ThreeSensor/MOTINOVA_MC_Test/Form1.cs

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
using System.Threading;
using System.Runtime.InteropServices;
using System.Runtime.CompilerServices;

namespace MOTINOVA_MC_Test
{
    public partial class Form1 : Form
    {
        #region------------------------本地变量-----------------------------

        #region 串口相关

        private List<byte> buffer = new List<byte>(4096);

        private byte[] binary_data_1 = new byte[1024];

        private bool Listening = false;// 侦听串口是否是接收数据标志位

        public static string m_strDataBits = "8";
        public static string m_strStopBits = "1";
        public static string m_strCheckBits = "None";

        public static bool g_blnIsOpen = false;

        #endregion

        #region MC运行信息超时计数
        bool MC_RunInfo_Refresh = false;
        ushort MC_RunInfo_Refresh_Cnt = 0;
        #endregion

        #region MC故障码超时计数
        bool MC_ErrorCode_Refresh = false;
        ushort MC_ErrorCode_Refresh_Cnt = 0;
        #endregion

        #region 力矩传感器平均值采集
        byte[] TorqueArray = new byte[25];
        byte[] Sensor1Array = new byte[25];
        byte[] Sensor2Array = new byte[25];
        byte[] Sensor3Array = new byte[25];
        ushort TorqueArray_Index = 0;
        #endregion

        #region 自动发送助力档位计时
        ushort AutoSendTimeCnt;
        #endregion

        #region 骑行信息超时计数
        bool MC_RideInfo_Refresh = false;
        ushort MC_RideInfo_Refresh_Cnt = 0;
        #endregion

        #region 姿态信息超时计数
        bool MC_AttitudeAngle_Refresh = false;
        ushort MC_AttitudeAngle_Refresh_Cnt = 0;
        #endregion

        #region 自动发送查询姿态信息计时
        ushort AutoSendReadAttitudeAngleTimeCnt;
        #endregion

        #region 自动发送查询骑行信息计时
        ushort AutoSendReadRideInfoTimeCnt;
        #endregion

        #region 自动存储数据
        string AutoSaveFileName = "";
        #endregion

        #region 故障日志存储相关
        bool ErrorLogSaveFlag = false;
        string ErrorLogSaveFileName = "";
        #endregion

        #region CDL在线检测延时
        ushort CDL_OnlineCheck_Cnt = 0;
        bool CDL_Online_Flag = true;
        #endregion

        #region 解锁写保护标志
        bool WriteProtectUnlock = false;
        #endregion 

        Form2 LoginForm = new Form2();

        #endregion
        public Form1()
        {
            InitializeComponent();
        }

        #region 打开或关闭串口
        private void button_ComOpen_Click(object sender, EventArgs e)
        {
            byte[] Data = new byte[1];

            try
            {
                if (!serialPort1.IsOpen)
                {
                    serialPort1.PortName = comboBox_ComIndex.Text;
                    serialPort1.BaudRate = int.Parse(comboBox_Baudrate.Text);
                    serialPort1.Parity = (Parity)Enum.Parse(typeof(Parity), m_strCheckBits);
                    serialPort1.DataBits = Int32.Parse(m_strDataBits);
                    serialPort1.StopBits = (StopBits)Enum.Parse(typeof(StopBits), (m_strStopBits == "1.5") ? "3" : m_strStopBits);
                    serialPort1.Open();
                    comboBox_ComIndex.Enabled = false;
                    comboBox_Baudrate.Enabled = false;
                    button_ComOpen.Text = "断开(&C)";
                    g_blnIsOpen = true;
                    timer1.Enabled = true;
                    button_RefreshPort.Enabled = false;

                    //发送指令检测CDL是否在线
                    SendCmd((ushort)0x7FF, (byte)0x11, (ushort)0x1100, null);
                    CDL_OnlineCheck_Cnt = 0;
                    CDL_Online_Flag = false;

                    //开机
                    Data[0] = 0xF1;
                    SendCmd(0x7FF, 0x16, 0x2201, Data);
                }
                else
                {
                    //关机
                    Data[0] = 0xF0;
                    SendCmd(0x7FF, 0x16, 0x2201, Data);

                    while (Listening) Application.DoEvents();
                    //打开时点击，则关闭串口
                    serialPort1.Close();
                    comboBox_ComIndex.Enabled = true;
                    comboBox_Baudrate.Enabled = true;
                    button_ComOpen.Text = "连接(&C)";
                    g_blnIsOpen = false;
                    timer1.Enabled = false;
                    button_RefreshPort.Enabled = true;
                    CDL_Online_Flag = true;
                }
            }
            catch (System.Exception ex)
            {
                MessageBox.Show(ex.Message);
                return;
            }
        }
        #endregion

        private void Form1_Load(object sender, EventArgs e)
        {
            //Form2 LoginForm = new Form2() ;
            //LoginForm.Show();

            string[] ports = SerialPort.GetPortNames();
            Array.Sort(ports);
            comboBox_ComIndex.Items.AddRange(ports);
            comboBox_ComIndex.SelectedIndex = comboBox_ComIndex.Items.Count > 0 ? 0 : -1;
            comboBox_Baudrate.SelectedIndex = comboBox_Baudrate.Items.IndexOf("115200");
            MC_Config_Clear();
            Motor_Config_Clear();
            MC_RunInfo_Clear();
            MC_ErrorCode_Clear();
            MC_Config_Ext_Clear();
            MC_AttitudeAngle_Clear();
            MC_RideInfo_Clear();
            MC_RunLog_Clear();
            label_BiuldTime.Text = System.IO.File.GetLastWriteTime(this.GetType().Assembly.Location).ToString();
        }

        #region CRC校验
        static UInt32[] crc32_table = new UInt32[256]
        {
            0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B,
            0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61,
            0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7,
            0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75,
            0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3,
            0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039,
            0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF,
            0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D,
            0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB,
            0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1,
            0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0,
            0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072,
            0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4,
            0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE,
            0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08,
            0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA,
            0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC,
            0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6,
            0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050,
            0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2,
            0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34,
            0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637,
            0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1,
            0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53,
            0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5,
            0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF,
            0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9,
            0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B,
            0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD,
            0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7,
            0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71,
            0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3,
            0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2,
            0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8,
            0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E,
            0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC,
            0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A,
            0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0,
            0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676,
            0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4,
            0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662,
            0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668,
            0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4
        };

        static UInt32 crc32_cal(byte[] pData, UInt16 Length)
        {
            UInt32 nReg;
            UInt32 nTemp = 0;
            UInt16 i, n;

            nReg = 0xFFFFFFFF;
            for (n = 0; n < Length; n++)
            {
                nReg ^= (UInt32)pData[n];
                for (i = 0; i < 4; i++)
                {
                    nTemp = crc32_table[((nReg >> 24) & 0xFF)];
                    nReg <<= 8;
                    nReg ^= nTemp;
                }
            }
            return nReg;
        }
        #endregion

        #region 平均值计算
        private ushort GetAvg(byte[] pData, UInt16 Length)
        {
            UInt32 Sum = 0;

            for(ushort i=0; i<Length; i++)
            {
                Sum += pData[i];
            }

            return (ushort)(Sum/Length);
        }

        #endregion

        #region 标准差计算
        private ushort GetStDev(byte[] pData, UInt16 Length)
        {
            double Result = 0;

            //计算平均值
            UInt32 Avg = GetAvg(pData, Length);
            //计算各个数值与平均值的差值平方和
            UInt32 Sum = 0;
            for (ushort i = 0; i < Length; i++)
            {
                Sum += (pData[i] - Avg) * (pData[i] - Avg);
            }
            //计算标准差
            Result = Math.Sqrt((double)Sum / Length);
            return (ushort)(Result);
        }
        #endregion

        #region 发送指令函数
        private bool SendCmd(ushort ID, byte Mode, ushort Cmd, byte[] Data)
        {
            if (!serialPort1.IsOpen)
            {
                MessageBox.Show("串口未连接");    
                return false;
            }

            ushort DataLength = (ushort)(Cmd & 0xFF);

            var SendCmdTmp = new byte[DataLength + 13];

            //帧头
            SendCmdTmp[0] = 0x55;
            SendCmdTmp[1] = 0xAA;
            //ID
            SendCmdTmp[2] = (byte)(ID >> 8);
            SendCmdTmp[3] = (byte)(ID & 0xFF);
            //MODE
            SendCmdTmp[4] = Mode;
            //长度
            SendCmdTmp[5] = (byte)((Cmd & 0xFF) + 2);
            //命令字
            SendCmdTmp[6] = (byte)(Cmd >> 8);
            SendCmdTmp[7] = (byte)(Cmd & 0xFF);
            //数据段
            for (UInt16 i = 0; i < (Cmd & 0xFF); i++)
            {
                SendCmdTmp[8 + i] = Data[i];
            }
            //校验
            UInt32 CRC_Result = crc32_cal(SendCmdTmp, (ushort)(DataLength + 8));
            SendCmdTmp[DataLength + 8] = Convert.ToByte(CRC_Result >> 24);
            SendCmdTmp[DataLength + 9] = Convert.ToByte((CRC_Result >> 16) % 256);
            SendCmdTmp[DataLength + 10] = Convert.ToByte((CRC_Result >> 8) % 256);
            SendCmdTmp[DataLength + 11] = Convert.ToByte(CRC_Result % 256);
            //帧尾
            SendCmdTmp[DataLength + 12] = 0xF0;

            //发送数据
            serialPort1.Write(SendCmdTmp, 0, SendCmdTmp.Length);

            return true;

        }
        #endregion

        #region 力矩传感器查询和写入相关

        //发送力矩传感器校正系数
        private void button_WriteK_Click(object sender, EventArgs e)
        {
            var K = new byte[2];
            ushort DataTemp;

            if ((checkBox_Sensor1.Checked == false) && (checkBox_Sensor2.Checked == false) && (checkBox_Sensor3.Checked == false))
            {
                timer1.Enabled = false;
                MessageBox.Show("请选择传感器", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer1.Enabled = true;
                return;
            }
            else
            {
                if (MessageBox.Show("确认写入", "确认写入?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    if (checkBox_Sensor1.Checked == true)
                    {
                        if (textBox_Sensor1_K.Text != string.Empty)
                        {
                            K[0] = 1;
                            DataTemp = (ushort)(decimal.Parse(textBox_Sensor1_K.Text) * 100);
                            K[1] = Convert.ToByte(DataTemp);
                            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3402, K);
                            Thread.Sleep(20);
                        }
                    }
                    if (checkBox_Sensor2.Checked == true)
                    {
                        if (textBox_Sensor2_K.Text != string.Empty)
                        {
                            K[0] = 2;
                            DataTemp = (ushort)(decimal.Parse(textBox_Sensor2_K.Text) * 100);
                            K[1] = Convert.ToByte(DataTemp);
                            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3402, K);
                            Thread.Sleep(20);
                        }
                    }
                    if (checkBox_Sensor3.Checked == true)
                    {
                        if (textBox_Sensor3_K.Text != string.Empty)
                        {
                            K[0] = 3;
                            DataTemp = (ushort)(decimal.Parse(textBox_Sensor3_K.Text) * 100);
                            K[1] = Convert.ToByte(DataTemp);
                            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3402, K);
                            Thread.Sleep(20);
                        }
                    }
                }
            }
        }

        //查询传感器零点
        private void button_ReadZero_Click(object sender, EventArgs e)
        {
            var K = new byte[1];

            textBox_Sensor1_Zero.Text = "---";
            textBox_Sensor2_Zero.Text = "---";
            textBox_Sensor3_Zero.Text = "---";
            textBox_Sensor1_K.Text = "---";
            textBox_Sensor2_K.Text = "---";
            textBox_Sensor3_K.Text = "---";
            //轮询零点
            for (ushort i = 1; i <= 3; i++)
            {
                K[0] = (byte)i;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3201, K);
            }

            //轮询校正系数
            for (ushort i = 1; i <= 3; i++)
            {
                K[0] = (byte)i;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3301, K);
            }
        }

        //计算校正系数
        private void label119_DoubleClick(object sender, EventArgs e)
        {
            float K;
            string DataTemp;

            if ((checkBox_Sensor1.Checked == false) && (checkBox_Sensor2.Checked == false) && (checkBox_Sensor3.Checked == false))
            {
                timer1.Enabled = false;
                MessageBox.Show("请选择传感器", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer1.Enabled = true;
                return;
            }
            else
            {
                if (checkBox_Sensor1.Checked == true)
                {
                    if ((textBox_Sensor1_Avg.Text != "---") && (textBox_Sensor1_Avg.Text != string.Empty))
                    {
                        DataTemp = textBox_Sensor1_Avg.Text;
                        DataTemp = System.Text.RegularExpressions.Regex.Replace(DataTemp, @"[^0-9]+", "");
                        K = float.Parse(DataTemp) / 75f;
                        textBox_Sensor1_K.Text = K.ToString("#0.00");
                    }
                    else
                    {
                        textBox_Sensor1_K.Text = "";
                    }
                }
                if (checkBox_Sensor2.Checked == true)
                {
                    if ((textBox_Sensor2_Avg.Text != "---") && (textBox_Sensor2_Avg.Text != string.Empty))
                    {
                        DataTemp = textBox_Sensor2_Avg.Text;
                        DataTemp = System.Text.RegularExpressions.Regex.Replace(DataTemp, @"[^0-9]+", "");
                        K = float.Parse(DataTemp) / 75f;
                        textBox_Sensor2_K.Text = K.ToString("#0.00");
                    }
                    else
                    {
                        textBox_Sensor2_K.Text = "";
                    }
                }
                if (checkBox_Sensor3.Checked == true)
                {
                    if ((textBox_Sensor3_Avg.Text != "---") && (textBox_Sensor3_Avg.Text != string.Empty))
                    {
                        DataTemp = textBox_Sensor3_Avg.Text;
                        DataTemp = System.Text.RegularExpressions.Regex.Replace(DataTemp, @"[^0-9]+", "");
                        K = float.Parse(DataTemp) / 75f;
                        textBox_Sensor3_K.Text = K.ToString("#0.00");
                    }
                    else
                    {
                        textBox_Sensor3_K.Text = "";
                    }
                }
            }
        }

        //发送力矩传感器启动值
        private void button_Write_Torque_Start_Click(object sender, EventArgs e)
        {
            ushort StarData = Convert.ToUInt16(textBox_Torque_Start.Text);
            var StarData_Array = new byte[2];

            StarData_Array[0] = (byte)(StarData & 0xFF);
            StarData_Array[1] = (byte)(StarData >> 8);

            if (MessageBox.Show("确认写入", "确认写入?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2B02, StarData_Array);
            }
        }

        //查询力矩传感器启动值
        private void button_ReadStartData_Click(object sender, EventArgs e)
        {
            textBox_Torque_Start.Text = "---";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3500, null);
        }

        //根据采集值计算启动值
        private void label9_DoubleClick(object sender, EventArgs e)
        {
            ushort StartData;
            string DataTemp;

            if ((textBox_TorqueData.Text == "---") || (textBox_TorqueData.Text == string.Empty))
            {
                return;
            }

            DataTemp = textBox_TorqueData.Text;
            DataTemp = System.Text.RegularExpressions.Regex.Replace(DataTemp, @"[^0-9]+", "");
            StartData = (ushort)(Convert.ToUInt16(DataTemp) * 28);
            textBox_Torque_Start.Text = StartData.ToString();
        }
        #endregion

        #region 工作模式设置

        //进入运行模式
        private void radioButton_WorkMode_Run_Click(object sender, EventArgs e)
        {
            var RunMode = new byte[1];

            RunMode[0] = 0x00;

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode);

            checkBox_ReadTorqueData.Checked = false;
        }

        //进入配置模式
        private void radioButton_WorkMode_Confg_Click(object sender, EventArgs e)
        {
            var RunMode = new byte[1];

            RunMode[0] = 0x01;

