增加OBC相关的功能和踏频占比的设置。

Welling_Motor_Debug_Tool/Form1.cs

@@ -21,6 +21,9 @@ namespace Welling_Motor_Debug_Tool
         Params myParams = new Params();
         //记录文件名称
         string SaveFilename = "";
+        //BMS运行信息超时计数
+        bool BMS_RunInfo_Refresh = false;
+        ushort BMS_RunInfo_Refresh_Cnt = 0;
         #endregion
 
         public Form1()
@@ -86,7 +89,7 @@ namespace Welling_Motor_Debug_Tool
                 if (buffer[0] == 0x55 && buffer[1] == 0xAA)//判断帧头
                 {
                     PackageID = (ushort)(buffer[2] * 256 + buffer[3]);
-                    if ((PackageID == 0x0710) || (PackageID == 0x0715) || (PackageID == 0x07FF))
+                    if ((PackageID == 0x0710) || (PackageID == 0x0715) || (PackageID == 0x07FF) || (PackageID == 0x0720) || (PackageID == 0x0713))
                     {
                         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
@@ -132,6 +135,7 @@ namespace Welling_Motor_Debug_Tool
         private void DataCmdProcess(ushort ID, ushort CmdTemp, byte[] Data)
         {
             int DataTemp;
+            ushort uData16;
             unchecked
             {
                 this.Invoke((EventHandler)(delegate { label_RecCount.Text = Convert.ToString(Convert.ToInt32(label_RecCount.Text) + 1); }));
@@ -141,7 +145,7 @@ namespace Welling_Motor_Debug_Tool
             {
                 switch (CmdTemp)
                 {
-                    case 0x1100://TE APP版本信息
+                    case 0x1100://
                         {
                             unchecked
                             {
@@ -150,17 +154,6 @@ namespace Welling_Motor_Debug_Tool
                                     //CDL连接成功
                                     mySerialProcess.CDL_Online_Flag = true;
                                     MessageBox.Show("连接成功！", "提示");
-                                    //显示其它界面
-                                    foreach (Control c in this.Controls)
-                                    {
-                                        if (c is GroupBox)
-                                        {
-                                            if (c != groupBox1)
-                                            {
-                                                c.Visible = true;
-                                            }
-                                        }
-                                    }
                                 }));
                             }
                             break;
@@ -229,7 +222,7 @@ namespace Welling_Motor_Debug_Tool
                                     {
                                         textBox_RunInfo_GearSt.Text = "Walk";
                                         comboBox_GearSt.SelectedIndex = 6;
-                                    }                                       
+                                    }
                                     else
                                     {
                                         textBox_RunInfo_GearSt.Text = Convert.ToString(DataTemp);
@@ -248,7 +241,7 @@ namespace Welling_Motor_Debug_Tool
                                         comboBox_LightSwitch.SelectedIndex = 0;
                                     }
                                     //剩余电量
-                                    DataTemp = (ushort)(Data[15]);                                    
+                                    DataTemp = (ushort)(Data[15]);
                                     textBox_RunInfo_SOC.Text = Convert.ToString(DataTemp) + " %";
                                     //剩余续航里程
                                     DataTemp = (ushort)(Data[17] * 256 + Data[16]);
@@ -450,6 +443,7 @@ namespace Welling_Motor_Debug_Tool
                                 {
                                     //电机型号
                                     textBox_Model.Text = "";
+                                    textBox_OBC_ReadModel.Text = "";
                                     for (ushort i = 0; i < 16; i++)
                                     {
                                         if (Data[i] == 0x2E)
@@ -457,11 +451,13 @@ namespace Welling_Motor_Debug_Tool
                                             break;
                                         }
                                         textBox_Model.Text += ((char)Data[i]).ToString();
+                                        textBox_OBC_ReadModel.Text += ((char)Data[i]).ToString();
                                     }
                                     Class_Motor_Ver.Mode = textBox_Model.Text;
 
