_Controller::calibrate_cogging_tick&quot;, &quot;recommendation&quot;: &quot;建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。&quot;}, {&quot;id&quot;: &quot;main-977f3df23a03&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-MET-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;1076&quot;, &quot;description&quot;: &quot;圈复杂度 27 超过建议阈值 15&quot;, &quot;evidence&quot;: &quot;CAN_transmiter::communication_check&quot;, &quot;recommendation&quot;: &quot;建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。&quot;}, {&quot;id&quot;: &quot;main-61c463500c61&quot;, &quot;group&quot;: &quot;主规则&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;AUTO-MET-001&quot;, &quot;file&quot;: &quot;main.cpp&quot;, &quot;line&quot;: &quot;120&quot;, &quot;description&quot;: &quot;圈复杂度 17 超过建议阈值 15&quot;, &quot;evidence&quot;: &quot;do_task&quot;, &quot;recommendation&quot;: &quot;建议人工评审分支完整性;后续允许时再考虑拆分或增加单元测试覆盖。&quot;}, {&quot;id&quot;: &quot;supp-be0750f37b75&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;53&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;if (rt_velocity &lt; -0.5f) last_table = cogging_table_rev;&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-babc355f3ba4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;54&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;else if (rt_velocity &gt; 0.5f) last_table = cogging_table;&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-07a2fcbd63fb&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;404&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;u8 sector_code = (X &gt; 0.0f ? 1u : 0u)&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-c48ffa36def4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;405&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;+ (Y &gt; 0.0f ? 2u : 0u)&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-7464d86d386a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;406&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;+ (Z &gt; 0.0f ? 4u : 0u);&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-c2c374b8a410&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;534&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;if (HOLD_PWM_DUTY &gt; 0.95f) {&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-f303809c0871&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;536&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;} else if (HOLD_PWM_DUTY &lt; 0.0f) {&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-897f14107d25&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;569&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;if (voltage &lt; 36.0f and voltage &gt; 8.0f) {&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-bc539f456a7e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;763&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;if (target_velocity &lt; -120.0f) {&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-6466d05c08ad&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;765&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;} else if (target_velocity &lt; -30.0f) {&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-e14bc6bcacd6&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/Filter.cpp&quot;, &quot;line&quot;: &quot;190&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;if (error &gt; 180.0f) error -= 360.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-73804b17c385&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;Algorithm/Filter.cpp&quot;, &quot;line&quot;: &quot;191&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;else if (error &lt; -180.0f) error += 360.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-b07105c03caa&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;427&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;while (angle &gt;= 360.0f) angle -= 360.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-a374b2a62cc3&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-CMP-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;428&quot;, &quot;description&quot;: &quot;浮点变量比较需确认容差或离散状态含义&quot;, &quot;evidence&quot;: &quot;while (angle &lt; 0.0f) angle += 360.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认是否应使用阈值/容差比较。&quot;}, {&quot;id&quot;: &quot;supp-212345faf28b&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;23&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;FOC_Controller FOC;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9838229d4cbb&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ADC.cpp&quot;, &quot;line&quot;: &quot;20&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ADC_SCALE = 3.3f / 4096.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-3038da272c7c&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ADC.cpp&quot;, &quot;line&quot;: &quot;22&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float TEMP_FACTOR = 1000.0f / 4.3f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-0d2a8817da44&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ADC.cpp&quot;, &quot;line&quot;: &quot;24&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VCC_FACTOR = 11.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-89c98258c38a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ADC.cpp&quot;, &quot;line&quot;: &quot;26&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float CURRENT_FACTOR =&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-528a6cec1e84&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ADC.cpp&quot;, &quot;line&quot;: &quot;30&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;sampler sampler;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-e242b707d647&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ADC.cpp&quot;, &quot;line&quot;: &quot;33&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile u8 adc_current_frame_ready = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9c6e067632b0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;37&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANX = CAN0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-570cf82a0ea5&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;48&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;dma_parameter_struct dma_rx_parameter;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b848b2393298&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;51&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile bool can_rx_dma_busy = false;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2dd905d3d33a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;52&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static can_receive_message_struct can_rx_dma_message;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-151515384d9d&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;72&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile u8 rx_queue_head = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-834473d55cbd&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;73&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile u8 rx_queue_tail = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-0ed73a1e9822&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;74&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile u8 rx_queue_count = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-1f41a4e9399a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;77&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile u8 tx_queue_head = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-0d1b7279df03&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;78&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile u8 tx_queue_tail = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-3b9068c82c27&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;79&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static