motor-debug/Welling_Motor_Debug_Tool/Form1.cs

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Threading;
using System.Windows.Forms;

namespace Welling_Motor_Debug_Tool
{
    public partial class Form1 : Form
    {
        #region 变量定义
        //串口实例
        Serial_Process mySerialProcess = new Serial_Process();
        //MC运行信息超时计数
        bool MC_RunInfo_Refresh = false;
        ushort MC_RunInfo_Refresh_Cnt = 0;
        //MC故障码超时计数
        bool MC_ErrorCode_Refresh = false;
        ushort MC_ErrorCode_Refresh_Cnt = 0;
        //配置参数实例
        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;
        //生产模式关机指令反馈装
        bool PowerOffAckStatus = false;
        #endregion

        public Form1()
        {
            InitializeComponent();
        }

        #region 非独占性延时函数
        public static void Delay_ms(int milliSecond)
        {
            int start = Environment.TickCount;
            while (Math.Abs(Environment.TickCount - start) < milliSecond)//毫秒
            {
                Application.DoEvents();
            }
        }
        #endregion

        private void Form1_Load(object sender, System.EventArgs e)
        {
            //页面初始化
            label_BuildTime.Text= "编译时间："+ System.IO.File.GetLastWriteTime(this.GetType().Assembly.Location).ToString();
            //下拉控件初始值设定
            comboBox_WorkMode.SelectedIndex = 0;
            comboBox_GearSt.SelectedIndex = 0;
            comboBox_LightSwitch.SelectedIndex = 1;
            comboBox_OBC_SetGearST.SelectedIndex = 0;
            comboBox_OBC_LightSw.SelectedIndex = 1;
            comboBox_AssistTorque.SelectedIndex = 0;
            comboBox_AssistCadence.SelectedIndex = 0;
            //combobox事件定义
            this.comboBox_WorkMode.SelectedIndexChanged += new System.EventHandler(this.comboBox_WorkMode_SelectedIndexChanged);
            this.comboBox_GearSt.SelectedIndexChanged += new System.EventHandler(this.comboBox_GearSt_SelectedIndexChanged);
            this.comboBox_LightSwitch.SelectedIndexChanged += new System.EventHandler(this.comboBox_GearSt_SelectedIndexChanged);
            this.comboBox_OBC_SetGearST.SelectedIndexChanged += new System.EventHandler(this.comboBox_OBC_SetGearST_SelectedIndexChanged);
            this.comboBox_OBC_LightSw.SelectedIndexChanged += new System.EventHandler(this.comboBox_OBC_SetGearST_SelectedIndexChanged);

            //端口设置
            mySerialProcess.Init();
            toolStripComboBox_ComNum.Items.AddRange(mySerialProcess.refreshPort());
            toolStripComboBox_ComNum.SelectedIndex = toolStripComboBox_ComNum.Items.Count > 0 ? 0 : -1;
            toolStripComboBox_Baudrate.SelectedIndex = toolStripComboBox_Baudrate.Items.IndexOf("115200");
            //创建线程，定时解析数据
            Thread th = new Thread(Task_SerialProcess);
            th.IsBackground = true;
            th.Start();
        }

        #region 串口数据解析线程

        /// <summary>
        /// 串口数据解析线程
        /// </summary>
        private void Task_SerialProcess()
        {
            //创建定时器，定时读取串口数据
            System.Timers.Timer timer_ReadSerial = new System.Timers.Timer();
            timer_ReadSerial.Enabled = true;
            timer_ReadSerial.Interval = 20;
            timer_ReadSerial.Elapsed += new System.Timers.ElapsedEventHandler(this.timer_ReadSerial_Tick);
            timer_ReadSerial.Start();
            while (true)
            {
                Thread.Sleep(1);
            };
        }

        /// <summary>
        /// 串口解析定时器
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void timer_ReadSerial_Tick(object sender, EventArgs e)
        {
            //串口解析
            Serial_process(mySerialProcess.buffer);
        }
        #endregion

        #region 数据解析
        public void Serial_process(List<byte> buffer)
        {
            byte DataNum = 0;   //记录每条命令数据段的长度
            ushort PackageID, Cmd;
            byte[] Data = new byte[1024];

            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
                {
                    PackageID = (ushort)(buffer[2] * 256 + buffer[3]);
                    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
                        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
                        {
                            Cmd = (ushort)(buffer[0] * 256 + buffer[1]);
                            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; i++)
                                {
                                    Data[i] = buffer[i + 2];
                                }
                                DataCmdProcess(PackageID, Cmd, Data);//对于不同的命令段，做不同的处理
                                buffer.RemoveRange(0, DataNum);//移除处理过的数据段
                                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
                }
            }
        }

        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); }));
            }
            #region 解析发送给CDL的指令
            if (ID == 0x7FF)
            {
                switch (CmdTemp)
                {
                    case 0x1100://
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //CDL连接成功
                                    mySerialProcess.CDL_Online_Flag = true;
                                    MessageBox.Show("连接成功！", "提示");
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
            #endregion