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode);

            checkBox_AutoSend.Checked = false;
        }

        #endregion

        #region 助力档位设置
        //设置OFF档位
        private void radioButton_Gear_OFF_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            CtrlCode[0] = 0x00;
            if (radioButton_Light_OFF.Checked == true)
            {
                CtrlCode[1] = 0xF0;
            }
            else if (radioButton_Light_ON.Checked == true)
            {
                CtrlCode[1] = 0xF1;
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        //设置ECO档位
        private void radioButton_Gear_ECO_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            CtrlCode[0] = 0x01;
            if (radioButton_Light_OFF.Checked == true)
            {
                CtrlCode[1] = 0xF0;
            }
            else if (radioButton_Light_ON.Checked == true)
            {
                CtrlCode[1] = 0xF1;
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        //设置NORM档位
        private void radioButton_Gear_NORM_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            CtrlCode[0] = 0x02;
            if (radioButton_Light_OFF.Checked == true)
            {
                CtrlCode[1] = 0xF0;
            }
            else if (radioButton_Light_ON.Checked == true)
            {
                CtrlCode[1] = 0xF1;
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }
        //设置SPORT档位
        private void radioButton_Gear_SPORT_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            CtrlCode[0] = 0x03;
            if (radioButton_Light_OFF.Checked == true)
            {
                CtrlCode[1] = 0xF0;
            }
            else if (radioButton_Light_ON.Checked == true)
            {
                CtrlCode[1] = 0xF1;
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        //设置TURBO档位
        private void radioButton_Gear_TURBO_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            CtrlCode[0] = 0x04;
            if (radioButton_Light_OFF.Checked == true)
            {
                CtrlCode[1] = 0xF0;
            }
            else if (radioButton_Light_ON.Checked == true)
            {
                CtrlCode[1] = 0xF1;
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        //设置SMART档位
        private void radioButton_Gear_SMART_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            CtrlCode[0] = 0x33;
            if (radioButton_Light_OFF.Checked == true)
            {
                CtrlCode[1] = 0xF0;
            }
            else if (radioButton_Light_ON.Checked == true)
            {
                CtrlCode[1] = 0xF1;
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        //设置WALK档位
        private void radioButton_Gear_WALK_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            CtrlCode[0] = 0x22;
            if (radioButton_Light_OFF.Checked == true)
            {
                CtrlCode[1] = 0xF0;
            }
            else if (radioButton_Light_ON.Checked == true)
            {
                CtrlCode[1] = 0xF1;
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        #endregion 

        #region 大灯开关
        //大灯关
        private void radioButton_Light_OFF_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            if (radioButton_Gear_OFF.Checked == true)
            {
                CtrlCode[0] = 0x00;
            }
            else if (radioButton_Gear_ECO.Checked == true)
            {
                CtrlCode[0] = 0x01;
            }
            else if (radioButton_Gear_NORM.Checked == true)
            {
                CtrlCode[0] = 0x02;
            }
            else if (radioButton_Gear_SPORT.Checked == true)
            {
                CtrlCode[0] = 0x03;
            }
            else if (radioButton_Gear_TURBO.Checked == true)
            {
                CtrlCode[0] = 0x04;
            }
            else if (radioButton_Gear_SMART.Checked == true)
            {
                CtrlCode[0] = 0x33;
            }
            else if (radioButton_Gear_WALK.Checked == true)
            {
                CtrlCode[0] = 0x22;
            }

            CtrlCode[1] = 0xF0;

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        //大灯开
        private void radioButton_Light_ON_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];

            if (radioButton_Gear_OFF.Checked == true)
            {
                CtrlCode[0] = 0x00;
            }
            else if (radioButton_Gear_ECO.Checked == true)
            {
                CtrlCode[0] = 0x01;
            }
            else if (radioButton_Gear_NORM.Checked == true)
            {
                CtrlCode[0] = 0x02;
            }
            else if (radioButton_Gear_SPORT.Checked == true)
            {
                CtrlCode[0] = 0x03;
            }
            else if (radioButton_Gear_TURBO.Checked == true)
            {
                CtrlCode[0] = 0x04;
            }
            else if (radioButton_Gear_SMART.Checked == true)
            {
                CtrlCode[0] = 0x33;
            }
            else if (radioButton_Gear_WALK.Checked == true)
            {
                CtrlCode[0] = 0x22;
            }

            CtrlCode[1] = 0xF1;

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        #endregion

        //数据清除指令
        private void button_ClearData_Click(object sender, EventArgs e)
        {
            var Code = new byte[5];

            Code[0] = (byte)'C';
            Code[1] = (byte)'L';
            Code[2] = (byte)'E';
            Code[3] = (byte)'A';
            Code[4] = (byte)'R';

            timer1.Enabled = false;
            if (MessageBox.Show("系统清除后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    if (MessageBox.Show("请最后确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                    {
                        SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                    }
                }
            }
            timer1.Enabled = true;
        }

        //查询版本信息
        private void button_Read_VerInfo_Click(object sender, EventArgs e)
        {
            textBox_Mode.Text = "---";
            textBox_SN.Text = "---";
            textBox_HW.Text = "---";
            textBox_FW.Text = "---";
            textBox_Firmware_Special.Text = "---";
            Class_Motor_Ver.Mode = "---";
            Class_Motor_Ver.SN = "---";
            Class_Motor_Ver.HW = "---";
            Class_Motor_Ver.FW = "---";
            Class_Motor_Ver.Special = "---";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            textBox_TE_FW.Text = "---";
            SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);
        }

        //串口数据接收
        private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            try
            {
                Listening = true;

                int n = serialPort1.BytesToRead;
                byte[] buf = new byte[n];//将一次串口事件中接收到的数据暂存于buf中（注：对于超过8个字节的数据，C#的
                //串口接收事件将按每次处理8个字节的方式多次处理
                serialPort1.Read(buf, 0, n);//将接收到的数据读入buf

                this.Invoke((EventHandler)delegate
                {

                });

                buffer.AddRange(buf);//将读取的数据放入buffer中
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
                return;
            }
            finally
            {
                Listening = false;
            }
        }

        //time1定时任务
        private void timer1_Tick(object sender, EventArgs e)
        {
            //MC_RunInfo超时清除
            if (MC_RunInfo_Refresh == false)
            {
                MC_RunInfo_Refresh_Cnt++;
                if (MC_RunInfo_Refresh_Cnt > 50)
                {
                    //运行信息清除
                    MC_RunInfo_Clear();
                    //传感器数值清除
                    textBox_TorqueData.Text = "---";
                    textBox_Torque_Stdev.Text = "---";
                    textBox_Sensor1_Avg.Text = "---";
                    textBox_Sensor1_Std.Text = "---";
                    textBox_Sensor2_Avg.Text = "---";
                    textBox_Sensor2_Std.Text = "---";
                    textBox_Sensor3_Avg.Text = "---";
                    textBox_Sensor3_Std.Text = "---";
                    MC_RunInfo_Refresh_Cnt = 0;
                    TorqueArray_Index = 0;
                }
            }
            else
            {
                MC_RunInfo_Refresh_Cnt = 0;
            }
            MC_RunInfo_Refresh = false;

            //MC故障信息超时清除
            if (MC_ErrorCode_Refresh == false)
            {
                MC_ErrorCode_Refresh_Cnt++;
                if (MC_ErrorCode_Refresh_Cnt > 50)
                {
                    MC_ErrorCode_Clear();
                    MC_ErrorCode_Refresh_Cnt = 0;
                }
            }
            else
            { 
                MC_ErrorCode_Refresh_Cnt = 0;
            }
            MC_ErrorCode_Refresh = false;

            //MC骑行信息超时清除
            if (MC_RideInfo_Refresh == false)
            {
                MC_RideInfo_Refresh_Cnt++;
                if (MC_RideInfo_Refresh_Cnt > 50)
                {
                    MC_RideInfo_Clear();
                    MC_RideInfo_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_RideInfo_Refresh_Cnt = 0;
            }
            MC_RideInfo_Refresh = false;

            //MC姿态信息超时清除
            if (MC_AttitudeAngle_Refresh == false)
            {
                MC_AttitudeAngle_Refresh_Cnt++;
                if (MC_AttitudeAngle_Refresh_Cnt > 50)
                {
                    MC_AttitudeAngle_Clear();
                    MC_AttitudeAngle_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_AttitudeAngle_Refresh_Cnt = 0;
            }
            MC_AttitudeAngle_Refresh = false;

            //定时发送助力档位
            if (checkBox_AutoSend.Checked == true)
            {
                var CtrlCode = new byte[2];
                AutoSendTimeCnt++;
                if (AutoSendTimeCnt >= 10)
                {
                    AutoSendTimeCnt = 0;
                    //助力档位
                    if (radioButton_Gear_OFF.Checked == true)
                    {
                        CtrlCode[0] = 0x00;
                    }
                    else if (radioButton_Gear_ECO.Checked == true)
                    {
                        CtrlCode[0] = 0x01;
                    }
                    else if (radioButton_Gear_NORM.Checked == true)
                    {
                        CtrlCode[0] = 0x02;
                    }
                    else if (radioButton_Gear_SPORT.Checked == true)
                    {
                        CtrlCode[0] = 0x03;
                    }
                    else if (radioButton_Gear_TURBO.Checked == true)
                    {
                        CtrlCode[0] = 0x04;
                    }
                    else if (radioButton_Gear_SMART.Checked == true)
                    {
                        CtrlCode[0] = 0x33;
                    }
                    else if (radioButton_Gear_WALK.Checked == true)
                    {
                        CtrlCode[0] = 0x22;
                    }
                    //大灯状态
                    if (radioButton_Light_OFF.Checked == true)
                    {
                        CtrlCode[1] = 0xF0;
                    }
                    else if (radioButton_Light_ON.Checked == true)
                    {
                        CtrlCode[1] = 0xF1;
                    }

                    if (serialPort1.IsOpen)
                    {
                        if (!SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode))
                            checkBox_AutoSend.Checked = false;
                    }                   
                }
            }
            else
            {
                AutoSendTimeCnt = 0;
            }

            //定时查询姿态信息
            if (checkBox_ReadAttitudeAngleAutoSend.Checked == true)
            {
                AutoSendReadAttitudeAngleTimeCnt++;
                if (AutoSendReadAttitudeAngleTimeCnt >= 20)
                {
                    AutoSendReadAttitudeAngleTimeCnt = 0;
                    if (serialPort1.IsOpen)
                    {
                        if (!SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2F00, null))
                            checkBox_ReadAttitudeAngleAutoSend.Checked = false;
                    }        
                }
            }
            else
            {
                AutoSendReadAttitudeAngleTimeCnt = 0;
            }

            //定时查询骑行信息
            if ( checkBox_ReadRideInfo.Checked == true)
            {
                AutoSendReadRideInfoTimeCnt++;
                if (AutoSendReadRideInfoTimeCnt >= 20)
                {
                    AutoSendReadRideInfoTimeCnt = 0;
                    if (serialPort1.IsOpen)
                    {
                        if (!SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2E00, null))
                            checkBox_ReadRideInfo.Checked = false;
                    }
                    
                }
            }
            else
            {
                AutoSendReadRideInfoTimeCnt = 0;
            }

            //CDL在线检测超时判断
            if (CDL_Online_Flag == false)
            {
                CDL_OnlineCheck_Cnt++;
                if (CDL_OnlineCheck_Cnt > 10)
                {
                    timer1.Enabled = false;
                    MessageBox.Show("连接失败！", "提示");
                    timer1.Enabled = true;
                    //关闭串口
                    serialPort1.Close();
                    comboBox_ComIndex.Enabled = true;
                    comboBox_Baudrate.Enabled = true;
                    button_ComOpen.Text = "连接(&C)";
                    g_blnIsOpen = false;
                    timer1.Enabled = false;
                    button_RefreshPort.Enabled = true;
                }
            }

            //...
            
            //串口解析
            byte DataNum = 0;   //记录每条命令数据段的长度
            while (buffer.Count >= 13)//当buffer中的数据的个数大于等于4个时，即每一帧的数据长度所在位（第4位）出现时
            {
                if (buffer[0] == 0x55 && buffer[1] == 0xAA)//判断帧头
                {
                    ushort PackageID;
                    PackageID = (ushort)(buffer[2] * 256 + buffer[3]);
                    if ((PackageID == 0x0710) || (PackageID == 0x0715) || (PackageID == 0x0610) || (PackageID == 0x0615) || (PackageID == 0x07FF))
                    {
                        int CmdLen = buffer[5];
                        if (buffer.Count < CmdLen + 11) break;//如果接收到的数据没有达到一帧数据的指定长度， 则执行下次循环

                        buffer.RemoveRange(0, 6);//数据达到要求长度后删去帧头，ID，模式，和命令长度
                        while (CmdLen > 0)          //读取命令段
                        {
                            DataNum = (byte)(buffer[1]);//命令字的第二个字节的表示数据位的长度
                            if (DataNum <= (CmdLen - 2))
                            {
                                for (int i = 0; i < DataNum + 2; i++)
                                {
                                    binary_data_1[i] = buffer[i];
                                }
                                DataCmdProcess(PackageID);//对于不同的命令段，做不同的处理                          
                                buffer.RemoveRange(0, DataNum + 2);//移除处理过的命令段与数据段
                                CmdLen -= (DataNum + 2);
                                if (CmdLen < 2)
                                {
                                    buffer.RemoveRange(0, CmdLen + 2);
                                    return;
                                }
                            }
                            else
                            {
                                buffer.RemoveRange(0, CmdLen + 11);
                            }

                        }
                    }
                    else
                    {
                        buffer.RemoveAt(0);//ID不对
                    }
                }
                else
                {
                    buffer.RemoveAt(0);//帧头不对，删除帧头高字节
                }
            }            
        }

        //故障转换和显示
        List<string> ErrorInfo = new List<string>{ "过流保护", "低压保护", "过压保护", "堵转保护","过热保护","速度传感器故障","力矩传感器故障","霍尔故障",
        "马达缺相","NTC故障","","","","MCU故障","踏频传感器故障","指拨故障","MOS短路","电压异常","电路故障","TE故障","TE电路故障","","","","","","","","","",
        "",""};
        private string ErrorInfoDisplay(UInt32 Code)
        {
            string Result = "";
            if (Code == 0)
            {
                Result = "无故障";
            }
            else
            {
                for (int i = 0; i < 32; i++)
                {
                    if ((Code & 0x01) == 0x01)
                    {
                        Result += ErrorInfo[i] + " ";
                    }
                    Code >>= 1;
                }
            }
            return Result;
        }

        #region 命令段处理函数
        private void DataCmdProcess(ushort ID)
        {
            ushort CmdTemp = (ushort)(binary_data_1[0] * 256 + binary_data_1[1]);
            ushort DataTemp;
            short DataTemp_int16;
            textBox_RevCnt.Text = Convert.ToString(Convert.ToInt32(textBox_RevCnt.Text) + 1);

            #region 解析发送给CDL的指令
            if (ID == 0x7FF)
            {
                switch (CmdTemp)
                {
                    case 0x1100://TE APP版本信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //CDL连接成功
                                    CDL_Online_Flag = true;
                                    timer1.Enabled = false;
                                    MessageBox.Show("连接成功！", "提示");
                                    timer1.Enabled = true;
                                    //显示其它界面
                                    foreach (Control c in this.Controls)
                                    {
                                        if (c is GroupBox)
                                        {
                                            if (c != groupBox1)
                                            {
                                                c.Visible = true;
                                            }
                                        }
                                    }
                                    button_ReadAll.Visible = true;
                                    label1_Welcom.Visible = false;
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
            #endregion

            #region 解析主控的命令
            else if ((ID == 0x715) || (ID == 0x710))
            { 
                switch (CmdTemp)
                {
                    case 0xA318://力矩传感器零点值
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //三力矩传感器不用
                                }));
                            }
                            break;
                        }
                    case 0xAE1A://力矩传感器零点值,针对3力矩传感器使用
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    if (binary_data_1[2] == 1)
                                    {
                                        DataTemp = (ushort)(binary_data_1[26] * 256 + binary_data_1[25]);
                                        textBox_Sensor1_Zero.Text = Convert.ToString(DataTemp);
                                    }
                                    else if (binary_data_1[2] == 2)
                                    {
                                        DataTemp = (ushort)(binary_data_1[26] * 256 + binary_data_1[25]);
                                        textBox_Sensor2_Zero.Text = Convert.ToString(DataTemp);
                                    }
                                    else if (binary_data_1[2] == 3)
                                    {
                                        DataTemp = (ushort)(binary_data_1[26] * 256 + binary_data_1[25]);
                                        textBox_Sensor3_Zero.Text = Convert.ToString(DataTemp);
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xAA04://力矩传感器值校正参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //三力矩传感器不用
                                
