1、调整调试参数内容；

2、增加EEPROM和SIP偏移校准存储标志的修改和查询。

Welling_Motor_Debug_Tool/Form1.Designer.cs

@@ -115,6 +115,7 @@ namespace Welling_Motor_Debug_Tool
             this.button_ReadControlParam = new System.Windows.Forms.Button();
             this.richTextBox_ControlParam = new System.Windows.Forms.RichTextBox();
             this.tabPage_SensorParam = new System.Windows.Forms.TabPage();
+            this.button_WriteTqSensorParam = new System.Windows.Forms.Button();
             this.comboBox_TorqueSet = new System.Windows.Forms.ComboBox();
             this.label29 = new System.Windows.Forms.Label();
             this.textBox_Load = new System.Windows.Forms.TextBox();
@@ -247,7 +248,16 @@ namespace Welling_Motor_Debug_Tool
             this.label44 = new System.Windows.Forms.Label();
             this.label45 = new System.Windows.Forms.Label();
             this.label46 = new System.Windows.Forms.Label();
-            this.button_WriteTqSensorParam = new System.Windows.Forms.Button();
+            this.groupBox16 = new System.Windows.Forms.GroupBox();
+            this.checkBox_SaveYes = new System.Windows.Forms.CheckBox();
+            this.radioButton_SIP_SaveYes = new System.Windows.Forms.RadioButton();
+            this.radioButton_SIP_SaveNo = new System.Windows.Forms.RadioButton();
+            this.button_ReadSaveFlag = new System.Windows.Forms.Button();
+            this.button_WriteSaveFlag = new System.Windows.Forms.Button();
+            this.groupBox17 = new System.Windows.Forms.GroupBox();
+            this.radioButton_EE_SaveYes = new System.Windows.Forms.RadioButton();
+            this.radioButton_EE_SaveNo = new System.Windows.Forms.RadioButton();
+            this.groupBox18 = new System.Windows.Forms.GroupBox();
             this.menuStrip_Set.SuspendLayout();
             this.statusStrip1.SuspendLayout();
             this.groupBox1.SuspendLayout();
@@ -278,6 +288,9 @@ namespace Welling_Motor_Debug_Tool
             this.groupBox11.SuspendLayout();
             this.groupBox10.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).BeginInit();
+            this.groupBox16.SuspendLayout();
+            this.groupBox17.SuspendLayout();
+            this.groupBox18.SuspendLayout();
             this.SuspendLayout();
             // 
             // menuStrip_Set
@@ -370,7 +383,7 @@ namespace Welling_Motor_Debug_Tool
             // 
             this.写入存储ToolStripMenuItem.Name = "写入存储ToolStripMenuItem";
             this.写入存储ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
-            this.写入存储ToolStripMenuItem.Text = "存储执行";
+            this.写入存储ToolStripMenuItem.Text = "执行保存";
             this.写入存储ToolStripMenuItem.Click += new System.EventHandler(this.写入存储ToolStripMenuItem_Click);
             // 
             // 工具箱ToolStripMenuItem
@@ -387,20 +400,20 @@ namespace Welling_Motor_Debug_Tool
             // 记录数据ToolStripMenuItem
             // 
             this.记录数据ToolStripMenuItem.Name = "记录数据ToolStripMenuItem";
-            this.记录数据ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.记录数据ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.记录数据ToolStripMenuItem.Text = "记录数据";
             this.记录数据ToolStripMenuItem.Click += new System.EventHandler(this.记录数据ToolStripMenuItem_Click);
             // 
             // 一键查询ToolStripMenuItem
             // 
             this.一键查询ToolStripMenuItem.Name = "一键查询ToolStripMenuItem";
-            this.一键查询ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.一键查询ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.一键查询ToolStripMenuItem.Text = "一键查询";
             // 
             // 计算器ToolStripMenuItem
             // 
             this.计算器ToolStripMenuItem.Name = "计算器ToolStripMenuItem";
-            this.计算器ToolStripMenuItem.Size = new System.Drawing.Size(180, 26);
+            this.计算器ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
             this.计算器ToolStripMenuItem.Text = "计算器";
             this.计算器ToolStripMenuItem.Click += new System.EventHandler(this.计算器ToolStripMenuItem_Click);