            #region 解析电机的命令
            else if ((ID == 0x715) || (ID == 0x710))
            {
                switch (CmdTemp)
                {
                    case 0x1020://电机运行信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MC_RunInfo_Refresh = true;
                                    //车速
                                    DataTemp = (int)(Data[1] * 256 + Data[0]);
                                    textBox_RunInfo_BikeSpeed.Text = ((float)DataTemp / 10f).ToString("0.0") + " km/h";
                                    //输出转速
                                    DataTemp = (ushort)(Data[3] * 256 + Data[2]);
                                    textBox_RunInfo_MotorSpeed.Text = Convert.ToString(DataTemp) + " rpm";
                                    Class_MotorSpeed.String = textBox_RunInfo_MotorSpeed.Text;
                                    Class_MotorSpeed.Data = DataTemp;
                                    //电功率
                                    DataTemp = (ushort)(Data[5] * 256 + Data[4]);
                                    textBox_RunInfo_Power.Text = Convert.ToString(DataTemp) + " W";
                                    //母线电压
                                    DataTemp = (ushort)(Data[7] * 256 + Data[6]);
                                    textBox_RunInfo_Vol.Text = (DataTemp / 1000f).ToString("0.0") + " V";
                                    //母线电流
                                    DataTemp = (short)(Data[9] * 256 + Data[8]);
                                    textBox_RunInfo_Current.Text = (DataTemp / 1000f).ToString("0.0") + " A";
                                    Class_CurrentData.String = textBox_RunInfo_Current.Text;
                                    Class_CurrentData.Data = DataTemp;
                                    //踏频
                                    DataTemp = (ushort)(Data[10]);
                                    textBox_RunInfo_Cadence.Text = Convert.ToString(DataTemp) + " rpm";
                                    Class_CadenceData.String = textBox_RunInfo_Cadence.Text;
                                    Class_CadenceData.Data = DataTemp;
                                    //踩踏力矩
                                    DataTemp = (ushort)(Data[11]);
                                    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)(Data[12]);
                                    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)(Data[13]);
                                    if (DataTemp == 0x33)
                                    {
                                        textBox_RunInfo_GearSt.Text = "SMART";
                                        //comboBox_GearSt.SelectedIndex = 5;
                                        //comboBox_OBC_SetGearST.SelectedIndex = 5;
                                    }
                                    else if (DataTemp == 0x22)
                                    {
                                        textBox_RunInfo_GearSt.Text = "WALK";
                                        //comboBox_GearSt.SelectedIndex = 6;
                                        //comboBox_OBC_SetGearST.SelectedIndex = 6;  
                                    }
                                    else
                                    {
                                        string[] Gears = new string[5] { "OFF", "ECO", "NORM", "SPORT", "TURBO" };
                                        textBox_RunInfo_GearSt.Text = Gears[DataTemp];
                                        //comboBox_GearSt.SelectedIndex = DataTemp;
                                        //comboBox_OBC_SetGearST.SelectedIndex = DataTemp;
                                    }
                                    //大灯状态
                                    DataTemp = (ushort)(Data[14]);
                                    if (DataTemp == 0xF0)
                                    {
                                        textBox_RunInfo_LightSwitch.Text = "OFF";
                                        //comboBox_LightSwitch.SelectedIndex = 1;
                                        //comboBox_OBC_LightSw.SelectedIndex = 1;
                                    }
                                    else if (DataTemp == 0xF1)
                                    {
                                        textBox_RunInfo_LightSwitch.Text = "ON";
                                        //comboBox_LightSwitch.SelectedIndex = 0;
                                        //comboBox_OBC_LightSw.SelectedIndex = 0;
                                    }
                                    //剩余电量
                                    DataTemp = (ushort)(Data[15]);
                                    textBox_RunInfo_SOC.Text = Convert.ToString(DataTemp) + " %";
                                    //剩余续航里程
                                    DataTemp = (ushort)(Data[17] * 256 + Data[16]);
                                    if ((DataTemp == 0xEEEE) || (DataTemp == 0xFFFF))
                                    {
                                        textBox_RunInfo_Range.Text = "---";
                                    }
                                    else
                                    {
                                        textBox_RunInfo_Range.Text = Convert.ToString(DataTemp) + " km";
                                    }
                                    //预留，空2bytes                                    
                                    //平均功耗
                                    DataTemp = (ushort)(Data[20]);
                                    textBox_RunInfo_AvgPower.Text = Convert.ToString(DataTemp * 10) + " mAh/km";
                                    //PCB温度
                                    DataTemp = (ushort)(Data[21]);
                                    textBox_RunInfo_T_PCB.Text = Convert.ToString((int)(DataTemp - 40))+" ℃";
                                    Class_MotorTemp.String = textBox_RunInfo_T_PCB.Text;
                                    Class_MotorTemp.Data = DataTemp - 40;
                                    //绕组温度
                                    DataTemp = (ushort)(Data[22]);
                                    textBox_RunInfo_T_Coil.Text = Convert.ToString((int)(DataTemp - 40)) + " ℃";
                                    //MCU温度
                                    DataTemp = (ushort)(Data[23]);
                                    textBox_RunInfo_T_MCU.Text = Convert.ToString((int)(DataTemp - 40)) + " ℃";
                                    //单次里程
                                    DataTemp = (ushort)(Data[25] * 256 + Data[24]);
                                    textBox_RunInfo_Trip.Text = ((float)DataTemp / 10f).ToString("0.0") + " km";
                                    //单次时间
                                    DataTemp = (ushort)(Data[27] * 256 + Data[26]);
                                    textBox_RunInfo_Trip_Time.Text = Convert.ToString(DataTemp) + " s";