                                }));
                            }
                            break;
                        }
                    case 0xAF02://力矩传感器值校正参数,针对3力矩传感器使用
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    if (binary_data_1[2] == 1)
                                    {
                                        DataTemp = (ushort)(binary_data_1[3]);
                                        float K = (float)DataTemp / 100f;
                                        textBox_Sensor1_K.Text = K.ToString("#0.00");
                                    }
                                    else if (binary_data_1[2] == 2)
                                    {
                                        DataTemp = (ushort)(binary_data_1[3]);
                                        float K = (float)DataTemp / 100f;
                                        textBox_Sensor2_K.Text = K.ToString("#0.00");
                                    }
                                    else if (binary_data_1[2] == 3)
                                    {
                                        DataTemp = (ushort)(binary_data_1[3]);
                                        float K = (float)DataTemp / 100f;
                                        textBox_Sensor3_K.Text = K.ToString("#0.00");
                                    }

                                }));
                            }
                            break;
                        }
                    case 0xB002://力矩传感器值启动值
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    DataTemp = (ushort)(binary_data_1[3] * 256 + binary_data_1[2]);
                                    textBox_Torque_Start.Text = Convert.ToString(DataTemp);
                                }));
                            }
                            break;
                        }
                    case 0x1240://电机版本信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //电机型号
                                    textBox_Mode.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[2 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_Mode.Text += ((char)binary_data_1[2 + i]).ToString();                                    
                                    }
                                    Class_Motor_Ver.Mode = textBox_Mode.Text;
                                    
                                    //电机SN
                                    textBox_SN.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[18 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_SN.Text += ((char)binary_data_1[18 + i]).ToString();
                                    }
                                    Class_Motor_Ver.SN = textBox_SN.Text;

                                    //电机HW
                                    textBox_HW.Text = "";
                                    for (ushort i = 0; i < 10; i++)//前10位是PCB版号，以'.'结束
                                    {
                                        if (binary_data_1[34 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[34 + i] == 'r')
                                        {
                                            binary_data_1[34 + i] = (byte)'.';
                                        }
                                        textBox_HW.Text += ((char)binary_data_1[34 + i]).ToString();
                                    }
                                    switch (binary_data_1[34 + 10])//第10位代表MCU品牌
                                    {
                                        case (byte)'1':
                                            textBox_HW.Text += " " + "ST" + " "; break;
                                        case (byte)'2':
                                            textBox_HW.Text += " " + "APM" + " "; break;
                                        case (byte)'3':
                                            textBox_HW.Text += " " + "HK" + " "; break;
                                        case (byte)'4':
                                            textBox_HW.Text += " " + "GD" + " "; break;
                                        default:
                                            textBox_HW.Text += " " + "NULL" + " "; break;
                                    }
                                    for (ushort i = 0; i < 4; i++)//后4位是MCU的ID校验码，用于识别板子的ID
                                    {
                                        textBox_HW.Text += Convert.ToString(binary_data_1[46 + i], 16).PadLeft(2, '0').ToUpper();//MCU ID 的CRC32值
                                    }
                                    Class_Motor_Ver.HW = textBox_HW.Text;

                                    //电机FW
                                    textBox_FW.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[50 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[50 + i] == 'r')
                                        {
                                            binary_data_1[50 + i] = (byte)'.';
                                        }
                                        textBox_FW.Text += ((char)binary_data_1[50 + i]).ToString();
                                    }
                                    Class_Motor_Ver.FW = textBox_FW.Text;

                                }));
                            }
                            break;
                        }
                    case 0x1720://电机程序特性信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //程序特性
                                    textBox_Firmware_Special.Text = "";
                                    for (ushort i = 0; i < 32; i++)
                                    {
                                        if (binary_data_1[2 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_Firmware_Special.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    Class_Motor_Ver.Mode = textBox_Firmware_Special.Text;
                                }));
                            }
                            break;
                        }
                    case 0x1020://电机运行信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MC_RunInfo_Refresh = true;
                                    //车速
                                    DataTemp = (ushort)(binary_data_1[3] * 256 + binary_data_1[2]);
                                    textBox_RunInfo_BikeSpeed.Text = ((float)DataTemp / 10f).ToString("0.0") + " km/h";
                                    //输出转速
                                    DataTemp = (ushort)(binary_data_1[5] * 256 + binary_data_1[4]);
                                    textBox_RunInfo_OutSpeed.Text = Convert.ToString(DataTemp) + " rpm";
                                    Class_MotorSpeed.String = textBox_RunInfo_OutSpeed.Text;
                                    Class_MotorSpeed.Data = DataTemp;
                                    //电功率
                                    DataTemp = (ushort)(binary_data_1[7] * 256 + binary_data_1[6]);
                                    textBox_RunInfo_Power.Text = Convert.ToString(DataTemp) + " W";
                                    //母线电压
                                    DataTemp = (ushort)(binary_data_1[9] * 256 + binary_data_1[8]);
                                    textBox_RunInfo_Voltage.Text = Convert.ToString(DataTemp) + " mV";
                                    //母线电流
                                    DataTemp = (ushort)(binary_data_1[11] * 256 + binary_data_1[10]);
                                    textBox_RunInfo_Current.Text = Convert.ToString(DataTemp) + " mA";
                                    Class_CurrentData.String = textBox_RunInfo_Current.Text;
                                    Class_CurrentData.Data = DataTemp;
                                    //踏频
                                    DataTemp = (ushort)(binary_data_1[12]);
                                    textBox_RunInfo_Cadence.Text = Convert.ToString(DataTemp) + " rpm";
                                    //踩踏力矩
                                    DataTemp = (ushort)(binary_data_1[13]);
                                    textBox_RunInfo_Torque.Text = Convert.ToString(DataTemp) + " N.m";
                                    Class_TorqueData.String = textBox_RunInfo_Torque.Text;
                                    Class_TorqueData.Data = DataTemp;                                 

                                    //踩踏方向
                                    DataTemp = (ushort)(binary_data_1[14]);
                                    if (DataTemp == 0)
                                    {
                                        textBox_RunInfo_Dir.Text = "正向";
                                    }
                                    else if (DataTemp == 1)
                                    {
                                        textBox_RunInfo_Dir.Text = "反向";
                                    }
                                    else if (DataTemp == 2)
                                    {
                                        textBox_RunInfo_Dir.Text = "停止";
                                    }
                                    //助力档位
                                    DataTemp = (ushort)(binary_data_1[15]);
                                    if (DataTemp == 0x00)
                                    {
                                        textBox_RunInfo_Gear.Text = "OFF";
                                        radioButton_Gear_OFF.Checked = true;
                                    }
                                    else if (DataTemp == 0x01)
                                    {
                                        textBox_RunInfo_Gear.Text = "ECO";
                                        radioButton_Gear_ECO.Checked = true;
                                    }
                                    else if (DataTemp == 0x02)
                                    {
                                        textBox_RunInfo_Gear.Text = "NORM";
                                        radioButton_Gear_NORM.Checked = true;
                                    }
                                    else if (DataTemp == 0x03)
                                    {
                                        textBox_RunInfo_Gear.Text = "SPORT";
                                        radioButton_Gear_SPORT.Checked = true;
                                    }
                                    else if (DataTemp == 0x04)
                                    {
                                        textBox_RunInfo_Gear.Text = "TURBO";
                                        radioButton_Gear_TURBO.Checked = true;
                                    }
                                    else if (DataTemp == 0x33)
                                    {
                                        textBox_RunInfo_Gear.Text = "SMART";
                                        radioButton_Gear_SMART.Checked = true;
                                    }
                                    else if (DataTemp == 0x22)
                                    {
                                        textBox_RunInfo_Gear.Text = "WALK";
                                        radioButton_Gear_WALK.Checked = true;
                                    }
                                    //大灯状态
                                    DataTemp = (ushort)(binary_data_1[16]);
                                    if (DataTemp == 0xF0)
                                    {
                                        textBox_RunInfo_Light.Text = "OFF";
                                        radioButton_Light_OFF.Checked = true;
                                    }
                                    else if (DataTemp == 0xF1)
                                    {
                                        textBox_RunInfo_Light.Text = "ON";
                                        radioButton_Light_ON.Checked = true;
                                    }
                                    //剩余电量
                                    DataTemp = (ushort)(binary_data_1[17]);
                                    if (DataTemp == 0xFF)
                                    {
                                        textBox_RunInfo_SOC.Text = "---";
                                    }
                                    else
                                    { 
                                        textBox_RunInfo_SOC.Text = Convert.ToString(DataTemp) + " %";
                                    }                               
                                    //剩余续航里程
                                    DataTemp = (ushort)(binary_data_1[19] * 256 + binary_data_1[18]);
                                    if ((DataTemp == 0xEEEE) || (DataTemp == 0xFFFF))
                                    {
                                        textBox_RunInfo_Range.Text = "---";
                                    }
                                    else
                                    { 
                                        textBox_RunInfo_Range.Text = Convert.ToString(DataTemp) + " km";
                                    }
                                    //ODO里程
                                    DataTemp = (ushort)(binary_data_1[21] * 256 + binary_data_1[20]);
                                    textBox_RunInfo_ODO_Km.Text = Convert.ToString(DataTemp) + " km";
                                    //平均功耗
                                    DataTemp = (ushort)(binary_data_1[22]);
                                    textBox_RunInfo_PowerAvg.Text = Convert.ToString(DataTemp * 10) + " mAh/km";
                                    //PCB温度
                                    DataTemp = (ushort)(binary_data_1[23]);
                                    textBox_RunInfo_T_PCB.Text = Convert.ToString((int)(DataTemp - 40));
                                    //绕组温度
                                    DataTemp = (ushort)(binary_data_1[24]);
                                    textBox_RunInfo_T_Roil.Text = Convert.ToString((int)(DataTemp - 40));
                                    //MCU温度
                                    DataTemp = (ushort)(binary_data_1[25]);
                                    textBox_RunInfo_T_MCU.Text = Convert.ToString((int)(DataTemp - 40));
                                    //单次里程
                                    DataTemp = (ushort)(binary_data_1[27] * 256 + binary_data_1[26]);
                                    textBox_RunInfo_Distance.Text = ((float)DataTemp / 10f).ToString("0.0") + " km";
                                    //单次时间
                                    DataTemp = (ushort)(binary_data_1[29] * 256 + binary_data_1[28]);
                                    textBox_RunInfo_Time.Text = Convert.ToString(DataTemp) + " s";
                                    //传感器1
                                    DataTemp = (ushort)(binary_data_1[30]);
                                    textBox_Sensor1.Text = Convert.ToString(DataTemp) + " N.m";
                                    Class_Sensor1Data.String = textBox_Sensor1.Text;
                                    Class_Sensor1Data.Data = DataTemp; 
                                    //传感器2
                                    DataTemp = (ushort)(binary_data_1[31]);
                                    textBox_Sensor2.Text = Convert.ToString(DataTemp) + " N.m";
                                    Class_Sensor2Data.String = textBox_Sensor2.Text;
                                    Class_Sensor2Data.Data = DataTemp; 
                                    //传感器3
                                    DataTemp = (ushort)(binary_data_1[32]);
                                    textBox_Sensor3.Text = Convert.ToString(DataTemp) + " N.m";
                                    Class_Sensor3Data.String = textBox_Sensor3.Text;
                                    Class_Sensor3Data.Data = DataTemp; 

                                    //计算传感器均值和标准差
                                    TorqueArray[TorqueArray_Index] = binary_data_1[13];
                                    Sensor1Array[TorqueArray_Index] = binary_data_1[30];
                                    Sensor2Array[TorqueArray_Index] = binary_data_1[31];
                                    Sensor3Array[TorqueArray_Index] = binary_data_1[32];
                                    TorqueArray_Index++;
                                    if (TorqueArray_Index >= 25)
                                    {
                                        textBox_TorqueData.Text = Convert.ToString(GetAvg(TorqueArray, 25)) + " N.m";
                                        textBox_Torque_Stdev.Text = Convert.ToString(GetStDev(TorqueArray, 25));
                                        textBox_Sensor1_Avg.Text = Convert.ToString(GetAvg(Sensor1Array, 25)) + " N.m";
                                        textBox_Sensor1_Std.Text = Convert.ToString(GetStDev(Sensor1Array, 25));
                                        textBox_Sensor2_Avg.Text = Convert.ToString(GetAvg(Sensor2Array, 25)) + " N.m";
                                        textBox_Sensor2_Std.Text = Convert.ToString(GetStDev(Sensor2Array, 25));
                                        textBox_Sensor3_Avg.Text = Convert.ToString(GetAvg(Sensor3Array, 25)) + " N.m";
                                        textBox_Sensor3_Std.Text = Convert.ToString(GetStDev(Sensor3Array, 25));
                                        TorqueArray_Index = 0;
                                    }