                                     //电机SN
                                     textBox_SN.Text = "";
+                                    textBox_OBC_ReadSN.Text = "";
                                     for (ushort i = 0; i < 16; i++)
                                     {
                                         if (Data[16 + i] == 0x2E)
@@ -469,23 +465,27 @@ namespace Welling_Motor_Debug_Tool
                                             break;
                                         }
                                         textBox_SN.Text += ((char)Data[16 + i]).ToString();
+                                        textBox_OBC_ReadSN.Text += ((char)Data[16 + i]).ToString();
                                     }
                                     Class_Motor_Ver.SN = textBox_SN.Text;
 
                                     //电机HW
                                     textBox_HW.Text = "";
-                                    for (ushort i = 0; i < 10; i++)
+                                    textBox_OBC_ReadHW.Text = "";
+                                    for (ushort i = 0; i < 16; i++)
                                     {
                                         if (Data[32 + i] == 0x2E)
                                         {
                                             break;
                                         }
                                         textBox_HW.Text += ((char)Data[32 + i]).ToString();
+                                        textBox_OBC_ReadHW.Text += ((char)Data[32 + i]).ToString();
                                     }
                                     Class_Motor_Ver.HW = textBox_HW.Text;
 
                                     //电机FW
                                     textBox_FW.Text = "";
+                                    textBox_OBC_ReadFW.Text = "";
                                     for (ushort i = 0; i < 16; i++)
                                     {
                                         if (Data[48 + i] == 0x2E)
@@ -497,6 +497,7 @@ namespace Welling_Motor_Debug_Tool
                                             Data[48 + i] = (byte)'.';
                                         }
                                         textBox_FW.Text += ((char)Data[48 + i]).ToString();
+                                        textBox_OBC_ReadFW.Text += ((char)Data[48 + i]).ToString();
                                     }
                                     Class_Motor_Ver.FW = textBox_FW.Text;
 