                                    //数据保存
                                    DataAutoSave();
                                }));
                            }
                            break;
                        }
                    case 0x1104://故障码
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MC_ErrorCode_Refresh = true;
                                    textBox_ErrorCode.Text =
                                        Convert.ToString(Data[3], 16).PadLeft(2, '0').ToUpper() +
                                        Convert.ToString(Data[2], 16).PadLeft(2, '0').ToUpper() +
                                        Convert.ToString(Data[1], 16).PadLeft(2, '0').ToUpper() +
                                        Convert.ToString(Data[0], 16).PadLeft(2, '0').ToUpper() +
                                        "H";
                                }));
                            }
                            break;
                        }
                    case 0xA903://反馈指令
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    timer_1s.Enabled = false;
                                    MessageBox.Show("OK", "反馈指令", MessageBoxButtons.OK, MessageBoxIcon.Information);
                                    timer_1s.Enabled = true;
                                    //关机反馈
                                    PowerOffAckStatus = true;
                                }));
                            }
                            break;
                        }
                    case 0xB226://马达参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_MotorParam.Clear();
                                    for (int i = 0; i < myParams.MotorParma.Count; i++)
                                    {
                                        richTextBox_MotorParam.AppendText(myParams.MotorParma[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_MotorParam.Text = richTextBox_MotorParam.Text.Substring(0, richTextBox_MotorParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB31A://整车信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_BikeParam.Clear();
                                    for (int i = 0; i < myParams.BikeParma.Count; i++)
                                    {
                                        richTextBox_BikeParam.AppendText(myParams.BikeParma[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_BikeParam.Text = richTextBox_BikeParam.Text.Substring(0, richTextBox_BikeParam.Text.Length - 2);
                                    //更新生产模式中整车参数
                                    textBox_FacModeWheelSize.Text = (Data[1] * 256 + Data[0]).ToString();//周长
                                    textBox_FacModeSpeedLimit.Text= (Data[5] * 256 + Data[4]).ToString();//限速
                                    DataTemp = (int)(Data[13] * 256 + Data[12]);//助力方案1
                                    if (DataTemp == 0) comboBox_FacModeAssist1.SelectedIndex = 0;
                                    else if (DataTemp == 341) comboBox_FacModeAssist1.SelectedIndex = 1;
                                    else if (DataTemp == 682) comboBox_FacModeAssist1.SelectedIndex = 2;
                                    else comboBox_FacModeAssist1.SelectedIndex = 3;
                                    DataTemp = (int)(Data[15] * 256 + Data[14]);//助力方案2
                                    if (DataTemp == 0) comboBox_FacModeAssist2.SelectedIndex = 0;
                                    else if (DataTemp == 341) comboBox_FacModeAssist2.SelectedIndex = 1;
                                    else if (DataTemp == 682) comboBox_FacModeAssist2.SelectedIndex = 2;
                                    else comboBox_FacModeAssist2.SelectedIndex = 3;
                                    DataTemp = (int)(Data[17] * 256 + Data[16]);//灯压
                                    if (DataTemp == 6) comboBox_FacModeLightVol.SelectedIndex = 0;
                                    else if (DataTemp == 12) comboBox_FacModeLightVol.SelectedIndex = 1;
                                    else comboBox_FacModeLightVol.SelectedIndex = 2;
                                    DataTemp = (int)(Data[21] * 256 + Data[20]);//启动模式
                                    if (DataTemp == 1) comboBox_FacModeStartMode.SelectedIndex = 0;
                                    else if (DataTemp == 3) comboBox_FacModeStartMode.SelectedIndex = 2;
                                    else comboBox_FacModeStartMode.SelectedIndex = 1;
                                }));
                            }
                            break;
                        }
                    case 0xB420://控制器参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ControlParam.Clear();
                                    for (int i = 0; i < myParams.ControlParma.Count; i++)
                                    {
                                        richTextBox_ControlParam.AppendText(myParams.ControlParma[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_ControlParam.Text = richTextBox_ControlParam.Text.Substring(0, richTextBox_ControlParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB528://传感器参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_SensorParam.Clear();
                                    for (int i = 0; i < myParams.SensorParam.Count; i++)
                                    {
                                        richTextBox_SensorParam.AppendText(myParams.SensorParam[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_SensorParam.Text = richTextBox_SensorParam.Text.Substring(0, richTextBox_SensorParam.Text.Length - 2);
                                    //更新生产模式页面传感器零点和标定值
                                    textBox_FacModeSensorADC0.Text = (Data[1] * 256 + Data[0]).ToString();
                                    textBox_FacModeSensorADC1.Text = (Data[15] * 256 + Data[14]).ToString();
                                    textBox_FacModeSensorADC2.Text = (Data[19] * 256 + Data[18]).ToString();
                                    textBox_FacModeSensorADC3.Text = (Data[23] * 256 + Data[22]).ToString();
                                    textBox_FacModeSensorADC4.Text = (Data[27] * 256 + Data[26]).ToString();
                                }));
                            }
                            break;
                        }
                    case 0xB64C://助力参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_AssistParam.Clear();
                                    int index_1 = myParams.AssistParam.IndexOf("转矩曲线.a");
                                    int index_2 = myParams.AssistParam.IndexOf("踏频曲线.d");
                                    for (int i = 0; i < myParams.AssistParam.Count; i++)
                                    {
                                        if (i < index_1) //数据占用2bytes
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                        }
                                        else if (i <= index_2) //数据占用4bytes
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString((Data[4 * i - 5] << 24) + (Data[4 * i - 6] << 16) + (Data[4 * i - 7] << 8) + Data[4 * i - 8]) + ", ");
                                        }
                                        else //数据占用2bytes
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString(Data[2 * i + 17] * 256 + Data[2 * i + 16]) + ", ");
                                        }

                                    }
                                    richTextBox_AssistParam.Text = richTextBox_AssistParam.Text.Substring(0, richTextBox_AssistParam.Text.Length - 2);
                                    //更新生产模式中助力参数
                                    textBox_FacModeStartGain.Text = (Data[1] * 256 + Data[0]).ToString();//零速增益
                                    textBox_FacModeCircuitK.Text = (Data[45] * 256 + Data[44]).ToString();//电流阶梯
                                    textBox_FacModeFltCounter.Text = (Data[49] * 256 + Data[48]).ToString();//滤波脉冲
                                    textBox_FacModeSpeedLimitTh.Text = (Data[55] * 256 + Data[54]).ToString();//限速启动
                                    textBox_FacModeSpeedLimitEnd.Text = (Data[57] * 256 + Data[56]).ToString();//限速停止
                                    textBox_FacModeCadencePer.Text = (Data[59] * 256 + Data[58]).ToString();//踏频占比
                                }));
                            }
                            break;
                        }
                    case 0xB74C://历史记录
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_Record.Clear();
                                    for (int i = 0; i < myParams.Record.Count; i++)
                                    {
                                        richTextBox_Record.AppendText(myParams.Record[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_Record.Text = richTextBox_Record.Text.Substring(0, richTextBox_Record.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB83A://调试参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_DebugParam.Clear();
                                    for (int i = 0; i < myParams.DebugParam.Count; i++)
                                    {
                                        richTextBox_DebugParam.AppendText(myParams.DebugParam[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_DebugParam.Text = richTextBox_DebugParam.Text.Substring(0, richTextBox_DebugParam.Text.Length - 2);
                                }));
                            }
                            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
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //电机型号
                                    textBox_Model.Text = "";
                                    textBox_OBC_ReadModel.Text = "";
                                    textBox_FacModeName.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (Data[i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_Model.Text += ((char)Data[i]).ToString();
                                        textBox_OBC_ReadModel.Text += ((char)Data[i]).ToString();
                                        textBox_FacModeName.Text += ((char)Data[i]).ToString(); ;
                                    }
                                    Class_Motor_Ver.Mode = textBox_Model.Text;

                                    //电机SN
                                    textBox_SN.Text = "";
                                    textBox_OBC_ReadSN.Text = "";
                                    textBox_FacModeNum.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (Data[16 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_SN.Text += ((char)Data[16 + i]).ToString();
                                        textBox_OBC_ReadSN.Text += ((char)Data[16 + i]).ToString();
                                        textBox_FacModeNum.Text += ((char)Data[16 + i]).ToString();
                                    }
                                    Class_Motor_Ver.SN = textBox_SN.Text;