             // 
@@ -1146,6 +1159,17 @@ namespace Welling_Motor_Debug_Tool
             this.tabPage_SensorParam.TabIndex = 3;
             this.tabPage_SensorParam.Text = "传感器参数";
             // 
+            // button_WriteTqSensorParam
+            // 
+            this.button_WriteTqSensorParam.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
+            this.button_WriteTqSensorParam.Location = new System.Drawing.Point(808, 205);
+            this.button_WriteTqSensorParam.Name = "button_WriteTqSensorParam";
+            this.button_WriteTqSensorParam.Size = new System.Drawing.Size(112, 50);
+            this.button_WriteTqSensorParam.TabIndex = 10;
+            this.button_WriteTqSensorParam.Text = "写入力矩传感器参数";
+            this.button_WriteTqSensorParam.UseVisualStyleBackColor = false;
+            this.button_WriteTqSensorParam.Click += new System.EventHandler(this.button_WriteTqSensorParam_Click);
+            // 
             // comboBox_TorqueSet
             // 
             this.comboBox_TorqueSet.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(224)))), ((int)(((byte)(192)))));
@@ -1363,11 +1387,12 @@ namespace Welling_Motor_Debug_Tool
             this.tabPage_DebugParam.Controls.Add(this.button_WriteDebugParam);
             this.tabPage_DebugParam.Controls.Add(this.button_ReadDebugParam);
             this.tabPage_DebugParam.Controls.Add(this.richTextBox_DebugParam);
+            this.tabPage_DebugParam.ForeColor = System.Drawing.Color.Black;
             this.tabPage_DebugParam.Location = new System.Drawing.Point(4, 30);
             this.tabPage_DebugParam.Name = "tabPage_DebugParam";
             this.tabPage_DebugParam.Size = new System.Drawing.Size(937, 315);
             this.tabPage_DebugParam.TabIndex = 5;
-            this.tabPage_DebugParam.Text = "调试参数";
+            this.tabPage_DebugParam.Text = "调试模式";
             // 
             // button_WriteDebugParam
             // 
@@ -1456,6 +1481,7 @@ namespace Welling_Motor_Debug_Tool
             // tabPage_OtherInfo
             // 
             this.tabPage_OtherInfo.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
+            this.tabPage_OtherInfo.Controls.Add(this.groupBox16);
             this.tabPage_OtherInfo.Controls.Add(this.groupBox9);
             this.tabPage_OtherInfo.Controls.Add(this.groupBox8);
             this.tabPage_OtherInfo.Controls.Add(this.groupBox7);
@@ -1540,7 +1566,7 @@ namespace Welling_Motor_Debug_Tool
             // button_ReadOnLine
             // 
             this.button_ReadOnLine.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
-            this.button_ReadOnLine.Location = new System.Drawing.Point(244, 24);
+            this.button_ReadOnLine.Location = new System.Drawing.Point(244, 28);
             this.button_ReadOnLine.Name = "button_ReadOnLine";
             this.button_ReadOnLine.Size = new System.Drawing.Size(50, 29);
             this.button_ReadOnLine.TabIndex = 2;
@@ -1551,7 +1577,7 @@ namespace Welling_Motor_Debug_Tool
             // textBox_Online
             // 
             this.textBox_Online.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(255)))), ((int)(((byte)(192)))));
-            this.textBox_Online.Location = new System.Drawing.Point(82, 24);
+            this.textBox_Online.Location = new System.Drawing.Point(82, 28);
             this.textBox_Online.Name = "textBox_Online";
             this.textBox_Online.ReadOnly = true;
             this.textBox_Online.Size = new System.Drawing.Size(100, 28);
@@ -1560,7 +1586,7 @@ namespace Welling_Motor_Debug_Tool
             // label42
             // 
             this.label42.AutoSize = true;
-            this.label42.Location = new System.Drawing.Point(7, 28);
+            this.label42.Location = new System.Drawing.Point(6, 32);
             this.label42.Name = "label42";
             this.label42.Size = new System.Drawing.Size(74, 21);
             this.label42.TabIndex = 0;