                                    //数据自动保存
                                    DateAutoSave();
                                }));
                            }
                            break;
                        }
                    case 0xA020://用户参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //指拨模式
                                    DataTemp = (ushort)(binary_data_1[2]);
                                    textBox_Config_GasMode.Text = Convert.ToString(DataTemp, 16).PadLeft(2, '0').ToUpper();                                   
                                    //启动模式
                                    DataTemp = (ushort)(binary_data_1[3]);
                                    if (DataTemp == 0x01)
                                        comboBox_StartMode.Text = "柔和";
                                    else if (DataTemp == 0x02)
                                        comboBox_StartMode.Text = "正常";
                                    else if (DataTemp == 0x03)
                                        comboBox_StartMode.Text = "强劲";
                                    //停机时间
                                    DataTemp = (ushort)(binary_data_1[5] * 256 + binary_data_1[4]);
                                    textBox_Config_StopTime.Text = Convert.ToString(DataTemp);
                                    //限速值
                                    DataTemp = (ushort)(binary_data_1[6]);
                                    textBox_Config_MaxSpeed.Text = Convert.ToString(DataTemp);
                                    //下降速度
                                    DataTemp = (ushort)(binary_data_1[7]);
                                    if (DataTemp == 0x01)
                                        comboBox_DownDec.Text = "超慢";
                                    else if (DataTemp == 0x02)
                                        comboBox_DownDec.Text = "慢";
                                    else if (DataTemp == 0x03)
                                        comboBox_DownDec.Text = "正常";
                                    else if (DataTemp == 0x02)
                                        comboBox_DownDec.Text = "快";
                                    else if (DataTemp == 0x03)
                                        comboBox_DownDec.Text = "超快";
                                    //前飞
                                    DataTemp = (ushort)(binary_data_1[8]);
                                    textBox_Config_Teeth_F.Text = Convert.ToString(DataTemp);
                                    //后飞
                                    DataTemp = (ushort)(binary_data_1[9]);
                                    textBox_Config_Teeth_B.Text = Convert.ToString(DataTemp);
                                    //限流
                                    DataTemp = (ushort)(binary_data_1[10]);
                                    textBox_Config_MaxCurrent.Text = Convert.ToString(DataTemp);
                                    //温度预警
                                    DataTemp = (ushort)(binary_data_1[11]);
                                    textBox_Config_T_Alarm.Text = Convert.ToString((Int16)(DataTemp - 40));
                                    //温度保护
                                    DataTemp = (ushort)(binary_data_1[12]);
                                    textBox_Config_T_Protect.Text = Convert.ToString((Int16)(DataTemp - 40));
                                    //无PBU标志
                                    DataTemp = (ushort)(binary_data_1[13]);
                                    if (DataTemp == 0x55)
                                    {
                                        comboBox_NoWatch.Text = "有";
                                    }
                                    else if (DataTemp == 0xAA)
                                    {
                                        comboBox_NoWatch.Text = "无";
                                    }
                                    //轮胎周长
                                    DataTemp = (ushort)(binary_data_1[14]);
                                    textBox_Config_WheelSize.Text = Convert.ToString(DataTemp);
                                    //电机系列号
                                    DataTemp = (ushort)(binary_data_1[15]);
                                    comboBox_SerNum.Text = Convert.ToString(DataTemp);
                                    //ECO助力增益
                                    DataTemp = (ushort)(binary_data_1[16]);
                                    textBox_Config_ECO_K.Text = Convert.ToString(DataTemp);
                                    //ECO加速
                                    DataTemp = (ushort)(binary_data_1[17]);
                                    textBox_Config_ECO_Acc.Text = Convert.ToString(DataTemp);
                                    //NORM助力增益
                                    DataTemp = (ushort)(binary_data_1[18]);
                                    textBox_Config_NORM_K.Text = Convert.ToString(DataTemp);
                                    //NORM加速
                                    DataTemp = (ushort)(binary_data_1[19]);
                                    textBox_Config_NORM_Acc.Text = Convert.ToString(DataTemp);
                                    //SPORT助力增益
                                    DataTemp = (ushort)(binary_data_1[20]);
                                    textBox_Config_SPORT_K.Text = Convert.ToString(DataTemp);
                                    //SPORT加速
                                    DataTemp = (ushort)(binary_data_1[21]);
                                    textBox_Config_SPORT_Acc.Text = Convert.ToString(DataTemp);
                                    //TURBO助力增益
                                    DataTemp = (ushort)(binary_data_1[22]);
                                    textBox_Config_TURBO_K.Text = Convert.ToString(DataTemp);
                                    //TURBO加速
                                    DataTemp = (ushort)(binary_data_1[23]);
                                    textBox_Config_TURBO_Acc.Text = Convert.ToString(DataTemp);
                                    //SMART助力增益
                                    DataTemp = (ushort)(binary_data_1[24]);
                                    textBox_Config_SMART_K.Text = Convert.ToString(DataTemp);
                                    //SMART加速
                                    DataTemp = (ushort)(binary_data_1[25]);
                                    textBox_Config_SMART_Acc.Text = Convert.ToString(DataTemp);
                                    //速度传感器信号个数
                                    DataTemp = (ushort)(binary_data_1[26]);
                                    textBox_Config_SpeedNum.Text = Convert.ToString(DataTemp);
                                    //踏频启动信号个数
                                    DataTemp = (ushort)(binary_data_1[27]);
                                    textBox_Config_CadenceNum.Text = Convert.ToString(DataTemp);
                                    //无速度传感器
                                    DataTemp = (ushort)(binary_data_1[28]);
                                    if (DataTemp == 0x55)
                                    {
                                        comboBox_SpeedSing.Text = "传感器";
                                    }
                                    else if (DataTemp == 0xAA)
                                    {
                                        comboBox_SpeedSing.Text = "踏频";
                                    }
                                    else if (DataTemp == 0xEE)
                                    {
                                        comboBox_SpeedSing.Text = "通信";
                                    }
                                    //周长微调  
                                    DataTemp_int16 = (short)binary_data_1[29];
                                    textBox_Config_WheelAdj.Text = Convert.ToString((DataTemp_int16 >= 128) ? (DataTemp_int16 - 256) : DataTemp_int16);
                                    //低压保护阈值
                                    DataTemp = (ushort)(binary_data_1[31] * 256 + binary_data_1[30]);
                                    textBox_Config_UV_Protect.Text = Convert.ToString(DataTemp);
                                    //推行限速值
                                    DataTemp = (ushort)(binary_data_1[32]);
                                    textBox_Config_WalkSpeedLimit.Text = ((float)DataTemp / 10f).ToString("#0.0");
                                    //推行马达转速
                                    DataTemp = (ushort)(binary_data_1[33]);
                                    textBox_Config_WalkMotorSpeed.Text = Convert.ToString(DataTemp);
                                }));
                            }
                            break;
                        }
                    case 0xA110://马达参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //额定功率
                                    DataTemp = (ushort)(binary_data_1[3] * 256 + binary_data_1[2]);
                                    textBox_Motor_Power.Text = Convert.ToString(DataTemp);
                                    //额定转速
                                    DataTemp = (ushort)(binary_data_1[5] * 256 + binary_data_1[4]);
                                    textBox_Motor_Speed.Text = Convert.ToString(DataTemp);
                                    //定子电阻
                                    DataTemp = (ushort)(binary_data_1[7] * 256 + binary_data_1[6]);
                                    textBox_Motor_R.Text = Convert.ToString(DataTemp);
                                    //Lq
                                    DataTemp = (ushort)(binary_data_1[9] * 256 + binary_data_1[8]);
                                    textBox_Motor_Lq.Text = Convert.ToString(DataTemp);
                                    //Ld
                                    DataTemp = (ushort)(binary_data_1[11] * 256 + binary_data_1[10]);
                                    textBox_Motor_Ld.Text = Convert.ToString(DataTemp);
                                    //反电动势
                                    DataTemp = (ushort)(binary_data_1[13] * 256 + binary_data_1[12]);
                                    textBox_Motor_E.Text = Convert.ToString(DataTemp);
                                    //额定电压
                                    DataTemp = (ushort)(binary_data_1[14]);
                                    textBox_Motor_Voltage.Text = Convert.ToString(DataTemp);
                                }));
                            }
                            break;
                        }
                    case 0xA230://历史信息1
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    UInt32 DataTemp_Uint32;
                                    ushort DataTemp_Uint16;
                                    short DataTemp_Int16;
                                    //开机次数
                                    DataTemp_Uint32 = (UInt32)((binary_data_1[5] << 24) + (binary_data_1[4] << 16) + (binary_data_1[3] << 8) + binary_data_1[2]);
                                    textBox_Runlog1_PowerCount.Text = Convert.ToString(DataTemp_Uint32);
                                    //使用时间
                                    DataTemp_Uint32 = (UInt32)((binary_data_1[9] << 24) + (binary_data_1[8] << 16) + (binary_data_1[7] << 8) + binary_data_1[6]);
                                    textBox_Runlog1_RunTime.Text = Convert.ToString(DataTemp_Uint32);
                                    //过流保护
                                    DataTemp_Uint16 = (ushort)(binary_data_1[11] * 256 + binary_data_1[10]);
                                    textBox_Runlog1_OC.Text = Convert.ToString(DataTemp_Uint16);
                                    //低压保护
                                    DataTemp_Uint16 = (ushort)(binary_data_1[13] * 256 + binary_data_1[12]);
                                    textBox_Runlog1_UV.Text = Convert.ToString(DataTemp_Uint16);
                                    //过压保护
                                    DataTemp_Uint16 = (ushort)(binary_data_1[15] * 256 + binary_data_1[14]);
                                    textBox_Runlog1_OV.Text = Convert.ToString(DataTemp_Uint16);
                                    //堵转保护
                                    DataTemp_Uint16 = (ushort)(binary_data_1[17] * 256 + binary_data_1[16]);
                                    textBox_Runlog1_Lock.Text = Convert.ToString(DataTemp_Uint16);
                                    //过热保护
                                    DataTemp_Uint16 = (ushort)(binary_data_1[19] * 256 + binary_data_1[18]);
                                    textBox_Runlog1_OT.Text = Convert.ToString(DataTemp_Uint16);
                                    //速度传感器故障
                                    DataTemp_Uint16 = (ushort)(binary_data_1[21] * 256 + binary_data_1[20]);
                                    textBox_Runlog1_SPSFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //力矩传感器
                                    DataTemp_Uint16 = (ushort)(binary_data_1[23] * 256 + binary_data_1[22]);
                                    textBox_Runlog1_TQSFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //霍尔故障
                                    DataTemp_Uint16 = (ushort)(binary_data_1[25] * 256 + binary_data_1[24]);
                                    textBox_Runlog1_HallFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //马达缺相
                                    DataTemp_Uint16 = (ushort)(binary_data_1[27] * 256 + binary_data_1[26]);
                                    textBox_Runlog1_Phase.Text = Convert.ToString(DataTemp_Uint16);
                                    //NTC故障
                                    DataTemp_Uint16 = (ushort)(binary_data_1[29] * 256 + binary_data_1[28]);
                                    textBox_Runlog1_NTCFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //BMS校验失败
                                    DataTemp_Uint16 = (ushort)(binary_data_1[31] * 256 + binary_data_1[30]);
                                    textBox_Runlog1_BMSFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //HMI校验失败
                                    DataTemp_Uint16 = (ushort)(binary_data_1[33] * 256 + binary_data_1[32]);
                                    textBox_Runlog1_HMIFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //PBU校验失败
                                    DataTemp_Uint16 = (ushort)(binary_data_1[35] * 256 + binary_data_1[34]);
                                    textBox_Runlog1_PBUFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //PCB最高温
                                    DataTemp_Int16 = (short)(ushort)binary_data_1[36];
                                    textBox_Runlog1_PCB_MAX.Text = Convert.ToString(DataTemp_Int16 - 40);
                                    //PCB最低温
                                    DataTemp_Int16 = (short)(ushort)binary_data_1[37];
                                    textBox_Runlog1_PCB_MIN.Text = Convert.ToString(DataTemp_Int16 - 40);
                                    //绕组最高温
                                    DataTemp_Int16 = (short)(ushort)binary_data_1[42];
                                    textBox_Runlog1_Coil_MAX.Text = Convert.ToString(DataTemp_Int16 - 40);
                                    //绕组最低温
                                    DataTemp_Int16 = (short)(ushort)binary_data_1[43];
                                    textBox_Runlog1_Coil_MIN.Text = Convert.ToString(DataTemp_Int16 - 40);
                                    //MCU最高温
                                    DataTemp_Int16 = (short)(ushort)binary_data_1[44];
                                    textBox_Runlog1_MCU_MAX.Text = Convert.ToString(DataTemp_Int16 - 40);
                                    //MCU最低温
                                    DataTemp_Int16 = (short)(ushort)binary_data_1[45];
                                    textBox_Runlog1_MCU_MIN.Text = Convert.ToString(DataTemp_Int16 - 40);
                                }));
                            }
                            break;
                        }
                    case 0xAB09://存储器数据
                    case 0xAB0A:
                    case 0xAB0B:
                    case 0xAB0C:
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    long ByteNum = 0;
                                    ByteNum = ((binary_data_1[6] << 24) + (binary_data_1[7] << 16) + (binary_data_1[8] << 8) + binary_data_1[9]) - ((binary_data_1[2] << 24) + (binary_data_1[3] << 16) + (binary_data_1[4] << 8) + binary_data_1[5]) + 1;
                                    if (ByteNum > 4) //数据长度超过4Bytes，按照16进制显示字节流
                                    {
                                        for (int i = 0; i < ByteNum; i++)
                                        {
                                            richTextBox_DebugInfo.AppendText(Convert.ToString(binary_data_1[10 + i], 16).PadLeft(2, '0').ToUpper() + " ");
                                        }
                                    }
                                    else //根据设置自动转换10进制显示
                                    {
                                        if (radioButton_DebugDec.Checked == true) //10进制显示
                                        {
                                            switch (ByteNum)
                                            {
                                                case 1:
                                                    {
                                                        richTextBox_DebugInfo.AppendText(Convert.ToString(binary_data_1[10]) + ", ");
                                                        break;
                                                    }
                                                case 2:
                                                    {
                                                        richTextBox_DebugInfo.AppendText(Convert.ToString(binary_data_1[10] + (binary_data_1[11] << 8)) + ", ");
                                                        break;
                                                    }
                                                case 3:
                                                    {
                                                        richTextBox_DebugInfo.AppendText(Convert.ToString(binary_data_1[10] + (binary_data_1[11] << 8) + (binary_data_1[12] << 16)) + ", ");
                                                        break;
                                                    }
                                                case 4:
                                                    {
                                                        richTextBox_DebugInfo.AppendText(Convert.ToString(binary_data_1[10] + (binary_data_1[11] << 8) + (binary_data_1[12] << 16) + (binary_data_1[13] << 24)) + ", ");
                                                        break;
                                                    }
                                                default:
                                                    {
                                                        richTextBox_DebugInfo.AppendText("无效数据" + ", ");
                                                        break;
                                                    }
                                            }
                                        }
                                        else if (radioButton_DebugHex.Checked == true)//16进制显示
                                        {
                                            switch (ByteNum)
                                            {
                                                case 1:
                                                    {
                                                        richTextBox_DebugInfo.AppendText("0x" + Convert.ToString(binary_data_1[10], 16).PadLeft(2, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                case 2:
                                                    {
                                                        richTextBox_DebugInfo.AppendText("0x" + Convert.ToString(binary_data_1[10] + (binary_data_1[11] << 8), 16).PadLeft(4, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                case 3:
                                                    {
                                                        richTextBox_DebugInfo.AppendText("0x" + Convert.ToString(binary_data_1[10] + (binary_data_1[11] << 8) + (binary_data_1[12] << 16), 16).PadLeft(6, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                case 4:
                                                    {
                                                        richTextBox_DebugInfo.AppendText("0x" + Convert.ToString(binary_data_1[10] + (binary_data_1[11] << 8) + (binary_data_1[12] << 16) + (binary_data_1[13] << 24), 16).PadLeft(8, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                default:
                                                    {
                                                        richTextBox_DebugInfo.AppendText("无效数据" + ", ");
                                                        break;
                                                    }
                                            }
                                        }
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xAB88://故障日志
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //电机存储的故障日志，一包128字节包含2条故障日志
                                    var ErrorLogSaveInfo1 = new MC_ErrorLogSaveInfo_Struct_t();
                                    var ErrorLogSaveInfo2 = new MC_ErrorLogSaveInfo_Struct_t();
                                    ErrorLogSaveInfo1 = MyConverter.ByteToStructure<MC_ErrorLogSaveInfo_Struct_t>(binary_data_1, 10);
                                    ErrorLogSaveInfo2 = MyConverter.ByteToStructure<MC_ErrorLogSaveInfo_Struct_t>(binary_data_1, 74);

                                    //数据存储
                                    ErrorLogDateSave(ErrorLogSaveInfo1, ErrorLogSaveInfo2);