                                    //电机HW
                                    textBox_HW.Text = "";
                                    textBox_OBC_ReadHW.Text = "";
                                    textBox_FacModeHW.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();
                                        textBox_FacModeHW.Text += ((char)Data[32 + i]).ToString();
                                    }
                                    Class_Motor_Ver.HW = textBox_HW.Text;

                                    //电机FW
                                    textBox_FW.Text = "";
                                    textBox_OBC_ReadFW.Text = "";
                                    textBox_FacModeFW.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (Data[48 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (Data[48 + i] == 'r')
                                        {
                                            Data[48 + i] = (byte)'.';
                                        }
                                        textBox_FW.Text += ((char)Data[48 + i]).ToString();
                                        textBox_OBC_ReadFW.Text += ((char)Data[48 + i]).ToString();
                                        textBox_FacModeFW.Text += ((char)Data[48 + i]).ToString();
                                    }
                                    Class_Motor_Ver.FW = textBox_FW.Text;

                                }));
                            }
                            break;
                        }
                    case 0xA610://自定义1
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    textBox_User1.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (Data[i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_User1.Text += ((char)Data[i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xA710://自定义2
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    textBox_User2.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (Data[i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_User2.Text += ((char)Data[i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xA810://自定义1
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    textBox_User3.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (Data[i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_User3.Text += ((char)Data[i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xA520://生产信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //生产商
                                    textBox_MAC.Text = "";
                                    for (ushort i = 0; i < 8; i++)
                                    {
                                        if (Data[i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_MAC.Text += ((char)Data[i]).ToString();
                                    }

                                    //生产地
                                    textBox_MACAdd.Text = "";
                                    for (ushort i = 0; i < 8; i++)
                                    {
                                        if (Data[8 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_MACAdd.Text += ((char)Data[8 + i]).ToString();
                                    }

                                    //生产日期
                                    textBox_MACDate.Text = "";
                                    for (ushort i = 0; i < 8; i++)
                                    {
                                        if (Data[16 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_MACDate.Text += ((char)Data[16 + i]).ToString();
                                    }

                                    //品牌信息
                                    textBox_PP.Text = "";
                                    for (ushort i = 0; i < 8; i++)
                                    {
                                        if (Data[24 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_PP.Text += ((char)Data[24 + i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xA408://密钥
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    textBox_Key.Text = "";
                                    for (ushort i = 0; i < 8; i++)
                                    {
                                        textBox_Key.Text += ((char)Data[i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    case 0x1401://在线检测结果
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    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;
                        }
                    case 0x1720://客户信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //程序特性
                                    textBox_SP.Text = "";
                                    textBox_OBC_ReadSP.Text = "";    
                                    textBox_FacModeSP.Text = "";
                                    for (ushort i = 0; i < 32; i++)
                                    {
                                        if (Data[i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_SP.Text += ((char)Data[i]).ToString();
                                        textBox_OBC_ReadSP.Text += ((char)Data[i]).ToString();
                                        textBox_FacModeSP.Text += ((char)Data[i]).ToString(); ;
                                    }
                                    Class_Motor_Ver.Special = textBox_SP.Text;
                                }));
                            }
                            break;
                        }
                    default:
                        {
                            unchecked
                            {
                                if ((CmdTemp & 0xFF00) == 0xAB00) //返回指定地址存储器数据
                                { 
                                    this.Invoke((EventHandler)(delegate
                                    {
                                        long ByteNum = 0;
                                        ByteNum = ((Data[4] << 24) + (Data[5] << 16) + (Data[6] << 8) + Data[7]) - ((Data[0] << 24) + (Data[1] << 16) + (Data[2] << 8) + Data[3]) + 1;
                                        for (int i = 0; i < ByteNum; i++)
                                        {
                                            richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8 + i], 16).PadLeft(2, '0').ToUpper() + " ");
                                        }
                                    }));
                                }  
                            }
                            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

            #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;
                                    //关机时间
                                    richTextBox_OBC_ReadUserInfo.AppendText("关机时间:" + Convert.ToString(Data[5]) + " min" + "\r\n");
                                    numericUpDown_OBC_OffTime.Value = (int)Data[5];
                                }));
                            }
                            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

        /// <summary>
        /// 端口连接事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 连接ToolStripMenuItem_Click(object sender, System.EventArgs e)
        {
            bool result = false;
            if (连接ToolStripMenuItem.Text == "连接")
            {
                result = mySerialProcess.SerialOpen(toolStripComboBox_ComNum.Text, toolStripComboBox_Baudrate.Text);
                if (result)
                {
                    toolStripComboBox_ComNum.Enabled = false;
                    toolStripComboBox_Baudrate.Enabled = false;
                    刷新ToolStripMenuItem.Enabled = false;
                    连接ToolStripMenuItem.Text = "断开";
                    连接ToolStripMenuItem.Checked = true;
                    label_COM_Sta.Text = toolStripComboBox_ComNum.Text + "已连接，" + toolStripComboBox_Baudrate.Text;
                }
            }
            else if (连接ToolStripMenuItem.Text == "断开")
            {
                checkBox_OBC_StartSetGearSt.Checked = false;
                mySerialProcess.SerialClose();
                
                toolStripComboBox_ComNum.Enabled = true;
                toolStripComboBox_Baudrate.Enabled = true;
                刷新ToolStripMenuItem.Enabled = true;
                连接ToolStripMenuItem.Text = "连接";
                连接ToolStripMenuItem.Checked = false;
                label_COM_Sta.Text = "连接状态：未连接";
                
            }
        }

        /// <summary>
        /// 端口号刷新事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 刷新ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            toolStripComboBox_ComNum.Items.Clear();
            toolStripComboBox_ComNum.Items.AddRange(mySerialProcess.refreshPort());
            toolStripComboBox_ComNum.SelectedIndex = toolStripComboBox_ComNum.Items.Count > 0 ? 0 : -1;
        }

        /// <summary>
        /// 转速调节事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void numericUpDown_SpeedAdj_ValueChanged(object sender, EventArgs e)
        {
            //生产模式转速设置值更新
            trackBar_FacModeMotorSpeedAdj.Value = (int)numericUpDown_SpeedAdj.Value;
            label_FacModeMotorSpeedSet.Text = trackBar_FacModeMotorSpeedAdj.Value.ToString() + "%";
            //设置转速百分比
            var Data = new byte[1];
            Data[0] = (byte)numericUpDown_SpeedAdj.Value;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }

        /// <summary>
        /// 存储标志修改事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 写入存储ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            写入存储ToolStripMenuItem.Checked = !写入存储ToolStripMenuItem.Checked;
        }

        /// <summary>
        /// 1s定时器
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void timer_1s_Tick(object sender, EventArgs e)
        {
            //时间更新
            label_SystemTime.Text = "系统时间：" + DateTime.Now.ToString();

            //MC_Runinfo超时清除
            if (MC_RunInfo_Refresh == false)
            {
                MC_RunInfo_Refresh_Cnt++;
                if (MC_RunInfo_Refresh_Cnt > 10)//5s
                {
                    MC_RunInfo_Clear();
                    MC_RunInfo_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_RunInfo_Refresh_Cnt = 0;
            }
            MC_RunInfo_Refresh = false;

            //BMS_RunInfo超时清除
            if (BMS_RunInfo_Refresh == false)
            {
                BMS_RunInfo_Refresh_Cnt++;
                if (BMS_RunInfo_Refresh_Cnt > 10)//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 > 10)//5s
                {
                    textBox_ErrorCode.Text = "---";
                    MC_ErrorCode_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_ErrorCode_Refresh_Cnt = 0;
            }
            MC_ErrorCode_Refresh = false;

            //CDL连接超时
#if false
            if (mySerialProcess.CDL_Online_Flag == false)
            {
                mySerialProcess.CDL_OnlineCheck_Cnt++;
                if (mySerialProcess.CDL_OnlineCheck_Cnt > 3)//3s
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("连接失败！", "提示");
                    timer_1s.Enabled = true;
                    //关闭串口
                    mySerialProcess.SerialClose();
                    toolStripComboBox_ComNum.Enabled = true;
                    toolStripComboBox_Baudrate.Enabled = true;
                    刷新ToolStripMenuItem.Enabled = true;
                    连接ToolStripMenuItem.Text = "连接";
                    连接ToolStripMenuItem.Checked = false;
                    label_COM_Sta.Text = "连接状态：未连接";
                }
            }
#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 == 5)//档位
                    CtrlCode[0] = 0x33;
                else 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;
                if (!mySerialProcess.SendCmdWithoutNotice((ushort)0x731, (byte)0x0C, (ushort)0x3002, CtrlCode))
                {
                    checkBox_OBC_StartSetGearSt.Checked = false;
                }
            }

            //OBC定时发送查询电池
            if (checkBox_OBC_StartReadBMS.Checked == true)
            {
                if (!mySerialProcess.SendCmd((ushort)0x732, (byte)0x11, (ushort)0x5000, null))
                {
                    checkBox_OBC_StartReadBMS.Checked = false;
                }
            }

        }

        /// <summary>
        /// 运行信息清除
        /// </summary>
        private void MC_RunInfo_Clear()
        {
            foreach (Control c in groupBox2.Controls)
            {
                if ((c is TextBox))
                {
                    if(c.Name != textBox_ErrorCode.ToString())
                        c.Text = "---";
                }
            }
        }

        /// <summary>
        /// 读取马达参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_Read_MotorParam_Click(object sender, EventArgs e)
        {
            richTextBox_MotorParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3A00, null);
        }

        /// <summary>
        /// 写入马达参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_Write_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[40];
            for (int i = 0; i < 40; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            string[] strDataTemp = richTextBox_MotorParam.Text.Split(new string[] { ", "},StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3B28, ConfigParam);
            }
            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>
        /// 读取整车信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadBikeParam_Click(object sender, EventArgs e)
        {
            richTextBox_BikeParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3C00, null);
        }

        /// <summary>
        /// 写入整车信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteBikeParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[28];
            for (int i = 0; i < 28; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            string[] strDataTemp = richTextBox_BikeParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3D1C, ConfigParam);
            }
            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>
        /// 读取控制器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadControlParam_Click(object sender, EventArgs e)
        {
            richTextBox_ControlParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3E00, null);
        }

        /// <summary>
        /// 写入控制器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteControlParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[34];
            for (int i = 0; i < 34; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            string[] strDataTemp = richTextBox_ControlParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3F22, ConfigParam);
            }
            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>
        /// 读取助力参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadAssistParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            int AssistNum = 0;
            try
            {
                AssistNum = Convert.ToInt32(comboBox_AssistTorque.Text);
                ConfigParam[0] = (byte)(AssistNum & 0xFF);
                ConfigParam[1] = (byte)(AssistNum >> 8);
                AssistNum = Convert.ToInt32(comboBox_AssistCadence.Text);
                ConfigParam[2] = (byte)(AssistNum & 0xFF);
                ConfigParam[3] = (byte)(AssistNum >> 8);
                richTextBox_AssistParam.Clear();
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4304, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请选择助力参数编号！","提示",MessageBoxButtons.OK,MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
            
        }

        /// <summary>
        /// 写入助力参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteAssistParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[80];
            for (int i = 0; i < 80; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ulong ulDataTemp = 0;
            string[] strDataTemp = richTextBox_AssistParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            int index_1 = 0, index_2 = 0;
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "转矩曲线.a")
                    {
                        index_1 = i;
                        break;
                    }                       
                }
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "踏频曲线.d")
                    {
                        index_2 = i;
                        break;
                    }                    
                }
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    ulDataTemp = Convert.ToUInt32(strDataTemp[i].Split('=')[1]);
                    if (i < index_1)
                    {
                        ConfigParam[2 * i + 4] = (byte)ulDataTemp;
                        ConfigParam[2 * i + 5] = (byte)(ulDataTemp >> 8);
                    }
                    else if (i <= index_2)
                    {
                        ConfigParam[4 * i - 4] = (byte)ulDataTemp;
                        ConfigParam[4 * i - 3] = (byte)(ulDataTemp >> 8);
                        ConfigParam[4 * i - 2] = (byte)(ulDataTemp >> 16);
                        ConfigParam[4 * i - 1] = (byte)(ulDataTemp >> 24);
                    }
                    else
                    {
                        ConfigParam[2 * i + 20] = (byte)ulDataTemp;
                        ConfigParam[2 * i + 21] = (byte)(ulDataTemp >> 8);
                    }  
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4450, ConfigParam);
            }
            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>
        /// 读取调试参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadDebugParam_Click(object sender, EventArgs e)
        {
            richTextBox_DebugParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4500, null);
        }