@@ -2579,16 +2605,117 @@ namespace Welling_Motor_Debug_Tool
             this.label46.Size = new System.Drawing.Size(1, 15);
             this.label46.TabIndex = 15;
             // 
-            // button_WriteTqSensorParam
-            // 
-            this.button_WriteTqSensorParam.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(192)))), ((int)(((byte)(255)))));
-            this.button_WriteTqSensorParam.Location = new System.Drawing.Point(808, 205);
-            this.button_WriteTqSensorParam.Name = "button_WriteTqSensorParam";
-            this.button_WriteTqSensorParam.Size = new System.Drawing.Size(112, 50);
-            this.button_WriteTqSensorParam.TabIndex = 10;
-            this.button_WriteTqSensorParam.Text = "写入力矩传感器参数";
-            this.button_WriteTqSensorParam.UseVisualStyleBackColor = false;
-            this.button_WriteTqSensorParam.Click += new System.EventHandler(this.button_WriteTqSensorParam_Click);
+            // groupBox16
+            // 
+            this.groupBox16.Controls.Add(this.groupBox18);
+            this.groupBox16.Controls.Add(this.groupBox17);
+            this.groupBox16.Controls.Add(this.button_ReadSaveFlag);
+            this.groupBox16.Controls.Add(this.button_WriteSaveFlag);
+            this.groupBox16.Controls.Add(this.checkBox_SaveYes);
+            this.groupBox16.Location = new System.Drawing.Point(627, 172);
+            this.groupBox16.Name = "groupBox16";
+            this.groupBox16.Size = new System.Drawing.Size(303, 132);
+            this.groupBox16.TabIndex = 5;
+            this.groupBox16.TabStop = false;
+            this.groupBox16.Text = "存储标志";
+            // 
+            // checkBox_SaveYes
+            // 
+            this.checkBox_SaveYes.AutoSize = true;
+            this.checkBox_SaveYes.Location = new System.Drawing.Point(207, 27);
+            this.checkBox_SaveYes.Name = "checkBox_SaveYes";
+            this.checkBox_SaveYes.Size = new System.Drawing.Size(93, 25);
+            this.checkBox_SaveYes.TabIndex = 5;
+            this.checkBox_SaveYes.Text = "执行保存";
+            this.checkBox_SaveYes.UseVisualStyleBackColor = true;
+            // 
+            // radioButton_SIP_SaveYes
+            // 
+            this.radioButton_SIP_SaveYes.AutoSize = true;
+            this.radioButton_SIP_SaveYes.Location = new System.Drawing.Point(12, 56);
+            this.radioButton_SIP_SaveYes.Name = "radioButton_SIP_SaveYes";
+            this.radioButton_SIP_SaveYes.Size = new System.Drawing.Size(76, 25);
+            this.radioButton_SIP_SaveYes.TabIndex = 8;
+            this.radioButton_SIP_SaveYes.TabStop = true;
+            this.radioButton_SIP_SaveYes.Text = "已存储";
+            this.radioButton_SIP_SaveYes.UseVisualStyleBackColor = true;
+            // 
+            // radioButton_SIP_SaveNo
+            // 
+            this.radioButton_SIP_SaveNo.AutoSize = true;
+            this.radioButton_SIP_SaveNo.Location = new System.Drawing.Point(12, 31);
+            this.radioButton_SIP_SaveNo.Name = "radioButton_SIP_SaveNo";
+            this.radioButton_SIP_SaveNo.Size = new System.Drawing.Size(76, 25);
+            this.radioButton_SIP_SaveNo.TabIndex = 9;
+            this.radioButton_SIP_SaveNo.TabStop = true;
+            this.radioButton_SIP_SaveNo.Text = "未存储";
+            this.radioButton_SIP_SaveNo.UseVisualStyleBackColor = true;
+            // 
+            // button_ReadSaveFlag
+            // 
+            this.button_ReadSaveFlag.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
+            this.button_ReadSaveFlag.Location = new System.Drawing.Point(207, 61);
+            this.button_ReadSaveFlag.Name = "button_ReadSaveFlag";
+            this.button_ReadSaveFlag.Size = new System.Drawing.Size(61, 29);
+            this.button_ReadSaveFlag.TabIndex = 3;
+            this.button_ReadSaveFlag.Text = "查询";
+            this.button_ReadSaveFlag.UseVisualStyleBackColor = false;
+            this.button_ReadSaveFlag.Click += new System.EventHandler(this.button_ReadSaveFlag_Click);