volatile u8 tx_queue_count = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-7a89b7e99a15&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;84&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;CAN_transmiter CAN0_transmiter;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-0512b0719836&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/Timer.cpp&quot;, &quot;line&quot;: &quot;18&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile u32 total_us100_counter = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2bdf5602b64c&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ang_sensor.cpp&quot;, &quot;line&quot;: &quot;38&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile bool spi_dma_tx_complete = false;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-014e603e9a05&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ang_sensor.cpp&quot;, &quot;line&quot;: &quot;39&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile bool spi_dma_rx_complete = false;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-192ee126bacd&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;device/ang_sensor.cpp&quot;, &quot;line&quot;: &quot;41&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;angle_sensor KTH7823;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5e8bbfb22dca&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;main.cpp&quot;, &quot;line&quot;: &quot;39&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;TaskScheduler scheduler = {0};&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-cfd2894ba6c6&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;main.cpp&quot;, &quot;line&quot;: &quot;40&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;u32 motor_runtime_50us = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-80fbfa1e7f2a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;main.cpp&quot;, &quot;line&quot;: &quot;41&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;u32 cnt_test = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2687440608b0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;32&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 SOFTWARE_VERSION_MAJOR = 26;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-19455bafa3ac&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;34&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 SOFTWARE_VERSION_MINOR = 5;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-6e12b0ca84d2&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;36&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 SOFTWARE_VERSION_PATCH = 19;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-05a59d0def43&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;38&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 SOFTWARE_VERSION_BUILD = 2;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-e7dccd9a4003&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;41&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 HARDWARE_VERSION_MAJOR = 25;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5df96dbf6738&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;43&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 HARDWARE_VERSION_MINOR = 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-8148e3027849&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;45&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 HARDWARE_VERSION_PATCH = 01;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-c5e6fb0e92b3&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;47&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 HARDWARE_VERSION_BUILD = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-f21a6ce0ca0e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;50&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 BOOT_VERSION_MAJOR = 26;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-d3c74b81ee6f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;52&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 BOOT_VERSION_MINOR = 1;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-206d431ac433&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;54&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 BOOT_VERSION_PATCH = 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-8f19a6ce3b2b&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;56&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 BOOT_VERSION_BUILD = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-dc7c842eaf8a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;60&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 BOOTLOADER_SIZE = 0x6000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b646b277d882&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;62&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 BOOTLOADER_START_ADDR = 0x08000000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-8035701aea54&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;64&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 APPLATEST_START_ADDR = 0x08012000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-8c8575a287e0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;66&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 APPBACK_START_ADDR = 0x08006000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9345c6e7b49b&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;68&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 APP_MAX_SIZE = 0xC000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2871d296449d&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;70&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 FMC_PAGE_SIZE = 0x400;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-d86607ccbc20&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;72&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 SLEEP_CONFIG_START = 0x0801E400;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-eb4e342e74d7&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;74&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 SLEEP_CONFIG_END = 0x0801E800;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-23f2e81c8f43&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;76&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 FLASH_EMPTY = 0xFFFFFFFF;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-1a4ed985430d&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;78&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 SLEEP_ENABLE = 0x11111111;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-cef1f0c10332&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;80&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 SLEEP_DISABLE = 0x00000000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-cfa7b96290df&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;92&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 NODE_ID_PAGE_ADDR = 0x0801E800;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-8066dac3a4e4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;94&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 NODE_ID_PRIMARY_ADDR = 0x0801E800;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-045b8947a919&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;96&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 NODE_ID_BACKUP_ADDR = 0x0801E840;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-39a61666efaf&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;98&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 NODE_ID_MAGIC = 0x4E4F4445;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-da4349769920&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;100&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 DEFAULT_NODE_ID = 