@@ -635,18 +636,136 @@ namespace Welling_Motor_Debug_Tool
                             {
                                 this.Invoke((EventHandler)(delegate
                                 {
-                                    textBox_Online.Text = Convert.ToString(Data[3], 16).PadLeft(2, '0').ToUpper()+"H";
+                                    textBox_Online.Text = Convert.ToString(Data[3], 16).PadLeft(2, '0').ToUpper() + "H";
+                                }));
+                            }
+                            break;
+                        }
+                    case 0x1510://骑行历史信息
+                        {
+                            unchecked
+                            {
+                                this.Invoke((EventHandler)(delegate
+                                {
+                                    long DataTemp32;
+                                    //ODO里程
+                                    DataTemp32 = (long)((Data[3] << 24) + (Data[2] << 16) + (Data[1] << 8) + Data[0]);
+                                    textBox_OBC_ODO_KM.Text = ((float)DataTemp32 / 10f).ToString("0.0") + " km";
+                                    //ODO时间
+                                    DataTemp32 = (long)((Data[7] << 24) + (Data[6] << 16) + (Data[5] << 8) + Data[4]);
+                                    if (DataTemp32 >= 60 * 100000)
+                                        textBox_OBC_ODO_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h";
+                                    else
+                                        textBox_OBC_ODO_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h " + Convert.ToString(DataTemp32 % 60) + " m";
+                                    //TRIP里程
+                                    DataTemp32 = (long)((Data[11] << 24) + (Data[10] << 16) + (Data[9] << 8) + Data[8]);
+                                    textBox_OBC_TRIP_KM.Text = ((float)DataTemp32 / 10f).ToString("0.0") + " km";
+                                    //TRIP时间
+                                    DataTemp32 = (long)((Data[15] << 24) + (Data[14] << 16) + (Data[13] << 8) + Data[12]);
+                                    if (DataTemp32 >= 60 * 100000)
+                                        textBox_OBC_TRIP_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h";
+                                    else
+                                        textBox_OBC_TRIP_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h " + Convert.ToString(DataTemp32 % 60) + " m";
+                                }));
+                            }
+                            break;
+                        }
+                    default: break;
+                }
+            }
+            #endregion
+
+            #region 解析BMS广播的命令
+            else if (ID == 0x720)
+            {
+                switch (CmdTemp)
+                {
+                    case 0x1010://BMS运行信息
+                        {
+                            unchecked
+                            {
+                                this.Invoke((EventHandler)(delegate
+                                {
+                                    BMS_RunInfo_Refresh = true;
+                                    richTextBox_OBC_BMS_RunInfo.Clear();
+                                    //电压
+                                    uData16 = (ushort)(Data[1] * 256 + Data[0]);
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("电压:" + Convert.ToString(uData16) + " mV" + "\r\n");
+                                    //电流
+                                    uData16 = (ushort)(Data[3] * 256 + Data[2]);
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("电流:" + Convert.ToString(uData16) + " mA" + "\r\n");
+                                    //剩余容量
+                                    uData16 = (ushort)(Data[5] * 256 + Data[4]);
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("剩余容量:" + Convert.ToString(uData16) + " mAh" + "\r\n");
+                                    //满充容量
+                                    uData16 = (ushort)(Data[7] * 256 + Data[6]);
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("满充容量:" + Convert.ToString(uData16) + " mV" + "\r\n");
+                                    //电芯温度                                    
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("电芯温度:" + Convert.ToString((int)(Data[8] - 40) + " ℃" + "\r\n"));
+                                    //剩余电量                                    
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("剩余电量:" + Convert.ToString(Data[9]) + " %" + "\r\n");
+                                    //电池状态
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("电池状态:" + Convert.ToString(Data[10], 16).PadLeft(2, '0').ToUpper() + " H" + "\r\n");
+                                    //SOH
+                                    richTextBox_OBC_BMS_RunInfo.AppendText("电池寿命:" + Convert.ToString(Data[11]) + " %" + "\r\n");
                                 }));
                             }
                             break;
                         }
+                    default: break;
+                }
+            }
+            #endregion
 
-                    default:break;
+            #region 解析电机发送OBC的命令
+            else if (ID == 0x713)
+            {
+                switch (CmdTemp)
+                {
+                    case 0x5408://电机用户参数
+                        {
+                            unchecked
+                            {
+                                this.Invoke((EventHandler)(delegate
+                                {
+                                    richTextBox_OBC_ReadUserInfo.Clear();
+                                    //默认周长
+                                    richTextBox_OBC_ReadUserInfo.AppendText("默认周长:" + Convert.ToString((int)Data[0]) + " cm" + "\r\n");
+                                    //启动模式
+                                    richTextBox_OBC_ReadUserInfo.AppendText("启动模式:" + ((Data[1] == 0x01) ? "柔和" : (Data[1] == 0x02) ? "正常" : (Data[1] == 0x03) ? "强劲" : "无效") + "\r\n");
+                                    comboBox_OBC_StartMode.SelectedIndex = Data[1] - 1;
+                                    //限速
+                                    richTextBox_OBC_ReadUserInfo.AppendText("限速:" + Convert.ToString(Data[2]) + " km/h" + "\r\n");
+                                    //周长微调
+                                    numericUpDown_OBC_WheelAdj.Value = (int)(Data[3] > 128 ? (Data[3] - 256) : Data[3]);
+                                    richTextBox_OBC_ReadUserInfo.AppendText("周长微调:" + Convert.ToString(numericUpDown_OBC_WheelAdj.Value) + " cm" + "\r\n");
+                                    //助力方案
+                                    richTextBox_OBC_ReadUserInfo.AppendText("助力方案:" + Convert.ToString(Data[4]) + "\r\n");
+                                    comboBox_OBC_AssistFunc.SelectedIndex = Data[4] - 1;
+                                }));
+                            }
+                            break;
+                        }
+                    case 0x5303://电机应答反馈
+                        {
+                            unchecked
+                            {
+                                this.Invoke((EventHandler)(delegate
+                                {
+                                    timer_1s.Enabled = false;
+                                    MessageBox.Show("OK", "反馈指令", MessageBoxButtons.OK, MessageBoxIcon.Information);
+                                    timer_1s.Enabled = true;
+                                }));
+                            }
+                            break;
+                        }
+                    default: break;
                 }
             }
             #endregion
+
         }
-        #endregion
+            #endregion
 