                                }));
                            }
                            break;
                        }
                    case 0xAC10://运行历史2
                        { 
                        unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    ushort DataTemp_Uint16;
                                    //MCU故障
                                    DataTemp_Uint16 = (ushort)(binary_data_1[3] * 256 + binary_data_1[2]);
                                    textBox_Runlog2_MCUFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //踏频传感器故障
                                    DataTemp_Uint16 = (ushort)(binary_data_1[5] * 256 + binary_data_1[4]);
                                    textBox_Runlog2_CDSFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //指拨故障
                                    DataTemp_Uint16 = (ushort)(binary_data_1[7] * 256 + binary_data_1[6]);
                                    textBox_Runlog2_GasFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //MOS短路
                                    DataTemp_Uint16 = (ushort)(binary_data_1[9] * 256 + binary_data_1[8]);
                                    textBox_Runlog2_MOS_SC.Text = Convert.ToString(DataTemp_Uint16);
                                    //电压异常
                                    DataTemp_Uint16 = (ushort)(binary_data_1[11] * 256 + binary_data_1[10]);
                                    textBox_Runlog2_VolFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //电路异常
                                    DataTemp_Uint16 = (ushort)(binary_data_1[13] * 256 + binary_data_1[12]);
                                    textBox_Runlog2_CircuitFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //TE MCU异常
                                    DataTemp_Uint16 = (ushort)(binary_data_1[15] * 256 + binary_data_1[14]);
                                    textBox_Runlog2_TE_MCUFault.Text = Convert.ToString(DataTemp_Uint16);
                                    //TE电路故障
                                    DataTemp_Uint16 = (ushort)(binary_data_1[17] * 256 + binary_data_1[16]);
                                    textBox_Runlog2_TE_CircuitFault.Text = Convert.ToString(DataTemp_Uint16);
                                }));
                            }
                            break;
                        }
                    case 0x1104://故障码
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MC_ErrorCode_Refresh = true;
                                    textBox_RunInfo_ErrorCode.Text =  
                                        Convert.ToString(binary_data_1[5], 16).PadLeft(2, '0').ToUpper() + 
                                        Convert.ToString(binary_data_1[4], 16).PadLeft(2, '0').ToUpper() + 
                                        Convert.ToString(binary_data_1[3], 16).PadLeft(2, '0').ToUpper() + 
                                        Convert.ToString(binary_data_1[2], 16).PadLeft(2, '0').ToUpper() +
                                        "H";
                                }));
                            }
                            break;
                        }
                    case 0xA903://反馈指令
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    timer1.Enabled = false;
                                    MessageBox.Show("OK", "反馈指令", MessageBoxButtons.OK, MessageBoxIcon.Information);
                                    timer1.Enabled = true;
                                }));
                            }
                            break;
                        }
                    case 0xAD20://用户参数2
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    short DataTemp_Int16;
                                    sbyte DataTemp_byte;
                                    //俯仰角零偏
                                    DataTemp_Int16 = (short)(binary_data_1[3] * 256 + binary_data_1[2]);
                                    textBox_Config_Angle_Pitch.Text = ((float)DataTemp_Int16 / 10f).ToString("0.0");
                                    //横滚角零偏
                                    DataTemp_Int16 = (short)(binary_data_1[5] * 256 + binary_data_1[4]);
                                    textBox_Config_Angle_Roll.Text = ((float)DataTemp_Int16 / 10f).ToString("0.0");
                                    //支持姿态传感器
                                    DataTemp = (ushort)(binary_data_1[6]);
                                    if (DataTemp == 0x55)
                                    {
                                        comboBox_AttiSensor.Text = "不支持";
                                    }
                                    else if (DataTemp == 0xAA)
                                    {
                                        comboBox_AttiSensor.Text = "支持";
                                    }
                                    //尾灯模式
                                    DataTemp = (ushort)(binary_data_1[7]);
                                    if (DataTemp == 0x01)
                                    {
                                        comboBox_TailLightMode.Text = "模式1";
                                    }
                                    else if (DataTemp == 0x02)
                                    {
                                        comboBox_TailLightMode.Text = "模式2";
                                    }
                                    else if (DataTemp == 0x03)
                                    {
                                        comboBox_TailLightMode.Text = "模式3";
                                    }
                                    else if (DataTemp == 0x04)
                                    {
                                        comboBox_TailLightMode.Text = "模式4";
                                    }
                                    else if (DataTemp == 0x05)
                                    {
                                        comboBox_TailLightMode.Text = "模式5";
                                    }
                                    else if (DataTemp == 0x06)
                                    {
                                        comboBox_TailLightMode.Text = "模式6";
                                    }
                                    else
                                    {
                                        comboBox_TailLightMode.Text = "0";
                                    }
                                    //前灯电压
                                    DataTemp = (ushort)(binary_data_1[8]);
                                    if (DataTemp == 0x06)
                                    {
                                        comboBox_FrontLigthVol.Text = "6V";
                                    }
                                    else if (DataTemp == 0x0C)
                                    {
                                        comboBox_FrontLigthVol.Text = "12V";
                                    }
                                    else if (DataTemp == 0xFF)
                                    {
                                        comboBox_FrontLigthVol.Text = "随电池";
                                    }
                                    else if (DataTemp == 0x00)
                                    {
                                        comboBox_FrontLigthVol.Text = "硬件";
                                    }
                                    else
                                    {
                                        comboBox_FrontLigthVol.Text = "无效";
                                    }
                                    //尾灯电压
                                    DataTemp = (ushort)(binary_data_1[9]);
                                    if (DataTemp == 0x06)
                                    {
                                        comboBox_TailLightVol.Text = "6V";
                                    }
                                    else if (DataTemp == 0x0C)
                                    {
                                        comboBox_TailLightVol.Text = "12V";
                                    }
                                    else if (DataTemp == 0xFF)
                                    {
                                        comboBox_TailLightVol.Text = "随电池";
                                    }
                                    else if (DataTemp == 0x00)
                                    {
                                        comboBox_TailLightVol.Text = "硬件";
                                    }
                                    else
                                    {
                                        comboBox_TailLightVol.Text = "无效";
                                    }
                                    //超速报警阈值
                                    DataTemp = (ushort)(binary_data_1[11] * 256 + binary_data_1[10]);
                                    textBox_Config_SpeedAlarm.Text = ((float)DataTemp / 10f).ToString("#0.0");
                                    //尾灯脉宽
                                    DataTemp = (ushort)(binary_data_1[13] * 256 + binary_data_1[12]);
                                    textBox_Config_Pulse.Text = Convert.ToString(DataTemp);
                                    //尾灯周期
                                    DataTemp = (ushort)(binary_data_1[15] * 256 + binary_data_1[14]);
                                    textBox_Config_Period.Text = Convert.ToString(DataTemp);
                                    //起始限速
                                    DataTemp_byte = (sbyte)(binary_data_1[16]);
                                    textBox_Config_SpeedlimitStart.Text = ((float)(DataTemp_byte) / 10f).ToString("#0.0");
                                    //结束限速
                                    DataTemp_byte = (sbyte)(binary_data_1[17]);
                                    textBox_Config_SpeedlimitStop.Text = ((float)DataTemp_byte / 10f).ToString("#0.0");
                                    //限速微调
                                    DataTemp_int16 = (short)binary_data_1[18];
                                    textBox_Config_SpeedlimitAdj.Text = Convert.ToString((DataTemp_int16 >= 128) ? (DataTemp_int16 - 256) : DataTemp_int16);

                                }));
                            }
                            break;
                        }
                    case 0x1510:
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    long DataTemp32;
                                    MC_RideInfo_Refresh = true;
                                    //ODO里程
                                    DataTemp32 = (long)((binary_data_1[5] << 24) + (binary_data_1[4] << 16) + (binary_data_1[3] << 8) + binary_data_1[2]);
                                    textBox_RideInfo_ODO_Km.Text = ((float)DataTemp32 / 10f).ToString("0.0") + " km";
                                    //ODO时间
                                    DataTemp32 = (long)((binary_data_1[9] << 24) + (binary_data_1[8] << 16) + (binary_data_1[7] << 8) + binary_data_1[6]);
                                    if (DataTemp32 >= 60 * 1000)
                                        textBox_RideInfo_ODO_Time.Text = Convert.ToString(DataTemp32 / 60) + " h";
                                    else
                                        textBox_RideInfo_ODO_Time.Text = Convert.ToString(DataTemp32 / 60) + " h " + Convert.ToString(DataTemp32 % 60) + " m";
                                    //TRIP里程
                                    DataTemp32 = (long)((binary_data_1[13] << 24) + (binary_data_1[12] << 16) + (binary_data_1[11] << 8) + binary_data_1[10]);
                                    textBox_RideInfo_Trip_Km.Text = ((float)DataTemp32 / 10f).ToString("0.0") + " km";
                                    //TRIP时间
                                    DataTemp32 = (long)((binary_data_1[17] << 24) + (binary_data_1[16] << 16) + (binary_data_1[15] << 8) + binary_data_1[14]);
                                    if (DataTemp32 >= 60 * 1000)
                                        textBox_RideInfo_Trip_Time.Text = Convert.ToString(DataTemp32 / 60) + " h";
                                    else
                                        textBox_RideInfo_Trip_Time.Text = Convert.ToString(DataTemp32 / 60) + " h " + Convert.ToString(DataTemp32 % 60) + " m";
         
                                }));
                            }
                            break;
                        }
                    case 0x1608://姿态信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    short DataTemp_Int16;
                                    MC_AttitudeAngle_Refresh = true;
                                    //俯仰角度绝对
                                    DataTemp_Int16 = (short)(binary_data_1[3] * 256 + binary_data_1[2]);
                                    textBox_Attitude_PitchAngle_Abs.Text = ((float)DataTemp_Int16 / 10f).ToString("0.0");
                                    //横滚角度绝对
                                    DataTemp_Int16 = (short)(binary_data_1[5] * 256 + binary_data_1[4]);
                                    textBox_Attitude_RollAngle_Abs.Text = ((float)DataTemp_Int16 / 10f).ToString("0.0");
                                    //俯仰角度相对
                                    DataTemp_Int16 = (short)(binary_data_1[7] * 256 + binary_data_1[6]);
                                    textBox_Attitude_PitchAngle_Rel.Text = ((float)DataTemp_Int16 / 10f).ToString("0.0");
                                    //横滚角度相对
                                    DataTemp_Int16 = (short)(binary_data_1[9] * 256 + binary_data_1[8]);
                                    textBox_Attitude_RollAngle_Rel.Text = ((float)DataTemp_Int16 / 10f).ToString("0.0");
                                }));
                            }
                            break;
                        }
                    default: break;
                }
                //存储器导出数据显示
                if ((CmdTemp & 0xFF00) == 0xAB00)
                {
                    unchecked
                    {
                        this.Invoke((EventHandler)(delegate
                        {
                            long ByteNum = 0;
                            ByteNum = ((binary_data_1[6] << 24) + (binary_data_1[7] << 16) + (binary_data_1[8] << 8) + binary_data_1[9]) - ((binary_data_1[2] << 24) + (binary_data_1[3] << 16) + (binary_data_1[4] << 8) + binary_data_1[5]) + 1;
                            if (ByteNum > 4) //数据长度超过4Bytes，按照16进制显示字节流
                            {
                                for (int i = 0; i < ByteNum; i++)
                                {
                                    richTextBox_DebugInfo.AppendText(Convert.ToString(binary_data_1[10 + i], 16).PadLeft(2, '0').ToUpper() + " ");
                                }
                            }
                        }));
                    }
                }
            }
            #endregion

            #region 解析MC TE的命令
            else if ((ID == 0x615) || (ID == 0x610))
            {
                switch (CmdTemp)
                {
                    case 0x1240://TE APP版本信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //电机FW
                                    textBox_TE_FW.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[50 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[50 + i] == 'r')
                                        {
                                            binary_data_1[50 + i] = (byte)'.';
                                        }
                                        textBox_TE_FW.Text += ((char)binary_data_1[50 + i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            #endregion
            }
        }
        #endregion

        //用户参数显示清除
        private void MC_Config_Clear()
        {
            foreach (Control c in groupBox10.Controls)
            {
                if ((c is TextBox) || (c is ComboBox))
                {
                    c.Text = "---";
                }
            }
        }

        //用户参数2清除
        private void MC_Config_Ext_Clear()
        {
            foreach (Control c in groupBox4.Controls)
            {
                if ((c is TextBox) || (c is ComboBox))
                {
                    c.Text = "---";
                }
            }
        }

        //马达参数显示清除
        private void Motor_Config_Clear()
        {
            foreach (Control c in groupBox11.Controls)
            {
                if (c is TextBox)
                {
                    c.Text = "---";
                }
            }
        }

        //电机运行信息清除
        private void MC_RunInfo_Clear()
        {
            foreach (Control c in groupBox3.Controls)
            {
                if (c is TextBox)
                {
                    c.Text = "---";
                }
            }
        }

        //姿态传感器信息清除
        private void MC_AttitudeAngle_Clear()
        {
            foreach (Control c in groupBox13.Controls)
            {
                if (c is TextBox)
                {
                    c.Text = "---";
                }
            }
        }

        //骑行信息清除
        private void MC_RideInfo_Clear()
        {
            foreach (Control c in groupBox12.Controls)
            {
                if (c is TextBox)
                {
                    c.Text = "---";
                }
            }
        }

        //历史信息清除
        private void MC_RunLog_Clear()
        {
            foreach (Control c in groupBox14.Controls)
            {
                if (c is TextBox)
                {
                    c.Text = "---";
                }                         
            }
        }

        //电机故障码显示清除
        private void MC_ErrorCode_Clear()
        {
            //故障码
            textBox_RunInfo_ErrorCode.Text = "---";
        }

        //接收计数清零
        private void label58_Click(object sender, EventArgs e)
        {
            textBox_RevCnt.Text = "0";
        }

        //读取用户参数
        private void button_Read_Config_Click(object sender, EventArgs e)
        {     
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1A00, null);
            MC_Config_Clear();
        }

        //写入用户参数
        private void button_Write_Config_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[32];
            for (int i = 0; i < 32; i++)
                ConfigParam[i] = 0;
            ushort DataTemp;

            //指拨参数
            ConfigParam[0] = byte.Parse(textBox_Config_GasMode.Text, System.Globalization.NumberStyles.HexNumber);
            //启动模式
            if (comboBox_StartMode.Text == "柔和")
                ConfigParam[1] = 0x01;
            else if (comboBox_StartMode.Text == "强劲")
                ConfigParam[1] = 0x03;
            else
                ConfigParam[1] = 0x02;
            //停机时间
            DataTemp = Convert.ToUInt16(textBox_Config_StopTime.Text);
            ConfigParam[2] = (byte)(DataTemp & 0xFF);
            ConfigParam[3] = (byte)(DataTemp >> 8);
            //限速
            ConfigParam[4] = Convert.ToByte(textBox_Config_MaxSpeed.Text);
            //下降速度
            if (comboBox_DownDec.Text == "超慢")
                ConfigParam[5] = 0x01;
            else if (comboBox_DownDec.Text == "慢")
                ConfigParam[5] = 0x02;
            else if (comboBox_DownDec.Text == "快")
                ConfigParam[5] = 0x04;
            else if (comboBox_DownDec.Text == "超快")
                ConfigParam[5] = 0x05;
            else
                ConfigParam[5] = 0x03;
            //前飞
            ConfigParam[6] = Convert.ToByte(textBox_Config_Teeth_F.Text);
            //后飞
            ConfigParam[7] = Convert.ToByte(textBox_Config_Teeth_B.Text);
            //限流
            ConfigParam[8] = Convert.ToByte(textBox_Config_MaxCurrent.Text);
            //温度预警
            ConfigParam[9] = (byte)(Convert.ToByte(textBox_Config_T_Alarm.Text) + 40);
            //温度保护
            ConfigParam[10] = (byte)(Convert.ToByte(textBox_Config_T_Protect.Text) + 40);
            //无PBU
            if (comboBox_NoWatch.Text == "无")
                ConfigParam[11] = 0xAA;
            else
                ConfigParam[11] = 0x55;
            //轮胎周长
            ConfigParam[12] = Convert.ToByte(textBox_Config_WheelSize.Text);
            //电机系列号
            ConfigParam[13] = Convert.ToByte(comboBox_SerNum.Text);
            //ECO助力增益
            ConfigParam[14] = Convert.ToByte(textBox_Config_ECO_K.Text);
            //ECO加速
            ConfigParam[15] = Convert.ToByte(textBox_Config_ECO_Acc.Text);
            //NORM助力增益
            ConfigParam[16] = Convert.ToByte(textBox_Config_NORM_K.Text);
            //NORM加速
            ConfigParam[17] = Convert.ToByte(textBox_Config_NORM_Acc.Text);
            //SPORT助力增益
            ConfigParam[18] = Convert.ToByte(textBox_Config_SPORT_K.Text);
            //SPORT加速
            ConfigParam[19] = Convert.ToByte(textBox_Config_SPORT_Acc.Text);
            //TURBO助力增益
            ConfigParam[20] = Convert.ToByte(textBox_Config_TURBO_K.Text);
            //TURBO加速
            ConfigParam[21] = Convert.ToByte(textBox_Config_TURBO_Acc.Text);
            //SMART助力增益
            ConfigParam[22] = Convert.ToByte(textBox_Config_SMART_K.Text);
            //SMART加速
            ConfigParam[23] = Convert.ToByte(textBox_Config_SMART_Acc.Text);
            //速度传感器信号个数
            ConfigParam[24] = Convert.ToByte(textBox_Config_SpeedNum.Text);
            //踏频启动信号个数
            ConfigParam[25] = Convert.ToByte(textBox_Config_CadenceNum.Text);
            //速度传感器
            if (comboBox_SpeedSing.Text == "踏频")
                ConfigParam[26] = 0xAA;
            else if (comboBox_SpeedSing.Text == "通信")
                ConfigParam[26] = 0xEE;
            else
                ConfigParam[26] = 0x55;
            //周长微调
            ConfigParam[27] = (byte)Convert.ToInt16(textBox_Config_WheelAdj.Text);
            //低压保护阈值
            DataTemp = Convert.ToUInt16(textBox_Config_UV_Protect.Text);
            ConfigParam[28] = (byte)(DataTemp & 0xFF);
            ConfigParam[29] = (byte)(DataTemp >> 8);
            //推行限速
            DataTemp = (ushort)(decimal.Parse(textBox_Config_WalkSpeedLimit.Text) * 10);
            ConfigParam[30] = (byte)Convert.ToByte(DataTemp);
            //推行马达转速
            ConfigParam[31] = (byte)Convert.ToByte(textBox_Config_WalkMotorSpeed.Text);

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1B20, ConfigParam);
        }

        //读取马达参数
        private void button_Read_MortoConfig_Click(object sender, EventArgs e)
        {
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1C00, null);
            Motor_Config_Clear();
        }

        //写入马达参数
        private void button_Write_MotorConfig_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[16];
            for (int i = 0; i < 16; i++)
                ConfigParam[i] = 0;
            ushort DataTemp;