+            // 
+            // button_WriteSaveFlag
+            // 
+            this.button_WriteSaveFlag.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(128)))), ((int)(((byte)(128)))), ((int)(((byte)(255)))));
+            this.button_WriteSaveFlag.Location = new System.Drawing.Point(207, 94);
+            this.button_WriteSaveFlag.Name = "button_WriteSaveFlag";
+            this.button_WriteSaveFlag.Size = new System.Drawing.Size(61, 29);
+            this.button_WriteSaveFlag.TabIndex = 4;
+            this.button_WriteSaveFlag.Text = "写入";
+            this.button_WriteSaveFlag.UseVisualStyleBackColor = false;
+            this.button_WriteSaveFlag.Click += new System.EventHandler(this.button_WriteSaveFlag_Click);
+            // 
+            // groupBox17
+            // 
+            this.groupBox17.Controls.Add(this.radioButton_EE_SaveYes);
+            this.groupBox17.Controls.Add(this.radioButton_EE_SaveNo);
+            this.groupBox17.Location = new System.Drawing.Point(6, 26);
+            this.groupBox17.Name = "groupBox17";
+            this.groupBox17.Size = new System.Drawing.Size(95, 96);
+            this.groupBox17.TabIndex = 10;
+            this.groupBox17.TabStop = false;
+            this.groupBox17.Text = "EEPROM";
+            // 
+            // radioButton_EE_SaveYes
+            // 
+            this.radioButton_EE_SaveYes.AutoSize = true;
+            this.radioButton_EE_SaveYes.Location = new System.Drawing.Point(15, 57);
+            this.radioButton_EE_SaveYes.Name = "radioButton_EE_SaveYes";
+            this.radioButton_EE_SaveYes.Size = new System.Drawing.Size(76, 25);
+            this.radioButton_EE_SaveYes.TabIndex = 8;
+            this.radioButton_EE_SaveYes.TabStop = true;
+            this.radioButton_EE_SaveYes.Text = "已存储";
+            this.radioButton_EE_SaveYes.UseVisualStyleBackColor = true;
+            // 
+            // radioButton_EE_SaveNo
+            // 
+            this.radioButton_EE_SaveNo.AutoSize = true;
+            this.radioButton_EE_SaveNo.Location = new System.Drawing.Point(15, 32);
+            this.radioButton_EE_SaveNo.Name = "radioButton_EE_SaveNo";
+            this.radioButton_EE_SaveNo.Size = new System.Drawing.Size(76, 25);
+            this.radioButton_EE_SaveNo.TabIndex = 9;
+            this.radioButton_EE_SaveNo.TabStop = true;
+            this.radioButton_EE_SaveNo.Text = "未存储";
+            this.radioButton_EE_SaveNo.UseVisualStyleBackColor = true;
+            // 
+            // groupBox18
+            // 
+            this.groupBox18.Controls.Add(this.radioButton_SIP_SaveNo);
+            this.groupBox18.Controls.Add(this.radioButton_SIP_SaveYes);
+            this.groupBox18.Location = new System.Drawing.Point(106, 27);
+            this.groupBox18.Name = "groupBox18";
+            this.groupBox18.Size = new System.Drawing.Size(95, 95);
+            this.groupBox18.TabIndex = 11;
+            this.groupBox18.TabStop = false;
+            this.groupBox18.Text = "SIP校准";
             // 
             // Form1
             // 
@@ -2618,7 +2745,7 @@ namespace Welling_Motor_Debug_Tool
             this.MaximizeBox = false;
             this.Name = "Form1";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
-            this.Text = "Welling中置电机调试工具V1.0.5";
+            this.Text = "Welling中置电机调试工具V1.0.6";
             this.Load += new System.EventHandler(this.Form1_Load);
             this.menuStrip_Set.ResumeLayout(false);
             this.menuStrip_Set.PerformLayout();
@@ -2666,6 +2793,12 @@ namespace Welling_Motor_Debug_Tool
             this.groupBox10.ResumeLayout(false);
             this.groupBox10.PerformLayout();
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox1)).EndInit();
+            this.groupBox16.ResumeLayout(false);
+            this.groupBox16.PerformLayout();
+            this.groupBox17.ResumeLayout(false);
+            this.groupBox17.PerformLayout();