        /// <summary>
        /// 写入调试参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteDebugParam_Click(object sender, EventArgs e)
        {
            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;
            string[] strDataTemp = richTextBox_DebugParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, ConfigParam);
            }
            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>
        /// 读取历史
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadRecord_Click(object sender, EventArgs e)
        {
            richTextBox_Record.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null);
        }

        /// <summary>
        /// 读取传感器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadSensorParam_Click(object sender, EventArgs e)
        {
            richTextBox_SensorParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null);
        }

        /// <summary>
        /// 写入力矩传感器标定值
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_Write_Cal_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            for (int i = 0; i < 4; i++)
                ConfigParam[i] = 0;
            ushort uwDataTemp = 0;
            try
            {
                uwDataTemp = Convert.ToUInt16(comboBox_TorqueSet.Text);//负载序号
                ConfigParam[0] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[1] = (byte)(uwDataTemp >> 8);
                uwDataTemp = (ushort)(decimal.Parse(textBox_Load.Text) * 10); ;//负载值0.1Nm
                ConfigParam[2] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[3] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4104, ConfigParam);
            }
            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>
        /// 写入传感器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteSensorParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[14];
            for (int i = 0; i < 14; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            //力矩传感器参数只写入前面14项与力矩传感器相关的参数
            string[] strDataTemp = richTextBox_SensorParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            int index = 0;
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "踏频传感器一圈脉冲数")
                    {
                        index = i;
                        break;
                    }
                }
                for (int i = 0; i < (strDataTemp.Length - index); i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i + index].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x420E, ConfigParam);
            }
            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>
        /// 写入型号
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteModel_Click(object sender, EventArgs e)
        {
            string Mode = textBox_Model.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;
                }
            }

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

        /// <summary>
        /// 写入SN
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteSN_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;
                }
            }

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

        /// <summary>
        /// 查询版本信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadVersion_Click(object sender, EventArgs e)
        {
            textBox_Model.Text = "---";
            textBox_SN.Text = "---";
            textBox_HW.Text = "---";
            textBox_FW.Text = "---";
            textBox_SP.Text = "---";
            textBox_OBC_ReadModel.Text = "---";
            textBox_OBC_ReadSN.Text = "---";
            textBox_OBC_ReadHW.Text = "---";
            textBox_OBC_ReadFW.Text = "---";
            textBox_OBC_ReadSP.Text = "---";
            textBox_FacModeName.Text = "---";
            textBox_FacModeNum.Text = "---";
            textBox_FacModeHW.Text = "---";
            textBox_FacModeFW.Text = "---";
            textBox_FacModeSP.Text = "---";
            Class_Motor_Ver.Mode = "---";
            Class_Motor_Ver.SN = "---";
            Class_Motor_Ver.HW = "---";
            Class_Motor_Ver.FW = "---";
            Class_Motor_Ver.Special = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
        }

        /// <summary>
        /// 查询自定义1
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadUser1_Click(object sender, EventArgs e)
        {
            textBox_User1.Text = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1300, null);
        }

        /// <summary>
        /// 查询自定义2
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadUser2_Click(object sender, EventArgs e)
        {
            textBox_User2.Text = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1500, null);
        }

        /// <summary>
        /// 查询自定义3
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadUser3_Click(object sender, EventArgs e)
        {
            textBox_User3.Text = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1700, null);
        }

        /// <summary>
        /// 写入自定义字符串1
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteUser1_Click(object sender, EventArgs e)
        {
            string User = textBox_User1.Text;
            var UserArray = new byte[16];

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

            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1410, UserArray);
        }

        /// <summary>
        /// 写入自定义字符串2
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteUser2_Click(object sender, EventArgs e)
        {
            string User = textBox_User2.Text;
            var UserArray = new byte[16];

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

            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1610, UserArray);
        }

        /// <summary>
        /// 写入自定义字符串3
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteUser3_Click(object sender, EventArgs e)
        {
            string User = textBox_User3.Text;
            var UserArray = new byte[16];

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

            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1810, UserArray);
        }

        /// <summary>
        /// 查询生产信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadMAC_Click(object sender, EventArgs e)
        {
            textBox_MAC.Text = "---";
            textBox_MACAdd.Text = "---";
            textBox_MACDate.Text = "---";
            textBox_PP.Text = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1F00, null);
        }
        
        /// <summary>
        /// 写入生产信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteMac_Click(object sender, EventArgs e)
        {
            var MACArray = new byte[32];

            //填入生产商
            for (ushort i = 0; i < textBox_MAC.Text.Length; i++)
            {
                MACArray[i] = (byte)textBox_MAC.Text[i];
            }
            if (textBox_MAC.Text.Length < 8)
            {
                MACArray[textBox_MAC.Text.Length] = (byte)'.';
                for (ushort i = 0; i < 8 - textBox_MAC.Text.Length - 1; i++)
                {
                    MACArray[textBox_MAC.Text.Length + 1 + i] = 0x20;
                }
            }
            //填入生产地
            for (ushort i = 0; i < textBox_MACAdd.Text.Length; i++)
            {
                MACArray[8 + i] = (byte)textBox_MACAdd.Text[i];
            }
            if (textBox_MACAdd.Text.Length < 8)
            {
                MACArray[textBox_MACAdd.Text.Length + 8] = (byte)'.';
                for (ushort i = 0; i < 8 - textBox_MACAdd.Text.Length - 1; i++)
                {
                    MACArray[textBox_MACAdd.Text.Length + 1 + i + 8] = 0x20;
                }
            }
            //填入生产日期
            for (ushort i = 0; i < textBox_MACDate.Text.Length; i++)
            {
                MACArray[16 + i] = (byte)textBox_MACDate.Text[i];
            }
            if (textBox_MACDate.Text.Length < 8)
            {
                MACArray[textBox_MACDate.Text.Length + 16] = (byte)'.';
                for (ushort i = 0; i < 8 - textBox_MACDate.Text.Length - 1; i++)
                {
                    MACArray[textBox_MACDate.Text.Length + 1 + i + 16] = 0x20;
                }
            }
            //填入品牌
            for (ushort i = 0; i < textBox_PP.Text.Length; i++)
            {
                MACArray[24 + i] = (byte)textBox_PP.Text[i];
            }
            if (textBox_PP.Text.Length < 8)
            {
                MACArray[textBox_PP.Text.Length + 24] = (byte)'.';
                for (ushort i = 0; i < 8 - textBox_PP.Text.Length - 1; i++)
                {
                    MACArray[textBox_PP.Text.Length + 1 + i + 24] = 0x20;
                }
            }
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2420, MACArray);
        }