         /// <summary>
         /// 端口连接事件
@@ -732,7 +851,7 @@ namespace Welling_Motor_Debug_Tool
             if (MC_RunInfo_Refresh == false)
             {
                 MC_RunInfo_Refresh_Cnt++;
-                if (MC_RunInfo_Refresh_Cnt > 3)
+                if (MC_RunInfo_Refresh_Cnt > 5)//5s
                 {
                     MC_RunInfo_Clear();
                     MC_RunInfo_Refresh_Cnt = 0;
@@ -744,11 +863,27 @@ namespace Welling_Motor_Debug_Tool
             }
             MC_RunInfo_Refresh = false;
 
+            //BMS_RunInfo超时清除
+            if (BMS_RunInfo_Refresh == false)
+            {
+                BMS_RunInfo_Refresh_Cnt++;
+                if (BMS_RunInfo_Refresh_Cnt > 5)//5s
+                {
+                    richTextBox_OBC_BMS_RunInfo.Clear();
+                    BMS_RunInfo_Refresh_Cnt = 0;
+                }
+            }
+            else
+            {
+                BMS_RunInfo_Refresh_Cnt = 0;
+            }
+            BMS_RunInfo_Refresh = false;
+
             //故障码超时清除
             if (MC_ErrorCode_Refresh == false)
             {
                 MC_ErrorCode_Refresh_Cnt++;
-                if (MC_ErrorCode_Refresh_Cnt > 50)
+                if (MC_ErrorCode_Refresh_Cnt > 5)//5s
                 {
                     textBox_ErrorCode.Text = "---";
                     MC_ErrorCode_Refresh_Cnt = 0;
@@ -765,7 +900,7 @@ namespace Welling_Motor_Debug_Tool
             if (mySerialProcess.CDL_Online_Flag == false)
             {
                 mySerialProcess.CDL_OnlineCheck_Cnt++;
-                if (mySerialProcess.CDL_OnlineCheck_Cnt > 3)
+                if (mySerialProcess.CDL_OnlineCheck_Cnt > 3)//3s
                 {
                     timer_1s.Enabled = false;
                     MessageBox.Show("连接失败！", "提示");
@@ -781,6 +916,26 @@ namespace Welling_Motor_Debug_Tool
                 }
             }
 #endif
+            //OBC定时发送设置档位
+            if (checkBox_OBC_StartSetGearSt.Checked == true)
+            {
+                var CtrlCode = new byte[2];
+                if (comboBox_OBC_SetGearST.SelectedIndex == 6)//档位
+                    CtrlCode[0] = 0x22;
+                else
+                    CtrlCode[0] = (byte)comboBox_OBC_SetGearST.SelectedIndex;
+                if (comboBox_OBC_LightSw.SelectedIndex == 0)//车灯
+                    CtrlCode[1] = 0xF1;
+                else
+                    CtrlCode[1] = 0xF0;
+                mySerialProcess.SendCmd((ushort)0x731, (byte)0x0C, (ushort)0x3002, CtrlCode);
+            }
+
+            //OBC定时发送查询电池
+            if (checkBox_OBC_StartReadBMS.Checked == true)
+            {
+                mySerialProcess.SendCmd((ushort)0x732, (byte)0x11, (ushort)0x5000, null);
+            }
 