+            this.groupBox18.ResumeLayout(false);
+            this.groupBox18.PerformLayout();
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -2888,5 +3021,15 @@ namespace Welling_Motor_Debug_Tool
         private Label label61;
         private Label label62;
         private Button button_WriteTqSensorParam;
+        private GroupBox groupBox16;
+        private RadioButton radioButton_SIP_SaveYes;
+        private RadioButton radioButton_SIP_SaveNo;
+        private CheckBox checkBox_SaveYes;
+        private Button button_ReadSaveFlag;
+        private Button button_WriteSaveFlag;
+        private GroupBox groupBox18;
+        private GroupBox groupBox17;
+        private RadioButton radioButton_EE_SaveYes;
+        private RadioButton radioButton_EE_SaveNo;
     }
 }

Welling_Motor_Debug_Tool/Form1.cs

@@ -429,7 +429,7 @@ namespace Welling_Motor_Debug_Tool
                             }
                             break;
                         }
-                    case 0xB832://调试参数
+                    case 0xB83A://调试参数
                         {
                             unchecked
                             {
@@ -445,6 +445,39 @@ namespace Welling_Motor_Debug_Tool
                             }
                             break;
                         }
+                    case 0xB904://存储标志
+                        {
+                            unchecked
+                            {
+                                this.Invoke((EventHandler)(delegate
+                                {
+                                    ushort Flag = 0;
+                                    Flag = (ushort)(Data[1] * 256 + Data[0]);//EEPROM存储标志
+                                    if (Flag == 0)
+                                    {
+                                        radioButton_EE_SaveNo.Checked = true;
+                                        radioButton_EE_SaveYes.Checked = false;
+                                    }
+                                    else
+                                    {
+                                        radioButton_EE_SaveNo.Checked = false;
+                                        radioButton_EE_SaveYes.Checked = true;
+                                    }
+                                    Flag = (ushort)(Data[3] * 256 + Data[2]);//SIP偏移校准存储标志
+                                    if (Flag == 0)
+                                    {
+                                        radioButton_SIP_SaveNo.Checked = true;
+                                        radioButton_SIP_SaveYes.Checked = false;
+                                    }
+                                    else
+                                    {
+                                        radioButton_SIP_SaveNo.Checked = false;
+                                        radioButton_SIP_SaveYes.Checked = true;
+                                    }
+                                }));
+                            }
+                            break;
+                        }
                     case 0x1240://电机版本信息
                         {
                             unchecked
@@ -1200,8 +1233,8 @@ namespace Welling_Motor_Debug_Tool
         /// <param name="e"></param>
         private void button_WriteDebugParam_Click(object sender, EventArgs e)
         {
-            var ConfigParam = new byte[52];
-            for (int i = 0; i < 52; i++)
+            var ConfigParam = new byte[60];
+            for (int i = 0; i < 60; i++)
                 ConfigParam[i] = 0;
             ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
             ushort uwDataTemp = 0;
@@ -1214,7 +1247,7 @@ namespace Welling_Motor_Debug_Tool
                     ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                     ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                 }
-                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4634, ConfigParam);