1;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-df53690c09aa&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;102&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 BROADCAST_NODE_ID = 0x1FFF;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a977c6fa3fc0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;104&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 MAX_NODE_ID = 0x1FFE;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-90bbab9c52ba&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;113&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 NODE_ID_STRUCT_SIZE = 0x10;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-7e9875638f06&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;115&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 NODE_ID_MAGIC_OFFSET = 0x00;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2cb25842f03e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;117&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 NODE_ID_VALUE_OFFSET = 0x04;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5f1962ce4046&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;119&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 NODE_ID_COUNTER_OFFSET = 0x08;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-89f2f99e8e8d&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;121&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 NODE_ID_CRC_OFFSET = 0x0C;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-6f6ffee00f58&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;125&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 OTA_CONFIG_NUM = 6;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-da022ec3d833&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;127&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801E000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-1f027dfb746a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;129&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801E004;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9dd3d0dbc734&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;131&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801E008;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a6c89579f6e4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;133&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801E00C;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-41033b3cde59&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;135&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801E010;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-e6f6ac38039c&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;137&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801E014;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-816cb5806281&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;139&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-85f55cfb9bd2&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;141&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 OTA_AVAL = 0x00000000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-4a07cfb831d2&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;145&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 PP = 11;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-473f9bd57824&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;147&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DIR = 1.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-fd66a295e97d&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;149&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 REDUCTION_RATIO = 25;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a3df150b3937&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;151&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float CURRENT_OFFSET = -3.31f / 2.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-4cf2fa02952e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;153&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float HOLD_PWM_DUTY = 0.1f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-d88f31fa5c0e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;155&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 ANGLESENS_OFFSET = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-09cce3719ad2&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;157&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLESENS_CALIBRATION_ANGLE = 83.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-479efab46368&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;159&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float KE_FACTOR = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-e0380903f6c3&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;163&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_KALMAN_INITIAL_STATE = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-1fbd51d49dad&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;165&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_KALMAN_INITIAL_COVARIANCE = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-aa5f59116193&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;167&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_KALMAN_PROCESS_NOISE_Q = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2c87813f8aa3&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;169&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_KALMAN_MEASUREMENT_NOISE_R = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-07a2866f170a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;171&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_OBSERVER_ALPHA = 0.75f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9946aa57c8a9&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;173&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_OBSERVER_BETA = 0.002f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-3dbd2f0de758&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;177&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VELOCITY_KALMAN_INITIAL_STATE = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-df5a0f8d5a72&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;179&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VELOCITY_KALMAN_INITIAL_COVARIANCE = 1e-3f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-007928464d9b&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;181&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VELOCITY_KALMAN_PROCESS_NOISE_Q =&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-6495be6cf728&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;184&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VELOCITY_KALMAN_MEASUREMENT_NOISE_R =&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b163701fc702&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;189&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float CURRENT_KALMAN_INITIAL_STATE = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9d4b1e19e4f1&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;191&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float CURRENT_KALMAN_INITIAL_COVARIANCE = 100.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-63c6dddf8bf5&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;193&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float CURRENT_KALMAN_PROCESS_NOISE_Q = 10.