        /// <summary>
        /// 查询密钥
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadKey_Click(object sender, EventArgs e)
        {
            textBox_Key.Text = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1000, null);
        }

        /// <summary>
        /// 写入校验密钥
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteKey_Click(object sender, EventArgs e)
        {
            string Key = textBox_Key.Text;
            var KeyArray = new byte[8];

            if (Key.Length != 8)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请检查字符长度是否为8", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
                return;
            }
            for (ushort i = 0; i < Key.Length; i++)
            {
                KeyArray[i] = (byte)Key[i];
            }

            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1108, KeyArray);
        }

        /// <summary>
        /// 查询在线检测结果
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadOnLine_Click(object sender, EventArgs e)
        {
            textBox_Online.Text = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2100, null);
        }

        /// <summary>
        /// 系统清除
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_SystemClear_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("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)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                        MessageBox.Show("系统已关机，请重启！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    }
                }
            }
            timer_1s.Enabled = true;
        }

        /// <summary>
        /// 参数还原
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        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';

            timer_1s.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)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2708, Code);
                        MessageBox.Show("系统已关机，请重启！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    }
                }
            }
            timer_1s.Enabled = true;
        }

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

            Code[0] = (byte)'O';
            Code[1] = (byte)'F';
            Code[2] = (byte)'F';
            Code[3] = (byte)'.';
            Code[4] = (byte)'.';

            timer_1s.Enabled = false;
            if (MessageBox.Show("系统将关机", "确认关机?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                timer_1s.Enabled = true;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
                PowerOffAckStatus = false;
                Delay_ms(250);
                int TryCnt = 3;
                while ((TryCnt--) >= 0)
                {
                    if (!PowerOffAckStatus)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
                        PowerOffAckStatus = false;
                        Delay_ms(250);
                    }
                    else break;
                }

                if (PowerOffAckStatus)
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("已关机！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
                    timer_1s.Enabled = true;
                }
                else
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("关机失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_1s.Enabled = true;
                }
            }
            timer_1s.Enabled = true;
        }

        /// <summary>
        /// 记录清除
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ClearLog_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';

            timer_1s.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)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3909, Code);
                        MessageBox.Show("系统已关机，请重启！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    }
                }
            }
            timer_1s.Enabled = true;
        }

        /// <summary>
        /// 打开系统计算器
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 计算器ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            System.Diagnostics.Process.Start("calc.exe");
        }

        /// <summary>
        ///故障转换和显示 
        /// </summary>
        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","BMS校验失败","","OBC校验失败","MCU故障","踏频传感器故障","指拨故障","MOS短路","电压异常","","","","","","","","","","","","",
        "",""};
        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;
        }

        /// <summary>
        /// 鼠标滑过故障码显示具体内容
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void textBox_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_ErrorCode.Text;
            UInt32 Code = ErrorCode.Contains("H") ? Convert.ToUInt32(ErrorCode.Split('H')[0], 16) : 0;

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

        /// <summary>
        /// 数据记录
        /// </summary>
        private void DataAutoSave()
        {
            if (记录数据ToolStripMenuItem.Checked == true)
            {
                if (SaveFilename == 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(SaveFilename, SaveData);//sb.ToString());
            }
        }

        /// <summary>
        /// 打开或关闭数据记录
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 记录数据ToolStripMenuItem_Click(object sender, EventArgs e)
        {

            if (记录数据ToolStripMenuItem.Checked == false)
            {
                if (mySerialProcess.mySerial.IsOpen == true)
                {
                    SaveFilename = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_运行信息" + ".txt";
                    timer_1s.Enabled = false;
                    MessageBox.Show("开始记录", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    timer_1s.Enabled = true;
                    记录数据ToolStripMenuItem.Checked = true;
                }
                else
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("请连接电机", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    timer_1s.Enabled = true;
                }
            }
            else
            {
                记录数据ToolStripMenuItem.Checked = false;
                timer_1s.Enabled = false;
                MessageBox.Show("停止记录", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                timer_1s.Enabled = true;
            }

        }

        /// <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)
            {
                //检查串口是否打开
                if (!mySerialProcess.mySerial.IsOpen)
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("串口未连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_1s.Enabled = true;
                    checkBox_OBC_StartSetGearSt.Checked = false;
                    return;
                }
                //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;
                }
            }
        }

        /// <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);
            UserInfoCode[3] = (byte)(uint)numericUpDown_OBC_OffTime.Value;
            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_SP.Text = "---";
            textBox_OBC_ReadModel.Text = "---";
            textBox_OBC_ReadSN.Text = "---";
            textBox_OBC_ReadHW.Text = "---";
            textBox_OBC_ReadFW.Text = "---";
            textBox_OBC_ReadSP.Text = "---";
            textBox_FacModeName.Text = "---";
            textBox_FacModeNum.Text = "---";
            textBox_FacModeHW.Text = "---";
            textBox_FacModeFW.Text = "---";
            textBox_FacModeSP.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("串口未连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_1s.Enabled = true;
                    checkBox_OBC_StartReadBMS.Checked = false;
                    return;
                }
            }
        }

        /// <summary>
        /// 写入力矩传感器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteTqSensorParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[46];
            for (int i = 0; i < 14; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            //力矩传感器参数只写入前面14项与力矩传感器相关的参数
            string[] strDataTemp = richTextBox_SensorParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            int index = 0;
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "第四阶段转矩点采集值")
                    {
                        index = i;
                        break;
                    }
                }
                for (int i = 0; i < (index + 1); i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x472E, ConfigParam);
            }
            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>
        /// 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;    
        }

        /// <summary>
        /// 读取指定地址数据
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadRamFlash_Click(object sender, EventArgs e)
        {
            var Address = new byte[4];
            UInt32 Address_Begin;
            UInt32 Addres_End;

            richTextBox_RamFlasgData.Clear();

            if ((textBox_Address_Begin.Text == string.Empty) || (textBox_Address_End.Text == string.Empty))
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请输入起始和结束地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer_1s.Enabled = true;
                return;
            }
            else if ((textBox_Address_Begin.Text.Length != 8) || (textBox_Address_End.Text.Length != 8))
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请检查地址长度！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer_1s.Enabled = true;
                return;
            }
            else
            {
                Address = mySerialProcess.HexStringToBytes(textBox_Address_Begin.Text, false);
                Address_Begin = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);
                Address = mySerialProcess.HexStringToBytes(textBox_Address_End.Text, false);
                Addres_End = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);

                if (Addres_End < Address_Begin)
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("结束地址必须大于或等于起始地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_1s.Enabled = true;
                    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);