         }
 
@@ -1206,6 +1361,10 @@ namespace Welling_Motor_Debug_Tool
             textBox_SN.Text = "---";
             textBox_HW.Text = "---";
             textBox_FW.Text = "---";
+            textBox_OBC_ReadModel.Text = "---";
+            textBox_OBC_ReadSN.Text = "---";
+            textBox_OBC_ReadHW.Text = "---";
+            textBox_OBC_ReadFW.Text = "---";
             Class_Motor_Ver.Mode = "---";
             Class_Motor_Ver.SN = "---";
             Class_Motor_Ver.HW = "---";
@@ -1693,20 +1852,7 @@ namespace Welling_Motor_Debug_Tool
         /// <param name="e"></param>
         private void comboBox_AssistTorque_SelectionChangeCommitted(object sender, EventArgs e)
         {
-            try
-            {
-                int DataNum = Convert.ToInt32(comboBox_AssistTorque.Text);
-                int index_1 = richTextBox_AssistParam.Text.IndexOf("助力转矩曲线编号=") + "助力转矩曲线编号=".Length;
-                int index_2 = richTextBox_AssistParam.Text.IndexOf("助力踏频曲线编号");
-                richTextBox_AssistParam.Select(index_1, index_2 - index_1);
-                richTextBox_AssistParam.SelectedText = Convert.ToString(DataNum) + ", ";
-            }
-            catch (Exception)
-            {
-                timer_1s.Enabled = false;
-                MessageBox.Show("数据格式不正确！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
-                timer_1s.Enabled = true;
-            }
+
         }
 
         /// <summary>
@@ -1716,20 +1862,7 @@ namespace Welling_Motor_Debug_Tool
         /// <param name="e"></param>
         private void comboBox_AssistCadence_SelectionChangeCommitted(object sender, EventArgs e)
         {
-            try
-            {
-                int DataNum = Convert.ToInt32(comboBox_AssistCadence.Text);
-                int index_1 = richTextBox_AssistParam.Text.IndexOf("助力踏频曲线编号=") + "助力踏频曲线编号=".Length;
-                int index_2 = richTextBox_AssistParam.Text.IndexOf("转矩曲线.a");
-                richTextBox_AssistParam.Select(index_1, index_2 - index_1);
-                richTextBox_AssistParam.SelectedText = Convert.ToString(DataNum) + ", ";
-            }
-            catch (Exception)
-            {
-                timer_1s.Enabled = false;
-                MessageBox.Show("数据格式不正确！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
-                timer_1s.Enabled = true;
-            }
+
         }
 