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-ff8f09c6bfa5&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;195&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float CURRENT_KALMAN_MEASUREMENT_NOISE_R = 5e-5f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2eaa8c7f0941&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;199&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_current_loop_p = 0.1f / 100 * 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-4becb5ead2c4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;201&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float current_loop_Ki = 0.55f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-4182de41f8da&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;203&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float current_loop_Kd = 3e-4f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-442b031030c0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;206&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_vel_loop_p = 0.018f / 100 * 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-58df8dc7015c&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;208&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_loop_Ku = 3.600000e-03 * 0.7 * 100 / 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-624129e18b9e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;210&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_loop_Tu = 17.0f * 1e-3f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-cb34e84dcbdf&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;212&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_loop_Ki = 1.2 * vel_loop_Ku / vel_loop_Tu;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-334250f82da0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;214&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_loop_Kd = 0.075 * vel_loop_Ku * vel_loop_Tu * 2;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-191496d69aae&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;217&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_vel_angloop_p = 0.4f / 100;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a954c6db3be8&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;219&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_angloop_Ki = 5.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b59a8a08dd46&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;221&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_angloop_Kd = 5e-05f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-ec2f21ab7179&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;224&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_angle_angloop_p =&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-f938632efd00&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;227&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ang_angloop_Ki = 0.00f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-7c9b992c78be&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;229&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ang_angloop_Kd = 8e-04f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-674252936cac&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;232&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_angle_loop_p = 60.0f / 100 * 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-2ec9227ef7dd&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;235&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_angle_MIT_p = 100.0f / 100 * 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-8f1a0be480db&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;237&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float angle_MIT_Ki = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-09cf228fa618&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;239&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float angle_MIT_Kd = 8e-04f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-fb700e5b9217&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;242&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_vel_MIT_p = 5.0f / 100;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-262745c8fde4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;244&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_MIT_Ki = 15.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-7265bf9ffeb6&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;246&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float vel_MIT_Kd = 1e-04f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-d7851021e615&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;249&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEFAULT_current_MIT_p = 0.2f / 100 * 12;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b187de9b2c71&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;251&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float current_MIT_Ki = 0.1f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-fbc927cfd61d&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;253&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float current_MIT_Kd = 3e-4f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-1acaf41cfdae&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;260&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ADC_MAX = 65536.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-f3b55e35f9d0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;262&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float PI = 3.14159265358979323846f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-20a5d232f926&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;264&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float INV_PI_3 = 3.0f / PI;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-378c2eadddd6&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;266&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float PI_3 = PI / 3.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5bf3d6123aea&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;268&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float _1_SQRT3 = 0.57735026919f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-4f9e1ff5f977&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;270&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float _3PI_2 = 4.71238898038f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-fd0c805a01cb&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;272&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float SQRT3 = 1.7320508075688772f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-4b1489b395b5&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;274&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float SQRT3DV2 = 0.8660254037844386f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-177d79286976&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;276&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float COS_PI_3 = 0.5f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b464d624b89c&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;278&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_FACTOR = 25.0f / 180.0f * PI;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-fba82de9f335&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;280&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float DEG2RAD = 1.0f / 180.0f * PI;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-02752fc39463&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;282&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float RAD2DEG = 180.0f / PI;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-d47f02ccdc6f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;284&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 DEFAULT_VALUE = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a372ad7cc25f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;286&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 CONFIG_SAVED_NUM = 6;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-c843a8b60fa0&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;290&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 LUT_SIZE = 1024;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9d2d2a633571&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;301&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 