            //额定功率
            DataTemp = Convert.ToUInt16(textBox_Motor_Power.Text);
            ConfigParam[0] = (byte)(DataTemp & 0xFF);
            ConfigParam[1] = (byte)(DataTemp >> 8);
            //额定转速
            DataTemp = Convert.ToUInt16(textBox_Motor_Speed.Text);
            ConfigParam[2] = (byte)(DataTemp & 0xFF);
            ConfigParam[3] = (byte)(DataTemp >> 8);
            //定子电阻
            DataTemp = Convert.ToUInt16(textBox_Motor_R.Text);
            ConfigParam[4] = (byte)(DataTemp & 0xFF);
            ConfigParam[5] = (byte)(DataTemp >> 8);
            //Lq
            DataTemp = Convert.ToUInt16(textBox_Motor_Lq.Text);
            ConfigParam[6] = (byte)(DataTemp & 0xFF);
            ConfigParam[7] = (byte)(DataTemp >> 8);
            //Ld
            DataTemp = Convert.ToUInt16(textBox_Motor_Ld.Text);
            ConfigParam[8] = (byte)(DataTemp & 0xFF);
            ConfigParam[9] = (byte)(DataTemp >> 8);
            //反电动势
            DataTemp = Convert.ToUInt16(textBox_Motor_E.Text);
            ConfigParam[10] = (byte)(DataTemp & 0xFF);
            ConfigParam[11] = (byte)(DataTemp >> 8);
            //额定电压
            ConfigParam[12] = Convert.ToByte(textBox_Motor_Voltage.Text);

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1D10, ConfigParam);
        }

        //写入电机型号
        private void button_Write_Mode_Click(object sender, EventArgs e)
        {
            string Mode = textBox_Mode.Text;
            var ModeArray = new byte[16];

            for (ushort i = 0; i < Mode.Length; i++)
            { 
              ModeArray[i] = (byte)Mode[i];
            }
            if (Mode.Length < 16)
            {
                ModeArray[Mode.Length] = (byte)'.';
                for (ushort i = 0; i < 16 - Mode.Length - 1; i++)
                {
                    ModeArray[Mode.Length + 1 + i] = 0x20;
                }
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2210, ModeArray);    
        }

        //写入电机SN
        private void button_Write_SN_Click(object sender, EventArgs e)
        {
            string SN = textBox_SN.Text;
            var SNArray = new byte[16];

            for (ushort i = 0; i < SN.Length; i++)
            {
                SNArray[i] = (byte)SN[i];
            }
            if (SN.Length < 16)
            {
                SNArray[SN.Length] = (byte)'.';
                for (ushort i = 0; i < 16 - SN.Length - 1; i++)
                {
                    SNArray[SN.Length + 1 + i] = 0x20;
                }
            }

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2310, SNArray);  
        }

        //系统复位
        private void button_Reset_Click(object sender, EventArgs e)
        {
            var Code = new byte[5];

            Code[0] = (byte)'R';
            Code[1] = (byte)'E';
            Code[2] = (byte)'S';
            Code[3] = (byte)'E';
            Code[4] = (byte)'T';

            timer1.Enabled = false;
            if (MessageBox.Show("系统将重启", "确认重启?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
            }
            timer1.Enabled = true;

        }

        private void button_RefreshPort_Click(object sender, EventArgs e)
        {
            string[] ports = SerialPort.GetPortNames();
            Array.Sort(ports);
            comboBox_ComIndex.Items.Clear();
            comboBox_ComIndex.Items.AddRange(ports);
            comboBox_ComIndex.SelectedIndex = comboBox_ComIndex.Items.Count > 0 ? 0 : -1;
        }

        private void checkBox_AutoSend_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox_AutoSend.Checked == false)
            {
                radioButton_Gear_ECO.Enabled = true;
                radioButton_Gear_NORM.Enabled = true;
                radioButton_Gear_SPORT.Enabled = true;
                radioButton_Gear_TURBO.Enabled = true;
                radioButton_Gear_WALK.Enabled = true;
                radioButton_Gear_SMART.Enabled = true;
                radioButton_Gear_OFF.Enabled = true;
            }
            else
            {
                radioButton_Gear_ECO.Enabled = false;
                radioButton_Gear_NORM.Enabled = false;
                radioButton_Gear_SPORT.Enabled = false;
                radioButton_Gear_TURBO.Enabled = false;
                radioButton_Gear_WALK.Enabled = false;
                radioButton_Gear_SMART.Enabled = false;
                radioButton_Gear_OFF.Enabled = false;
            }
        }

        private void button_Read_Config_Ext_Click(object sender, EventArgs e)
        {
            MC_Config_Ext_Clear();
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3000, null);
        }

        private void button_Write_Config_Ext_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[32];
            for (int i = 0; i < 32; i++)
                ConfigParam[i] = 0;
            short DataTemp_Int16;
            ushort DataTemp;

            //俯仰角零偏
            DataTemp_Int16 = (short)(decimal.Parse(textBox_Config_Angle_Pitch.Text) * 10);
            ConfigParam[0] = (byte)(DataTemp_Int16 & 0xFF);
            ConfigParam[1] = (byte)(DataTemp_Int16 >> 8);
            //横滚角零偏
            DataTemp_Int16 = (short)(decimal.Parse(textBox_Config_Angle_Roll.Text) * 10);
            ConfigParam[2] = (byte)(DataTemp_Int16 & 0xFF);
            ConfigParam[3] = (byte)(DataTemp_Int16 >> 8);
            //支持姿态传感器
            if (comboBox_AttiSensor.Text == "支持")
                ConfigParam[4] = 0xAA;
            else
                ConfigParam[4] = 0x55;
            //尾灯模式
            if (comboBox_TailLightMode.Text == "模式1")
            {
                ConfigParam[5] = 0x01;
            }
            else if (comboBox_TailLightMode.Text == "模式3")
            {
                ConfigParam[5] = 0x03;
            }
            else if (comboBox_TailLightMode.Text == "模式4")
            {
                ConfigParam[5] = 0x04;
            }
            else if (comboBox_TailLightMode.Text == "模式5")
            {
                ConfigParam[5] = 0x05;
            }
            else if (comboBox_TailLightMode.Text == "模式6")
            {
                ConfigParam[5] = 0x06;
            }
            else
                ConfigParam[5] = 0x02;
            //前灯电压
            if (comboBox_FrontLigthVol.Text == "6V")
                ConfigParam[6] = 0x06;
            else if (comboBox_FrontLigthVol.Text == "12V")
                ConfigParam[6] = 0x0C;
            else if (comboBox_FrontLigthVol.Text == "随电池")
                ConfigParam[6] = 0xFF;
            else
                ConfigParam[6] = 0x00;

            //尾灯电压
            if (comboBox_TailLightVol.Text == "6V")
                ConfigParam[7] = 0x06;
            else if (comboBox_TailLightVol.Text == "12V")
                ConfigParam[7] = 0x0C;
            else if (comboBox_TailLightVol.Text == "随电池")
                ConfigParam[7] = 0xFF;
            else
                ConfigParam[7] = 0x00;

            //超速报警阈值
            DataTemp = (ushort)(decimal.Parse(textBox_Config_SpeedAlarm.Text) * 10);
            ConfigParam[8] = (byte)(DataTemp & 0xFF);
            ConfigParam[9] = (byte)(DataTemp >> 8);

            //尾灯脉宽
            DataTemp = Convert.ToUInt16(textBox_Config_Pulse.Text);
            ConfigParam[10] = (byte)(DataTemp & 0xFF);
            ConfigParam[11] = (byte)(DataTemp >> 8);

            //尾灯周期
            DataTemp = Convert.ToUInt16(textBox_Config_Period.Text);
            ConfigParam[12] = (byte)(DataTemp & 0xFF);
            ConfigParam[13] = (byte)(DataTemp >> 8);

            //起始限速
            DataTemp_Int16 = (short)(decimal.Parse(textBox_Config_SpeedlimitStart.Text) * 10);
            ConfigParam[14] = (byte)(DataTemp_Int16 & 0xFF);

            //结束限速
            DataTemp_Int16 = (short)(decimal.Parse(textBox_Config_SpeedlimitStop.Text) * 10);
            ConfigParam[15] = (byte)(DataTemp_Int16 & 0xFF);

            //限速微调
            ConfigParam[16] = (byte)Convert.ToInt16(textBox_Config_SpeedlimitAdj.Text);

            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3120, ConfigParam);
        }

        private void button_Read_AttitudeAngle_Click(object sender, EventArgs e)
        {
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2F00, null);
            MC_AttitudeAngle_Clear();
        }

        private void button_Read_RidedInfo_Click(object sender, EventArgs e)
        {
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2E00, null);
            MC_RideInfo_Clear();
        }

        private void button_ReadRunLog_Click(object sender, EventArgs e)
        {
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null);
            MC_RunLog_Clear();
        }

        private void timer2_Tick(object sender, EventArgs e)
        {
            //定时显示系统时钟
            label_DateTime.Text = DateTime.Now.ToString();

            //定时读取存储器
            if (checkBox_DebugAuto.Checked == true)
            {
                var Address = new byte[4];
                UInt32 Address_Begin;
                UInt32 Addres_End;

                if (!serialPort1.IsOpen)
                {
                    checkBox_DebugAuto.Checked = false;
                    return;
                }
                
                if (checkBox_DebugReset.Checked == true)
                    richTextBox_DebugInfo.Clear();

                do
                {
                    if ((textBox_DebugAddrBegin.Text == string.Empty) || (textBox_DebugAddrEnd.Text == string.Empty))
                    {
                        checkBox_DebugAuto.Checked = false;
                        MessageBox.Show("请输入起始和结束地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        continue;
                    }
                    else if ((textBox_DebugAddrBegin.Text.Length != 8) || (textBox_DebugAddrEnd.Text.Length != 8))
                    {
                        checkBox_DebugAuto.Checked = false;
                        MessageBox.Show("请检查地址长度！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        continue;
                    }
                    else
                    {
                        Address = HexStringToBytes(textBox_DebugAddrBegin.Text, false);
                        Address_Begin = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);
                        Address = HexStringToBytes(textBox_DebugAddrEnd.Text, false);
                        Addres_End = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);

                        if (Addres_End < Address_Begin)
                        {
                            checkBox_DebugAuto.Checked = false;
                            MessageBox.Show("结束地址必须大于或等于起始地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                            continue;
                        }
                        else
                        {
                            var SendByte = new byte[8];
                            SendByte[0] = (byte)(Address_Begin >> 24);
                            SendByte[1] = (byte)(Address_Begin >> 16);
                            SendByte[2] = (byte)(Address_Begin >> 8);
                            SendByte[3] = (byte)(Address_Begin);
                            SendByte[4] = (byte)(Addres_End >> 24);
                            SendByte[5] = (byte)(Addres_End >> 16);
                            SendByte[6] = (byte)(Addres_End >> 8);
                            SendByte[7] = (byte)(Addres_End);

                            if (!SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2D08, SendByte))
                                checkBox_DebugAuto.Checked = false;
                        }
                    }
                } while (false);
            }
        }

        private void checkBox_ReadTorqueData_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox_ReadTorqueData.Checked == true)
            {
#if true
                foreach (Control c in groupBox3.Controls)
                {
                    if (c is TextBox)
                    {
                        if ((c != textBox_RunInfo_Range) && (c != textBox_RunInfo_ErrorCode))
                        {
                            if ((c.Text == string.Empty) || (c.Text == "---"))
                            {
                                timer1.Enabled = false;
                                MessageBox.Show("请确认进入配置模式！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                                timer1.Enabled = true;
                                checkBox_Savedata.Checked = false;
                                checkBox_ReadTorqueData.Checked = false;
                                return;
                            }
                            else
                            {
                                LoginForm.Show();
                            }
                        }

                    }
                }
#else              
                if (radioButton_WorkMode_Confg.Checked == false)
                {
                    timer1.Enabled = false;
                    MessageBox.Show("请确认进入配置模式", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer1.Enabled = true;
                    checkBox_ReadTorqueData.Checked = false;
                }
                else
                {
                    LoginForm.Show();
                }
#endif
            }
            else
            { 
                LoginForm.Hide();
            }        
        }

        private void checkBox_Savedata_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox_Savedata.Checked == true)
            {
                //判断是否显示运行信息
                foreach (Control c in groupBox3.Controls)
                {
                    if (c is TextBox)
                    {
                        if ((c != textBox_RunInfo_Range) && (c != textBox_RunInfo_ErrorCode))
                        {
                            if ((c.Text == string.Empty) || (c.Text == "---"))
                            {
                                timer1.Enabled = false;
                                MessageBox.Show("请设置电机进入配置模式！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                                timer1.Enabled = true;
                                checkBox_Savedata.Checked = false;
                                return;
                            }
                        }

                    }
                }
                //判断是否查询版本信息
                foreach (Control c in groupBox9.Controls)
                {
                    if (c is TextBox)
                    {
                        if ((c.Text == string.Empty) || (c.Text == "---"))
                        {
                            if ((c == textBox_Mode) || (c == textBox_SN))
                            {
                                timer1.Enabled = false;
                                MessageBox.Show("请查询版本信息！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                                timer1.Enabled = true;
                                checkBox_Savedata.Checked = false;
                                return;
                            }
                        }
                    }
                }

                AutoSaveFileName = textBox_Mode.Text + "_" + textBox_SN.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_实时数据" + ".txt"; ;
                timer1.Enabled = false;
                MessageBox.Show("开始记录数据！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer1.Enabled = true;
            }
            else
            {
                AutoSaveFileName = "";
                timer1.Enabled = false;
                MessageBox.Show("停止记录数据！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer1.Enabled = true;
            }
        }

        private void DateAutoSave()
        {
            if (checkBox_Savedata.Checked == true)
            {
                if (AutoSaveFileName == string.Empty)
                {
                    return;
                }
                string SaveData = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace(" ", "_")+" ";
                foreach (Control c in groupBox3.Controls)
                {
                    if (c is TextBox)
                    {
                        SaveData += c.Text + " , ";
                    }
                }
                SaveData += "\r\n";
                System.IO.File.AppendAllText(AutoSaveFileName, SaveData);//sb.ToString());
            }
            
        }

        private void button_DataExport_Click(object sender, EventArgs e)
        {
            //增加控件查空处理，存在没有数据时提示
            //判断是否查询力矩传感器
            foreach (Control c in groupBox2.Controls)
            {
                if (c is TextBox)
                {
                    if ((c != textBox_TorqueData) && (c != textBox_Torque_Stdev))
                    { 
                        if ((c.Text == string.Empty) || (c.Text == "---"))
                        {
                            timer1.Enabled = false;
                            MessageBox.Show("请查询力矩传感器！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                            timer1.Enabled = true;
                            return;
                        }
                    }
                    
                }
            }
            //判断是否显示运行信息
            foreach (Control c in groupBox3.Controls)
            {
                if (c is TextBox)
                {
                    if ((c != textBox_RunInfo_Range) && (c != textBox_RunInfo_ErrorCode))
                    { 
                        if ((c.Text == string.Empty) || (c.Text == "---"))
                        {
                            timer1.Enabled = false;
                            MessageBox.Show("请设置电机进入配置模式！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                            timer1.Enabled = true;
                            return;
                        }
                    }
                    
                }
            }
            //判断是否查询用户参数1
            foreach (Control c in groupBox10.Controls)
            {
                if (c is TextBox)
                {
                    if (c.Text == string.Empty)
                    {
                        timer1.Enabled = false;
                        MessageBox.Show("请查询用户参数1！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        timer1.Enabled = true;
                        return;
                    }
                }
            }
            //判断是否查询用户参数2
            foreach (Control c in groupBox4.Controls)
            {
                if (c is TextBox)
                {
                    if (c.Text == string.Empty)
                    {
                        timer1.Enabled = false;
                        MessageBox.Show("请查询用户参数2！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        timer1.Enabled = true;
                        return;
                    }
                }
            }
#if false
            //判断是否显示骑行信息
            foreach (Control c in groupBox12.Controls)
            {
                if (c is TextBox)
                {
                    if ((c.Text == string.Empty) || (c.Text == "---"))
                    {
                        timer1.Enabled = false;
                        MessageBox.Show("请自动查询骑行信息！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        timer1.Enabled = true;
                        return;
                    }
                }
            }
#endif

#if false
            //判断是否查询姿态信息
            foreach (Control c in groupBox13.Controls)
            {
                if (c is TextBox)
                {
                    if ((c.Text == string.Empty) || (c.Text == "---"))
                    {
                        timer1.Enabled = false;
                        MessageBox.Show("请自动查询姿态信息！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        timer1.Enabled = true;
                        return;
                    }
                }
            }
#endif

            //判断是否查询马达参数信息
            foreach (Control c in groupBox11.Controls)
            {
                if (c is TextBox)
                {
                    if ((c.Text == string.Empty) || (c.Text == "---"))
                    {
                        timer1.Enabled = false;
                        MessageBox.Show("请查询马达参数！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        timer1.Enabled = true ;
                        return;
                    }
                }
            }
            //判断是否查询版本信息
            foreach (Control c in groupBox9.Controls)
            {
                if (c is TextBox)
                {
                    if ((c.Text == string.Empty) || (c.Text == "---"))
                    {
                        if (c == textBox_TE_FW)//忽略TE版本和软件标识
                        {
                            continue;
                        }
                        else
                        {
                            timer1.Enabled = false;
                            MessageBox.Show("请查询版本信息！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                            timer1.Enabled = true;
                            return;
                        }
                       
                    }
                }
            }
            //判断是否查询历史信息
            foreach (Control c in groupBox14.Controls)
            {
                if (c is TextBox)
                {
                    if ((c.Text == string.Empty) || (c.Text == "---"))
                    {
                        timer1.Enabled = false;
                        MessageBox.Show("请查询历史信息！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        timer1.Enabled = true;
                        return;
                    }
                }
            }

            //...
          