+                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, ConfigParam);
             }
             catch (Exception)
             {
@@ -2102,5 +2135,59 @@ namespace Welling_Motor_Debug_Tool
                 timer_1s.Enabled = true;
             }
         }
+
+        /// <summary>
+        /// 查询存储标志
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button_ReadSaveFlag_Click(object sender, EventArgs e)
+        {
+            radioButton_EE_SaveYes.Checked = false;
+            radioButton_EE_SaveNo.Checked = false;
+            radioButton_SIP_SaveYes.Checked = false;
+            radioButton_SIP_SaveNo.Checked = false;
+            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4800, null);
+        }
+
+        /// <summary>
+        /// 写入存储标志
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button_WriteSaveFlag_Click(object sender, EventArgs e)
+        {
+            var SaveFlag = new byte[6];
+            for (int i = 0; i < 6; i++)
+                SaveFlag[i] = 0;
+            if ((radioButton_EE_SaveYes.Checked == false) && (radioButton_EE_SaveNo.Checked == false))
+            {
+                timer_1s.Enabled = false;
+                MessageBox.Show("请选择EEPROM存储标志", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                timer_1s.Enabled = true;
+                return;
+            }
+            if ((radioButton_SIP_SaveYes.Checked == false) && (radioButton_SIP_SaveNo.Checked == false))
+            {
+                timer_1s.Enabled = false;
+                MessageBox.Show("请选择SIP校验存储标志", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                timer_1s.Enabled = true;
+                return;
+            }
+
+            SaveFlag[0] = (byte)((checkBox_SaveYes.Checked) ? 0x01 : 0x00);
+
+            SaveFlag[2] = (byte)(radioButton_EE_SaveYes.Checked ? 0x01 : 0x00);
+            SaveFlag[3] = 0;
+            SaveFlag[4] = (byte)(radioButton_SIP_SaveYes.Checked ? 0x01 : 0x00);
+            SaveFlag[5] = 0;
+
+            timer_1s.Enabled = false;
+            if (MessageBox.Show("确认修改存储标志？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
+            {
+                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4906, SaveFlag);
+            }
+            timer_1s.Enabled = true;    
+        }
     }
 }

Welling_Motor_Debug_Tool/Params.cs

@@ -20,10 +20,11 @@ namespace Welling_Motor_Debug_Tool
                                                              "助力启动阈值", "助力停止阈值", "启动时电流增长阶梯",
                                                              "启动对应踏频脉冲数", "转矩滤波对应踏频脉冲数", "待速转速", "待速最大电流",
                                                              "车速限幅启动阈值", "车速限幅停止阈值" ,"踏频占比"};
-        public List<string> DebugParam = new List<string> { "转速指令","整体运行模式(电机、整机、MTB、CTB) ","位置获取模式",
-                                                            "磁链观测器带宽","磁链观测器m","惯量","电流环控制器带宽","电流环控制器m",
-                                                            "转速环控制器带宽","转速环控制器m","加速斜率","减速斜率","PWM 最大占空比",
-                                                            "PWM七段式切五段式阈值","功率限幅值","功率Error","功率限幅PI" };
+        public List<string> DebugParam = new List<string> { "整体运行模式","位置获取模式","采样模式","旋转方向","定位电流","拖拽电压",
+                                                            "拖拽电流","拖拽频率","加速斜率","减速斜率","转速环控制器带宽","转速环控制器m",
+                                                            "电流环控制器带宽","电流环控制器m","磁链观测器带宽","磁链观测器m",
+                                                            "锁相环带宽","锁相环m","惯量","PWM 最大占空比","PWM七段式切五段式阈值",
+                                                            "功率限幅值","功率Error","功率限幅Kp","功率限幅Ki" };
         public List<string> Record = new List<string> { "开机次数", "使用时间 H", "使用时间 L", "NTC 温度传感器最高温", "NTC 温度传感器最低温",
                                                         "硬件过流保护次数", "软件过流保护次数", "过温保护次数", "堵转次数", "缺相次数", "过压次数", 
                                                         "欠压次数", "通讯超时次数", "平均功耗 1", "平均功耗 2", "平均功耗 3", "平均功耗 4", "平均功耗 5",