DEV_CAN0_ID = 0x0000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-476cb8529804&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;303&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 DEV_CAN0_MASK = 0x0000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9e0e93117b39&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;305&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-7eca8869fe8d&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;308&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_STATUS_ID = 0x0100;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-cd1b03277370&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;310&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_CONFIG_ID = 0x0101;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-52e7dfa0bd8a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;312&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_VERSION_ID = 0x00FF;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5f5afb443061&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;315&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_CMD_ID = 0x0200;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-415c4b510e1b&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;317&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_RESET_ID = 0x0301;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-eb8c172d8fa7&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;320&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_SET_NODE_ID = 0x0400;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-1f9a0ad0330e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;322&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_GET_NODE_ID = 0x0401;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-ddcf3c5981d6&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;326&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_BOOT_ID = 0x0000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-038975fb0589&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;328&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_OTA_REQ_ID = 0x0100;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-6c02c2686174&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;330&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_OTA_DATA_ID = 0x0101;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b038358270db&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;332&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_OTA_ACK_ID = 0x0102;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-296377880c63&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;334&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 CANFD_OTA_WAIT_ID = 0x0103;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a2c7b377ff4e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;338&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 ADC_FILTER_SIZE = 6;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5f838841063f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;340&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u8 BLOCK_SIZE = ADC_FILTER_SIZE * SIZE_FLOAT;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-97688039a586&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;342&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ERROR_ADC_VAL = 255.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-57ed4b5aeb01&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;344&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float MAX_TEMP = 150.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-54f7152d525f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;346&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float MIN_TEMP = -40.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-d6a6beb85f8e&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;348&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float MAX_CURRENT = 40.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-bfd02b0e6428&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;350&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float MIN_CURRENT = -40.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-0ba6f0a3cbb6&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;352&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float MAX_VCC = 65.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-9631705a92be&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;354&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float MIN_VCC = -0.1f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-e82e3e95d9c3&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;358&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 VEL_FILTER_SIZE = 4;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-c8fcf2049028&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;360&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 DEFAULT_COMMAND = 0x0000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a0b262ee0d7f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;362&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 FAULT_RECEIVE = 0xFFFF;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-18273d7ff405&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;364&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_WRAP_THRESHOLD = 300.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-4db7e8721b38&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;366&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLE_WRAP_VALUE = 360.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-cfb32941b86c&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;368&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float RAD_FACTOR = 1.0f / ADC_MAX * 2.0f * PI;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b684bf6daa82&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;370&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-26a75340d328&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;374&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr int TIMER2_PRESCALER = 119;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-955e70ca702a&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;376&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr int TIMER2_PERIOD = 49;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-7b0c20306d7f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;378&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr int MOTOR_PERIOD = 1;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-fc1eb40a78e5&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;380&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float TIME_SLICE =&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-cdd0a4a9b8e7&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;383&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float TIMER2_FREQUENCY = 1 / TIME_SLICE;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a00f50fd7e91&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;385&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float MOTOR_FREQUENCY = 1 / TIME_SLICE / MOTOR_PERIOD;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-dba1f5ee2bac&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;389&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr int TIMER1_PRESCALER = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-091ea0cb4563&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;391&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr int TIMER1_PERIOD = 2999;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-b251edcd19a4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;393&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr int TIMER1_DEFAULT_PULSE = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-72780618de89&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;395&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr int TIMER1_CH3_COMPARE_VALUE =&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-428c4d2d4361&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;400&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 COGGING_TABLE_SIZE = 128;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5bc6c7028f31&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;402&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float COGGING_COMP_SCALE = 0.005f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5f30c71b560c&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;413&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VBUS_DROP_THRESHOLD = 5.