            Bitmap bit = new Bitmap(this.Width, this.Height);//实例化一个和窗体一样大的bitmap
            Graphics g = Graphics.FromImage(bit);
            g.CopyFromScreen(this.Left, this.Top, 0, 0, new Size(this.Width, this.Height));//保存整个窗体为图片       
            SaveFileDialog sf = new SaveFileDialog();
            sf.Title = "数据保存";
            sf.FileName = textBox_Mode.Text + "_" + textBox_SN.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_页面存储" + ".png";
            sf.Filter = "图片|*.png";
            if (sf.ShowDialog() == DialogResult.OK)
            {
                bit.Save(sf.FileName);//默认保存格式为PNG，保存成jpg格式质量不是很好
            }   
        }

        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
        {
            
        }

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            timer1.Enabled = false;
            DialogResult result = MessageBox.Show("确定关闭吗！", "提示信息", MessageBoxButtons.OKCancel, MessageBoxIcon.Information);
            if (result == DialogResult.OK)
            {
                if (serialPort1.IsOpen == true)
                { 
                    //发送指令退出配置模式
                    var RunMode = new byte[1];
                    RunMode[0] = 0x00;
                    SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode);

                    serialPort1.Close();
                }
                
                e.Cancel = false;  //点击OK   
            }
            else
            {
                e.Cancel = true;
                timer1.Enabled = true;
            }    
        }

        private void trackBar_MotorSpeedSet_Scroll(object sender, EventArgs e)
        {
            var Data = new byte[1];

            label_MotorSpeedSet.Text = Convert.ToString(trackBar_MotorSpeedSet.Value) + "%";
            Data[0] = (byte)trackBar_MotorSpeedSet.Value;
            
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }

        private void button_Recovery_Click(object sender, EventArgs e)
        {
            var Code = new byte[8];

            Code[0] = (byte)'R';
            Code[1] = (byte)'E';
            Code[2] = (byte)'C';
            Code[3] = (byte)'O';
            Code[4] = (byte)'V';
            Code[5] = (byte)'E';
            Code[6] = (byte)'R';
            Code[7] = (byte)'Y';

            timer1.Enabled = false;
            if (MessageBox.Show("参数还原后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认还原?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    if (MessageBox.Show("请最后确认", "确认还原?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                    {
                        SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2708, Code);
                    }
                }
            }
            timer1.Enabled = true;
        }

        #region 字符串转换为字节流
        public static byte[] HexStringToBytes(string hexStr, bool Flag_Space)
        {
            if (string.IsNullOrEmpty(hexStr))
            {
                return new byte[0];
            }
            if (hexStr.StartsWith("0x"))
            {
                hexStr = hexStr.Remove(0, 2);
            }

            var count = hexStr.Length;
            var byteCount = 0;
            if (Flag_Space == true)//相邻字节含空格
            {
                if ((count % 3) == 0)//最后字节含空格
                {
                    byteCount = count / 3;
                }
                else if ((count % 3) == 2)//最后字节不含空格
                {
                    byteCount = (count + 1) / 3;
                }
                else//数据无效
                {
                    MessageBox.Show("相邻字节请插入空格！", "提示");
                }
                var result = new byte[byteCount];
                for (int ii = 0; ii < byteCount; ++ii)
                {
                    var tempBytes = Byte.Parse(hexStr.Substring(3 * ii, 2), System.Globalization.NumberStyles.HexNumber);
                    result[ii] = tempBytes;
                }
                return result;
            }
            else if (Flag_Space == false)//相邻字节不含空格
            {
                if (count % 2 == 1)
                {
                    MessageBox.Show("请删除相邻字节之间空格！", "提示");
                }
                byteCount = count / 2;
                var result = new byte[byteCount];
                for (int ii = 0; ii < byteCount; ++ii)
                {
                    var tempBytes = Byte.Parse(hexStr.Substring(2 * ii, 2), System.Globalization.NumberStyles.HexNumber);
                    result[ii] = tempBytes;
                }
                return result;
            }
            else
            {
                return new byte[0];
            }
        }
        #endregion

        #region 故障日志结构体定义
        //故障日志记录信息 60 bytes，1K空间可以保存最近16条故障记录
        [StructLayout(LayoutKind.Sequential)]
        public struct MC_ErrorLogSaveInfo_Struct_t
        {
            public UInt16 Error_Index;                      //故障列表索引 2 bytes, 地址偏移 0
            public UInt16 NotesInfo1;                       //备注信息1，地址偏移 2
            public UInt16 NotesInfo2;                       //备注信息2，地址偏移 4
            public UInt16 NotesInfo3;                       //备注信息3，地址偏移 6
            public UInt32 ErrorCode;                        //故障码 4 bytes, 地址偏移 8
            public UInt32 RunTime;                          //运行时间 4bytes, 地址偏移 12

            //电机运行信息，占用空间32bytes
            [StructLayout(LayoutKind.Sequential)]
            public struct MC_RunInfo_Struct_t
            {
                public ushort BikeSpeed;         				  //车速 0.1km/h，地址偏移0
                public ushort MotorSpeed;                        //输出转速 1rpm，地址偏移2
                public ushort Power;                             //电功率 1W，地址偏移4
                public ushort BusVoltage;                        //母线电压 1mV，地址偏移6
                public ushort BusCurrent;                        //母线电流 1mA，地址偏移8
                public byte Cadence;                             //踏频 1rpm，地址偏移10
                public byte Torque;                              //踩踏力矩 1Nm，地址偏移11
                public byte CadenceDir;                          //踩踏方向 0-正,1-反,2-停止，地址偏移12
                public byte GearSt;                              //助力档位，地址偏移13
                public byte LightSwitch;                         //灯开关 0xF0-关，0xF1-开，地址偏移14
                public byte SOC;                                 //剩余电量 1%，地址偏移15
                public ushort RemainDistance;                    //续航里程 1km，地址偏移16
                public ushort ODO_Km;                            //总里程 1km，地址偏移18
                public byte PowerPerKm;                          //平均功耗 0.01Ah/km ，地址偏移20
                public byte T_PCB;                               //PCB温度 +40℃，地址偏移21
                public byte T_Coil;                              //绕组温度 +40℃，地址偏移22
                public byte T_MCU;                               //MCU温度 +40℃，地址偏移23
                public ushort Ride_Km;                           //开机后骑行里程 0.1km, 地址偏移24
                public ushort Ride_Time;                         //开机后骑行时间 1s，地址偏移26
                public UInt32 RS;                                //预留 4bytes
            };
            [MarshalAs(UnmanagedType.Struct)]
            public MC_RunInfo_Struct_t RunInfo;             //运行信息 32bytes, 地址偏移 16

            //姿态传感器数值
            [StructLayout(LayoutKind.Sequential)]
            public struct MC_AttitudeAngle_Struct_t
            {
                public Int16 Angle_Pitch_Absolute;    //俯仰角绝对角度
                public Int16 Angle_Roll_Absolute;     //横滚角绝对角度
                public Int16 Angle_Pitch_Relative;    //俯仰角相对角度
                public Int16 Angle_Roll_Relative;     //横滚角相对角度
            };
            [MarshalAs(UnmanagedType.Struct)]
            public MC_AttitudeAngle_Struct_t AttitudeAngle; //车辆姿态角度 8bytes, 地址偏移 48

            //电机控制参数
            [StructLayout(LayoutKind.Sequential)]
            public struct MC_CalParam_Struct_t
            {
                public byte AssistRunMode;                 //助力模式
                public Int16 Ref_Torque;                   //力矩模式输入FOC值
                public Int16 Ref_Speed;                    //速度模式输入FOC值
                public byte Foc_Flag;                      //FCO运算标志
            };
            [MarshalAs(UnmanagedType.Struct)]
            public MC_CalParam_Struct_t MC_CalParam;        //马达控制参数 8bytes , 地址偏移 56
        };

        #endregion

        public static class MyConverter
        {
            /// <summary>
            /// 由结构体转换为byte数组
            /// </summary>
            public static byte[] StructureToByte<T>(T structure)
            {
                int size = Marshal.SizeOf(typeof(T));
                byte[] buffer = new byte[size];
                IntPtr bufferIntPtr = Marshal.AllocHGlobal(size);
                try
                {
                    Marshal.StructureToPtr(structure, bufferIntPtr, true);
                    Marshal.Copy(bufferIntPtr, buffer, 0, size);
                }
                finally
                {
                    Marshal.FreeHGlobal(bufferIntPtr);
                }
                return buffer;
            }

            /// <summary>
            /// 由byte数组转换为结构体
            /// </summary>
            public static T ByteToStructure<T>(byte[] dataBuffer, ushort StarIndex)
            {
                object structure = null;
                int size = Marshal.SizeOf(typeof(T));
                IntPtr allocIntPtr = Marshal.AllocHGlobal(size);
                try
                {
                    Marshal.Copy(dataBuffer, StarIndex, allocIntPtr, size);
                    structure = Marshal.PtrToStructure(allocIntPtr, typeof(T));
                }
                finally
                {
                    Marshal.FreeHGlobal(allocIntPtr);
                }
                return (T)structure;
            }
        }

        private void button_ReadErrorLog_Click(object sender, EventArgs e)
        {
            var Address = new byte[4];
            UInt32 Address_Begin;
            UInt32 Addres_End;

            string textBox_Address_Begin = "0801F800";
            string textBox_Address_End = "0801FBFF";

            if (!serialPort1.IsOpen)
            {
                timer1.Enabled = false;
                MessageBox.Show("串口未连接");
                timer1.Enabled = true;
                return;
            }

            if ((textBox_Address_Begin == string.Empty) || (textBox_Address_End == string.Empty))
            {
                timer1.Enabled = false;
                MessageBox.Show("请输入地址！", "提示");
                timer1.Enabled = true;
                return;
            }
            else
            {
                Address = HexStringToBytes(textBox_Address_Begin, false);
                Address_Begin = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);
                Address = HexStringToBytes(textBox_Address_End, false);
                Addres_End = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);

                if (Addres_End <= Address_Begin)
                {
                    timer1.Enabled = false;
                    MessageBox.Show("结束地址应大于起始地址！", "提示");
                    timer1.Enabled = true;
                    return;
                }
                else if (((Addres_End - Address_Begin + 1) % 128) != 0) //
                {
                    timer1.Enabled = false;
                    MessageBox.Show("（结束地址 - 起始地址 + 1）应为128整数倍！", "提示");
                    timer1.Enabled = true;
                    return;
                }
                else
                {        
                    button_ReadErrorLog.Text = "读取中";
                    button_ReadErrorLog.Enabled = false;                 

                    //设置保存路经
                    SaveFileDialog saveFileDialog1 = new SaveFileDialog();
                    saveFileDialog1.Title = "设置保存路经";
                    saveFileDialog1.RestoreDirectory = true;
                    saveFileDialog1.Filter = "文本文件(*.txt)|*.txt";
                    if (((textBox_Mode.Text == string.Empty) || (textBox_Mode.Text == "---")) && ((textBox_SN.Text == string.Empty) || (textBox_SN.Text == "---")))
                    {
                        timer1.Enabled = false;
                        MessageBox.Show("未查询电机版本信息！", "提示");
                        timer1.Enabled = true;

                        saveFileDialog1.FileName = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_故障日志"; ;
                    }
                    else
                    {
                        saveFileDialog1.FileName = textBox_Mode.Text + "_" + textBox_SN.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_故障日志";
                    }
                    if (saveFileDialog1.ShowDialog() == DialogResult.OK)
                    {
                        ErrorLogSaveFileName = saveFileDialog1.FileName.ToString();
                    }
                    else
                    {
                        button_ReadErrorLog.Enabled = true;
                        button_ReadErrorLog.Text = "读取";
                        return;
                    }

                    string SaveInfo = "读取时间：" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\r\n\r\n"; 
                    SaveInfo += "电机型号：" + textBox_Mode.Text + "\r\n";
                    SaveInfo += "序列号：" + textBox_SN.Text + "\r\n";
                    SaveInfo += "硬件版本：" + textBox_HW.Text + "\r\n";
                    SaveInfo += "软件版本：" + textBox_FW.Text + "\r\n";
                    SaveInfo += "TE软件版本：" + textBox_TE_FW.Text + "\r\n\r\n";
                    System.IO.File.WriteAllText(ErrorLogSaveFileName, SaveInfo + "无日志记录");

                    ErrorLogSaveFlag = false;

                    UInt32 ReadCount = 0;
                    ReadCount = (Addres_End - Address_Begin + 1) / 128;
                    for (ushort i = 0; i < ReadCount; i++)
                    {
                        var SendByte = new byte[8];
                        UInt32 Address_Temp_Begin;
                        UInt32 Address_Temp_End;
                        Address_Temp_Begin = Address_Begin + 128 * (UInt32)i;
                        SendByte[0] = (byte)(Address_Temp_Begin >> 24);
                        SendByte[1] = (byte)(Address_Temp_Begin >> 16);
                        SendByte[2] = (byte)(Address_Temp_Begin >> 8);
                        SendByte[3] = (byte)(Address_Temp_Begin);
                        Address_Temp_End = Address_Temp_Begin + 127;
                        SendByte[4] = (byte)(Address_Temp_End >> 24);
                        SendByte[5] = (byte)(Address_Temp_End >> 16);
                        SendByte[6] = (byte)(Address_Temp_End >> 8);
                        SendByte[7] = (byte)(Address_Temp_End);

                        SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2D08, SendByte);
                        Thread.Sleep(200);
                    }

                    timer1.Enabled = false;
                    MessageBox.Show("读取完成，请查看日志！", "提示");
                    timer1.Enabled = true;

                    button_ReadErrorLog.Enabled = true;
                    button_ReadErrorLog.Text = "读取";
                }
            }
        }

        private void ErrorLogDateSave(MC_ErrorLogSaveInfo_Struct_t Log1, MC_ErrorLogSaveInfo_Struct_t Log2)
        {
            if (ErrorLogSaveFileName.Substring(ErrorLogSaveFileName.Length - 4, 4) != ".txt")
            {
                timer1.Enabled = false;
                MessageBox.Show("日志存储失败！", "提示");
                timer1.Enabled = true;
                
                return;
            }
            string SaveData = "";

            //Log1
            if (Log1.Error_Index != 0xFFFF)
            {
                if (ErrorLogSaveFlag == false)
                {
                    ErrorLogSaveFlag = true;

                    string SaveInfo = "读取时间：" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\r\n\r\n"; 
                    SaveInfo += "电机型号：" + textBox_Mode.Text + "\r\n";
                    SaveInfo += "序列号：" + textBox_SN.Text + "\r\n";
                    SaveInfo += "硬件版本：" + textBox_HW.Text + "\r\n";
                    SaveInfo += "软件版本：" + textBox_FW.Text + "\r\n";
                    SaveInfo += "TE软件版本：" + textBox_TE_FW.Text + "\r\n\r\n";
                    System.IO.File.WriteAllText(ErrorLogSaveFileName, SaveInfo);
                }