         /// <summary>
@@ -1765,5 +1898,150 @@ namespace Welling_Motor_Debug_Tool
                 CtrlCode[1] = 0xF0;
             mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
         }
+
+        /// <summary>
+        /// 仪表启动控制档位开关事件
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void checkBox_OBC_StartSetGearSt_CheckedChanged(object sender, EventArgs e)
+        {
+            if (checkBox_OBC_StartSetGearSt.Checked == true)
+            {
+                //检查是否选择档位和打开车灯
+                if ((comboBox_OBC_SetGearST.SelectedIndex == -1) || (comboBox_OBC_LightSw.SelectedIndex == -1))
+                {
+                    timer_1s.Enabled = false;
+                    MessageBox.Show("请检查档位设置和大灯开关!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                    timer_1s.Enabled = true;
+                    checkBox_OBC_StartSetGearSt.Checked = false;
+                    return;
+                }
+                //检查串口是否打开
+                if (!mySerialProcess.mySerial.IsOpen)
+                {
+                    timer_1s.Enabled = false;
+                    MessageBox.Show("请检查是否打开串口!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                    timer_1s.Enabled = true;
+                    checkBox_OBC_StartSetGearSt.Checked = false;
+                    return;
+                }
+            }
+        }
+
+        /// <summary>
+        /// OBC查询电机用户参数
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button_OBC_ReadUserInfo_Click(object sender, EventArgs e)
+        {
+            richTextBox_OBC_ReadUserInfo.Clear();
+            mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3300, null);
+        }
+
+        /// <summary>
+        /// OBC设置电机用户参数
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button_OBC_WriteUserInfo_Click(object sender, EventArgs e)
+        {
+            var UserInfoCode = new byte[8];
+            for (int i = 0; i < UserInfoCode.Length; i++)
+                UserInfoCode[i] = 0;
+            if (comboBox_OBC_StartMode.SelectedIndex == -1)//检查数据有效性
+            {
+                timer_1s.Enabled = false;
+                MessageBox.Show("请选择启动模式！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                timer_1s.Enabled = true;
+                return;
+            }
+            if (comboBox_OBC_AssistFunc.SelectedIndex == -1)//检查数据有效性
+            {
+                timer_1s.Enabled = false;
+                MessageBox.Show("请选择助力方案！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
+                timer_1s.Enabled = true;
+                return;
+            }
+            UserInfoCode[0] = (byte)(int)numericUpDown_OBC_WheelAdj.Value;
+            UserInfoCode[1] = (byte)(comboBox_OBC_StartMode.SelectedIndex + 1);
+            UserInfoCode[2] = (byte)(comboBox_OBC_AssistFunc.SelectedIndex + 1);
+            mySerialProcess.SendCmd((ushort)0x731, (byte)0x16, (ushort)0x3408, UserInfoCode);
+        }
+        
+        /// <summary>
+        /// OBC查询电机版本信息
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button_OBC_ReadVerInfo_Click(object sender, EventArgs e)
+        {
+            textBox_Model.Text = "---";
+            textBox_SN.Text = "---";
+            textBox_HW.Text = "---";
+            textBox_FW.Text = "---";
+            textBox_OBC_ReadModel.Text = "---";
+            textBox_OBC_ReadSN.Text = "---";
+            textBox_OBC_ReadHW.Text = "---";
+            textBox_OBC_ReadFW.Text = "---";
+            Class_Motor_Ver.Mode = "---";
+            Class_Motor_Ver.SN = "---";
+            Class_Motor_Ver.HW = "---";
+            Class_Motor_Ver.FW = "---";
+            Class_Motor_Ver.Special = "---";
+            mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3900, null);
+        }
+
+        /// <summary>
+        /// OBC读取骑行历史
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button_OBC_ReadRideInfo_Click(object sender, EventArgs e)
+        {
+            textBox_OBC_TRIP_KM.Text = "";
+            textBox_OBC_TRIP_TIME.Text = "";
+            textBox_OBC_ODO_KM.Text = "";
+            textBox_OBC_ODO_TIME.Text = "";
+            mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3500, null);
+        }
+
+        /// <summary>
+        /// OBC清除TRIP里程
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button_OBC_ClearTrip_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';
+
+            timer_1s.Enabled = false;
+            if (MessageBox.Show("TRIP清除后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
+                mySerialProcess.SendCmd((ushort)0x731, (byte)0x16, (ushort)0x3605, Code);
+            timer_1s.Enabled = true;
+        }
+
+        private void checkBox_OBC_StartReadBMS_CheckedChanged(object sender, EventArgs e)
+        {
+            if (checkBox_OBC_StartReadBMS.Checked == true)
+            {
+                //检查串口是否打开
+                if (!mySerialProcess.mySerial.IsOpen)
+                {
+                    timer_1s.Enabled = false;
+                    MessageBox.Show("请检查是否打开串口!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
+                    timer_1s.Enabled = true;
+                    checkBox_OBC_StartReadBMS.Checked = false;
+                    return;
+                }
+            }
+        }
     }
 }

Welling_Motor_Debug_Tool/Params.cs

@@ -19,7 +19,7 @@ namespace Welling_Motor_Debug_Tool
                                                              "踏频曲线.a", "踏频曲线.b","踏频曲线.c","踏频曲线.d",
                                                              "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" };
+                                                             "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",