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-ec236e967cf5&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;415&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VBUS_ABSOLUTE_MIN = 12.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-6c83765299a8&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;417&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u32 VBUS_DEBOUNCE_COUNT = 5;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-a3f3ec52d5c9&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/config.h&quot;, &quot;line&quot;: &quot;419&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr float VBUS_RECOVERY_RATIO = 0.9f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-0a7fb6af2bfa&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/health.cpp&quot;, &quot;line&quot;: &quot;19&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;ThermalController thermalController;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-79489853ba70&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/health.cpp&quot;, &quot;line&quot;: &quot;25&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;constexpr u16 PROTECT_TIME = 6000;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-8f5907226506&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/health.cpp&quot;, &quot;line&quot;: &quot;28&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static VoltageState voltage_state = VoltageState::NORMAL;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-da2839ee2717&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/health.cpp&quot;, &quot;line&quot;: &quot;29&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;static float last_vbus_slow = 0.0f;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-c7cb3cd0801f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/initial.cpp&quot;, &quot;line&quot;: &quot;39&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;VersionManager Version;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-5c8269165c25&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;53&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile static uint32_t delay;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-c08e7fa1d6c4&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;54&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile static uint32_t systick_ms = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-e92b16152a23&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;70&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile static uint32_t task_enter_cyccnt = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-c3fac9483ce8&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;71&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile static uint32_t busy_cycles_accum = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-74fddf697b8f&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;72&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile static uint16_t sample_seconds = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-191ba764ae89&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;73&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile static uint8_t cpu_usage = 0;&quot;, &quot;recommendation&quot;: &quot;建议确认初始化顺序、访问边界;必要时封装或添加偏离说明。&quot;}, {&quot;id&quot;: &quot;supp-c0e88a884841&quot;, &quot;group&quot;: &quot;补充筛查&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;SUP-GLB-001&quot;, &quot;file&quot;: &quot;sys/systick.cpp&quot;, &quot;line&quot;: &quot;74&quot;, &quot;description&quot;: &quot;文件作用域可变全局对象,需确认封装、并发访问和初始化顺序&quot;, &quot;evidence&quot;: &quot;volatile static uint8_t dwt_initialized = 0;&quot;, &quot;recommendation&quot;: 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&quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;75&quot;, &quot;description&quot;: &quot;FOC_Controller::calibrate_cogging_tick 圈复杂度 33,risk=high&quot;, &quot;evidence&quot;: &quot;Algorithm/FOC.cpp:75-238 FOC_Controller::calibrate_cogging_tick&quot;, &quot;recommendation&quot;: &quot;人工评审分支完整性;必要时补单元测试或后续拆分。&quot;}, {&quot;id&quot;: &quot;metric-98b568f0e6b4&quot;, &quot;group&quot;: &quot;复杂度评审&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;METRIC-CC&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;1076&quot;, &quot;description&quot;: &quot;CAN_transmiter::communication_check 圈复杂度 27,risk=high&quot;, &quot;evidence&quot;: &quot;device/Can.cpp:1076-1300 CAN_transmiter::communication_check&quot;, &quot;recommendation&quot;: &quot;人工评审分支完整性;必要时补单元测试或后续拆分。&quot;}, {&quot;id&quot;: &quot;metric-0dfc09c00e94&quot;, &quot;group&quot;: &quot;复杂度评审&quot;, &quot;severity&quot;: &quot;warning&quot;, &quot;rule&quot;: &quot;METRIC-CC&quot;, &quot;file&quot;: &quot;main.cpp&quot;, &quot;line&quot;: &quot;120&quot;, &quot;description&quot;: &quot;do_task 圈复杂度 17,risk=high&quot;, &quot;evidence&quot;: &quot;main.cpp:120-205 do_task&quot;, &quot;recommendation&quot;: &quot;人工评审分支完整性;必要时补单元测试或后续拆分。&quot;}, {&quot;id&quot;: &quot;metric-f6c2bfb36b40&quot;, &quot;group&quot;: &quot;复杂度评审&quot;, &quot;severity&quot;: &quot;info&quot;, &quot;rule&quot;: &quot;METRIC-CC&quot;, &quot;file&quot;: &quot;Algorithm/FOC.cpp&quot;, &quot;line&quot;: &quot;392&quot;, &quot;description&quot;: &quot;FOC_Controller::setSVPWM_PhaseVoltage 圈复杂度 15,risk=medium&quot;, &quot;evidence&quot;: &quot;Algorithm/FOC.cpp:392-490 FOC_Controller::setSVPWM_PhaseVoltage&quot;, &quot;recommendation&quot;: &quot;人工评审分支完整性;必要时补单元测试或后续拆分。&quot;}, {&quot;id&quot;: &quot;metric-e7f74eabf84b&quot;, &quot;group&quot;: &quot;复杂度评审&quot;, &quot;severity&quot;: &quot;info&quot;, &quot;rule&quot;: &quot;METRIC-CC&quot;, &quot;file&quot;: &quot;sys/flash.cpp&quot;, &quot;line&quot;: &quot;308&quot;, &quot;description&quot;: &quot;FlashEEPROM::writeFloat 圈复杂度 12,risk=medium&quot;, &quot;evidence&quot;: &quot;sys/flash.cpp:308-383 FlashEEPROM::writeFloat&quot;, &quot;recommendation&quot;: &quot;人工评审分支完整性;必要时补单元测试或后续拆分。&quot;}, {&quot;id&quot;: &quot;metric-65df715e5faa&quot;, &quot;group&quot;: &quot;复杂度评审&quot;, &quot;severity&quot;: &quot;info&quot;, &quot;rule&quot;: &quot;METRIC-CC&quot;, &quot;file&quot;: &quot;sys/health.cpp&quot;, &quot;line&quot;: &quot;35&quot;, &quot;description&quot;: &quot;ThermalController::update 圈复杂度 12,risk=medium&quot;, &quot;evidence&quot;: &quot;sys/health.cpp:35-94 ThermalController::update&quot;, &quot;recommendation&quot;: &quot;人工评审分支完整性;必要时补单元测试或后续拆分。&quot;}, {&quot;id&quot;: &quot;metric-48d7e9621754&quot;, &quot;group&quot;: &quot;复杂度评审&quot;, &quot;severity&quot;: &quot;info&quot;, &quot;rule&quot;: &quot;METRIC-CC&quot;, &quot;file&quot;: &quot;device/Can.cpp&quot;, &quot;line&quot;: &quot;597&quot;, &quot;description&quot;: &quot;can_loopback_test 圈复杂度 11,risk=medium&quot;, &quot;evidence&quot;: &quot;device/Can.cpp:597-665 can_loopback_test&quot;, &quot;recommendation&quot;: &quot;人工评审分支完整性;必要时补单元测试或后续拆分。&quot;}]</script>
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