                SaveData += "故障序号:" + Convert.ToString(Log1.Error_Index) + ", ";
                SaveData += "备注1:" + Convert.ToString(Log1.NotesInfo1) + ", ";
                SaveData += "备注2:" + Convert.ToString(Log1.NotesInfo2) + ", ";
                SaveData += "备注3:" + Convert.ToString(Log1.NotesInfo3) + ", ";
                SaveData += "故障码:" + "0x" + Convert.ToString(Log1.ErrorCode, 16).PadLeft(8, '0').ToUpper() + ", ";
                SaveData += "运行时间:" + Convert.ToString(Log1.RunTime) + "min" + ", ";
                SaveData += "车速:" + ((float)Log1.RunInfo.BikeSpeed / 10f).ToString("0.0") + "km/h" + ", ";
                SaveData += "电机转速:" + Convert.ToString(Log1.RunInfo.MotorSpeed) + "rpm" + ", ";
                SaveData += "功率:" + Convert.ToString(Log1.RunInfo.Power * 2) + "w" + ", ";
                SaveData += "电压:" + Convert.ToString(Log1.RunInfo.BusVoltage) + "mV" + ", ";
                SaveData += "电流:" + Convert.ToString(Log1.RunInfo.BusCurrent) + "mA" + ", ";
                SaveData += "踏频:" + Convert.ToString(Log1.RunInfo.Cadence) + "rpm" + ", ";
                SaveData += "力矩:" + Convert.ToString(Log1.RunInfo.Torque) + "N.m" + ", ";
                SaveData += "方向:" + ((Log1.RunInfo.CadenceDir == 0) ? "正" : ((Log1.RunInfo.CadenceDir == 1) ? "反" : "停止")) + ", ";
                SaveData += "档位:" + "0x" + Convert.ToString(Log1.RunInfo.GearSt, 16).PadLeft(2, '0').ToUpper() + ", ";
                SaveData += "灯开关:" + ((Log1.RunInfo.LightSwitch == 0xF1) ? "开" : "关") + ", ";
                SaveData += "电量:" + Convert.ToString(Log1.RunInfo.SOC) + "%" + ", ";
                if ((Log1.RunInfo.RemainDistance == 0xEEEE) || (Log1.RunInfo.RemainDistance == 0xFFFF))
                {
                    SaveData += "续航:" + "---km" + ", ";
                }
                else
                {
                    SaveData += "续航:" + Convert.ToString(Log1.RunInfo.RemainDistance) + "km" + ", ";
                }
                SaveData += "总里程:" + Convert.ToString(Log1.RunInfo.ODO_Km) + "km" + ", ";
                SaveData += "功耗:" + Convert.ToString(Log1.RunInfo.PowerPerKm * 10) + "mAh/km" + ", ";
                SaveData += "PCB温度:" + Convert.ToString((int)(Log1.RunInfo.T_PCB - 40)) + "DegreeC" + ", ";
                SaveData += "绕组温度:" + Convert.ToString((int)(Log1.RunInfo.T_Coil - 40)) + "DegreeC" + ", ";
                SaveData += "MCU温度:" + Convert.ToString((int)(Log1.RunInfo.T_MCU - 40)) + "DegreeC" + ", ";
                SaveData += "单次里程:" + Convert.ToString((float)Log1.RunInfo.Ride_Km / 10f) + "km" + ", ";
                SaveData += "单次时间:" + Convert.ToString(Log1.RunInfo.Ride_Time) + "s" + ", ";
                SaveData += "俯仰绝对角度:" + ((float)Log1.AttitudeAngle.Angle_Pitch_Absolute / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "横滚绝对角度:" + ((float)Log1.AttitudeAngle.Angle_Roll_Absolute / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "俯仰相对角度:" + ((float)Log1.AttitudeAngle.Angle_Pitch_Relative / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "横滚相对角度:" + ((float)Log1.AttitudeAngle.Angle_Roll_Relative / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "运行模式:" + Convert.ToString(Log1.MC_CalParam.AssistRunMode) + ", ";
                SaveData += "力矩环给定:" + Convert.ToString(Log1.MC_CalParam.Ref_Torque) + ", ";
                SaveData += "速度环给定:" + Convert.ToString(Log1.MC_CalParam.Ref_Speed) + ", ";
                SaveData += "FOC_Flag:" + Convert.ToString(Log1.MC_CalParam.Foc_Flag) + ", ";
                SaveData += "\r\n\r\n";

                System.IO.File.AppendAllText(ErrorLogSaveFileName, SaveData);
                SaveData = "";

            }

            //Log2
            if (Log2.Error_Index != 0xFFFF)
            {
                if (ErrorLogSaveFlag == false)
                {
                    ErrorLogSaveFlag = true;

                    string SaveInfo = "读取时间：" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\r\n\r\n"; 
                    SaveInfo += "电机型号：" + textBox_Mode.Text + "\r\n";
                    SaveInfo += "序列号：" + textBox_SN.Text + "\r\n";
                    SaveInfo += "硬件版本：" + textBox_HW.Text + "\r\n";
                    SaveInfo += "软件版本：" + textBox_FW.Text + "\r\n";
                    SaveInfo += "TE软件版本：" + textBox_TE_FW.Text + "\r\n\r\n";
                    System.IO.File.WriteAllText(ErrorLogSaveFileName, SaveInfo);
                }

                SaveData += "故障序号:" + Convert.ToString(Log2.Error_Index) + ", ";
                SaveData += "备注1:" + Convert.ToString(Log2.NotesInfo1) + ", ";
                SaveData += "备注2:" + Convert.ToString(Log2.NotesInfo2) + ", ";
                SaveData += "备注3:" + Convert.ToString(Log2.NotesInfo3) + ", ";
                SaveData += "故障码:" + "0x" + Convert.ToString(Log2.ErrorCode, 16).PadLeft(8, '0').ToUpper() + ", ";
                SaveData += "运行时间:" + Convert.ToString(Log2.RunTime) + "min" + ", ";
                SaveData += "车速:" + ((float)Log2.RunInfo.BikeSpeed / 10f).ToString("0.0") + "km/h" + ", ";
                SaveData += "电机转速:" + Convert.ToString(Log2.RunInfo.MotorSpeed) + "rpm" + ", ";
                SaveData += "功率:" + Convert.ToString(Log2.RunInfo.Power * 2) + "w" + ", ";
                SaveData += "电压:" + Convert.ToString(Log2.RunInfo.BusVoltage) + "mV" + ", ";
                SaveData += "电流:" + Convert.ToString(Log2.RunInfo.BusCurrent) + "mA" + ", ";
                SaveData += "踏频:" + Convert.ToString(Log2.RunInfo.Cadence) + "rpm" + ", ";
                SaveData += "力矩:" + Convert.ToString(Log2.RunInfo.Torque) + "N.m" + ", ";
                SaveData += "方向:" + ((Log2.RunInfo.CadenceDir == 0) ? "正" : ((Log2.RunInfo.CadenceDir == 1) ? "反" : "停止")) + ", ";
                SaveData += "档位:" + "0x" + Convert.ToString(Log2.RunInfo.GearSt, 16).PadLeft(2, '0').ToUpper() + ", ";
                SaveData += "灯开关:" + ((Log2.RunInfo.LightSwitch == 0xF1) ? "开" : "关") + ", ";
                SaveData += "电量:" + Convert.ToString(Log2.RunInfo.SOC) + "%" + ", ";
                if ((Log1.RunInfo.RemainDistance == 0xEEEE) || (Log1.RunInfo.RemainDistance == 0xFFFF))
                {
                    SaveData += "续航:" + "---km" + ", ";
                }
                else
                {
                    SaveData += "续航:" + Convert.ToString(Log1.RunInfo.RemainDistance) + "km" + ", ";
                }
                SaveData += "总里程:" + Convert.ToString(Log2.RunInfo.ODO_Km) + "km" + ", ";
                SaveData += "功耗:" + Convert.ToString(Log2.RunInfo.PowerPerKm * 10) + "mAh/km" + ", ";
                SaveData += "PCB温度:" + Convert.ToString((int)(Log2.RunInfo.T_PCB - 40)) + "DegreeC" + ", ";
                SaveData += "绕组温度:" + Convert.ToString((int)(Log2.RunInfo.T_Coil - 40)) + "DegreeC" + ", ";
                SaveData += "MCU温度:" + Convert.ToString((int)(Log2.RunInfo.T_MCU - 40)) + "DegreeC" + ", ";
                SaveData += "单次里程:" + Convert.ToString((float)Log2.RunInfo.Ride_Km / 10f) + "km" + ", ";
                SaveData += "单次时间:" + Convert.ToString(Log2.RunInfo.Ride_Time) + "s" + ", ";
                SaveData += "俯仰绝对角度:" + ((float)Log2.AttitudeAngle.Angle_Pitch_Absolute / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "横滚绝对角度:" + ((float)Log2.AttitudeAngle.Angle_Roll_Absolute / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "俯仰相对角度:" + ((float)Log2.AttitudeAngle.Angle_Pitch_Relative / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "横滚相对角度:" + ((float)Log2.AttitudeAngle.Angle_Roll_Relative / 10f).ToString("0.0") + "Degree" + ", ";
                SaveData += "运行模式:" + Convert.ToString(Log2.MC_CalParam.AssistRunMode) + ", ";
                SaveData += "力矩环给定:" + Convert.ToString(Log2.MC_CalParam.Ref_Torque) + ", ";
                SaveData += "速度环给定:" + Convert.ToString(Log2.MC_CalParam.Ref_Speed) + ", ";
                SaveData += "FOC_Flag:" + Convert.ToString(Log2.MC_CalParam.Foc_Flag) + ", ";
                SaveData += "\r\n\r\n";

                System.IO.File.AppendAllText(ErrorLogSaveFileName, SaveData);
                SaveData = "";

            }
        }

        private void button_ClearData_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 5000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.button_ClearData, "清除电机内部所有数据，包括配置参数、历史记录等。");//设置提示按钮和提示内容
        }

        private void button_Recovery_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 5000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.button_Recovery, "还原配置参数为初始值。");//设置提示按钮和提示内容
        }

        private void button_DataExport_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 5000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.button_DataExport, "存储窗体页面，请先查询相关信息后操作。");//设置提示按钮和提示内容
        }

        private void label9_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 5000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.label9, "双击自动计算启动值。");//设置提示按钮和提示内容
        }

        private void button_ReadErrorLog_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 5000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.button_ReadErrorLog, "导出电机内部存储的故障日志，读取完后自动保存。");//设置提示按钮和提示内容
        }

        private void label119_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 5000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.label119, "双击自动计算校正系数。");//设置提示按钮和提示内容
        }
        private void button_LogClear_Click(object sender, EventArgs e)
        {
            var Code = new byte[9];

            Code[0] = (byte)'L';
            Code[1] = (byte)'O';
            Code[2] = (byte)'G';
            Code[3] = (byte)' ';
            Code[4] = (byte)'C';
            Code[5] = (byte)'L';
            Code[6] = (byte)'E';
            Code[7] = (byte)'A';
            Code[8] = (byte)'R';

            timer1.Enabled = false;
            if (MessageBox.Show("历史记录信息清除后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    if (MessageBox.Show("请最后确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                    {
                        SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3909, Code);
                    }
                }
            }
            timer1.Enabled = true;
        }

        private void textBox_RunInfo_ErrorCode_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 30000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            string ErrorCode = this.textBox_RunInfo_ErrorCode.Text;
            UInt32 Code = ErrorCode.Contains("H") ? Convert.ToUInt32(ErrorCode.Split('H')[0], 16) : 0;

            toolTip1.SetToolTip(this.textBox_RunInfo_ErrorCode, ErrorInfoDisplay(Code));//设置故障内容显示
        }

        private void button_LogClear_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 5000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.button_LogClear, "清除电机历史记录信息");//设置提示按钮和提示内容
        }

        private void button_ReadAll_Click(object sender, EventArgs e)
        {
            if (!serialPort1.IsOpen)
            {
                MessageBox.Show("串口未连接");
                return;
            }

            //查询力矩传感器
            var K = new byte[1];
            textBox_Sensor1_Zero.Text = "---";
            textBox_Sensor2_Zero.Text = "---";
            textBox_Sensor3_Zero.Text = "---";
            textBox_Sensor1_K.Text = "---";
            textBox_Sensor2_K.Text = "---";
            textBox_Sensor3_K.Text = "---";
            //轮询零点
            for (ushort i = 1; i <= 3; i++)
            {
                K[0] = (byte)i;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3201, K);
            }
            //轮询校正系数
            for (ushort i = 1; i <= 3; i++)
            {
                K[0] = (byte)i;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3301, K);
            }
            textBox_Torque_Start.Text = "---";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3500, null);
            //查询用户参数1
            MC_Config_Clear();
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1A00, null);
            //查询用户参数2
            MC_Config_Ext_Clear();
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3000, null);
            //查询姿态传感器参数
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2F00, null);
            MC_AttitudeAngle_Clear();
            //查询马达参数
            Motor_Config_Clear();
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1C00, null);
            //查询版本信息
            textBox_Mode.Text = "---";
            textBox_SN.Text = "---";
            textBox_HW.Text = "---";
            textBox_FW.Text = "---";
            textBox_Firmware_Special.Text = "---";
            Class_Motor_Ver.Mode = "---";
            Class_Motor_Ver.SN = "---";
            Class_Motor_Ver.HW = "---";
            Class_Motor_Ver.FW = "---";
            Class_Motor_Ver.Special = "---";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            textBox_TE_FW.Text = "---";
            SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);
            //查询历史信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null);
            MC_RunLog_Clear();
            //查询骑行历史
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2E00, null);
            MC_RideInfo_Clear();
        }



        //双击时允许解锁写保护
        private void label127_DoubleClick(object sender, EventArgs e)
        {
            WriteProtectUnlock = true;
        }

        //双击解锁写保护
        private void label1_Welcom_DoubleClick(object sender, EventArgs e)
        {
            if (WriteProtectUnlock == false)
                return;
            button_ClearData.Enabled = true;
            button_Recovery.Enabled = true;
            button_Write_Config.Enabled = true;
            button_Write_Config_Ext.Enabled = true;
            button_Write_MotorConfig.Enabled = true;
            button_Write_Mode.Enabled = true;
            button_Write_SN.Enabled = true;
        }

        //读取指定地址的数据
        private void button_DebugRead_Click(object sender, EventArgs e)
        {
            var Address = new byte[4];
            UInt32 Address_Begin;
            UInt32 Addres_End;

            if (checkBox_DebugReset.Checked == true)
                richTextBox_DebugInfo.Clear();

            if ((textBox_DebugAddrBegin.Text == string.Empty) || (textBox_DebugAddrEnd.Text == string.Empty))
            {                
                MessageBox.Show("请输入起始和结束地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            else if ((textBox_DebugAddrBegin.Text.Length != 8) || (textBox_DebugAddrEnd.Text.Length != 8))
            {
                MessageBox.Show("请检查地址长度！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            else
            {
                Address = HexStringToBytes(textBox_DebugAddrBegin.Text, false);
                Address_Begin = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);
                Address = HexStringToBytes(textBox_DebugAddrEnd.Text, false);
                Addres_End = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);

                if (Addres_End < Address_Begin)
                {
                    MessageBox.Show("结束地址必须大于或等于起始地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    return;
                }
                else
                {
                    var SendByte = new byte[8];
                    SendByte[0] = (byte)(Address_Begin >> 24);
                    SendByte[1] = (byte)(Address_Begin >> 16);
                    SendByte[2] = (byte)(Address_Begin >> 8);
                    SendByte[3] = (byte)(Address_Begin);
                    SendByte[4] = (byte)(Addres_End >> 24);
                    SendByte[5] = (byte)(Addres_End >> 16);
                    SendByte[6] = (byte)(Addres_End >> 8);
                    SendByte[7] = (byte)(Addres_End);

                    SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2D08, SendByte);
                }
            }
        }
    }
}