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

        }

        /// <summary>
        /// 工作模式选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox_WorkMode_SelectedIndexChanged(object sender, EventArgs e)
        {
            var RunMode = new byte[1];
            if (comboBox_WorkMode.Text == "配置模式")
                RunMode[0] = 0x01;
            else
                RunMode[0] = 0x00;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode);
        }

        /// <summary>
        /// 助力档位选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox_GearSt_SelectedIndexChanged(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];
            if (comboBox_GearSt.SelectedIndex == 5)//档位
                CtrlCode[0] = 0x33;
            else if (comboBox_GearSt.SelectedIndex == 6)//档位
                CtrlCode[0] = 0x22;
            else
                CtrlCode[0] = (byte)comboBox_GearSt.SelectedIndex;
            if (comboBox_LightSwitch.SelectedIndex == 0)//车灯
                CtrlCode[1] = 0xF1;
            else
                CtrlCode[1] = 0xF0;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
            comboBox_OBC_SetGearST.SelectedIndex = comboBox_GearSt.SelectedIndex;
            comboBox_OBC_LightSw.SelectedIndex = comboBox_LightSwitch.SelectedIndex;
        }

        /// <summary>
        /// 仪表档位选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox_OBC_SetGearST_SelectedIndexChanged(object sender, EventArgs e)
        {
            comboBox_GearSt.SelectedIndex = comboBox_OBC_SetGearST.SelectedIndex;
            comboBox_LightSwitch.SelectedIndex = comboBox_OBC_LightSw.SelectedIndex;
        }

        /// <summary>
        /// 生产模式初始化
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeInit_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("电机即将初始化！", "确认？", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    timer_1s.Enabled = true;
                    if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code)) return;
                    PowerOffAckStatus = false;
                    Delay_ms(250);
                    int TryCnt = 3;
                    while ((TryCnt--) >= 0)
                    {
                        if (!PowerOffAckStatus)
                        {
                            if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code)) return;
                            PowerOffAckStatus = false;
                            Delay_ms(250);
                        }
                        else break;
                    }

                    if (PowerOffAckStatus)
                    {
                        timer_1s.Enabled = false;
                        MessageBox.Show("系统已关机，请保持无负载重新开机！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
                        timer_1s.Enabled = true;
                    }
                    else
                    {
                        timer_1s.Enabled = false;
                        MessageBox.Show("初始化失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        timer_1s.Enabled = true;
                    }
                    timer_1s.Enabled = true;
                }
            }
            timer_1s.Enabled = true;

            //清除历史测试记录
            textBox_FacModeSensorADC0.Text = "";
            textBox_FacModeSensorADC1.Text = "";
            textBox_FacModeSensorADC2.Text = "";
            textBox_FacModeSensorADC3.Text = "";
            textBox_FacModeSensorADC4.Text = "";
            checkBox_FacModeCheckBikeSpeed.Checked = false;
            checkBox_FacModeCheckCadence.Checked = false;
            checkBox_FacModeCheckNTC.Checked = false;
            checkBox_FacModeCheckVol.Checked = false;
            LightSwitchStatus = false;
            MotorRunStatus = false;
            trackBar_FacModeMotorSpeedAdj.Value = 5;
            textBox_FacModeWheelSize.Text = "";
            textBox_FacModeSpeedLimit.Text = "";
            comboBox_FacModeAssist1.SelectedIndex = -1;
            comboBox_FacModeAssist2.SelectedIndex = -1;
            comboBox_FacModeLightVol.SelectedIndex = -1;
            comboBox_FacModeStartMode.SelectedIndex = -1;
            textBox_FacModeStartGain.Text = "";
            textBox_FacModeCircuitK.Text = "";
            textBox_FacModeFltCounter.Text = "";
            textBox_FacModeSpeedLimitTh.Text = "";
            textBox_FacModeSpeedLimitEnd.Text = "";
            textBox_FacModeCadencePer.Text = "";
            textBox_FacModeName.Text = "";
            textBox_FacModeNum.Text = "";
            textBox_FacModeHW.Text = "";
            textBox_FacModeFW.Text = "";

        }

        /// <summary>
        /// 生产模式读取传感器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeSensorRead_Click(object sender, EventArgs e)
        {
            richTextBox_SensorParam.Clear();
            textBox_FacModeSensorADC0.Text = "";
            textBox_FacModeSensorADC1.Text = "";
            textBox_FacModeSensorADC2.Text = "";
            textBox_FacModeSensorADC3.Text = "";
            textBox_FacModeSensorADC4.Text = "";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null);
        }

        /// <summary>
        /// 生产模式传感器标定1
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void buttonFacModeSet1_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            for (int i = 0; i < 4; i++)
                ConfigParam[i] = 0;
            ushort uwDataTemp = 0;
            try
            {
                uwDataTemp = 1;//负载序号
                ConfigParam[0] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[1] = (byte)(uwDataTemp >> 8);
                uwDataTemp = (ushort)(decimal.Parse(textBox_FacModeSensorCal1.Text) * 10); ;//负载值0.1Nm
                ConfigParam[2] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[3] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4104, ConfigParam);
                Delay_ms(200);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null);
            }
            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>
        /// 生产模式传感器标定2
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void buttonFacModeSet2_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            for (int i = 0; i < 4; i++)
                ConfigParam[i] = 0;
            ushort uwDataTemp = 0;
            try
            {
                uwDataTemp = 2;//负载序号
                ConfigParam[0] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[1] = (byte)(uwDataTemp >> 8);
                uwDataTemp = (ushort)(decimal.Parse(textBox_FacModeSensorCal2.Text) * 10); ;//负载值0.1Nm
                ConfigParam[2] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[3] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4104, ConfigParam);
                Delay_ms(200);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null);
            }
            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>
        /// 生产模式传感器标定3
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void buttonFacModeSet3_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            for (int i = 0; i < 4; i++)
                ConfigParam[i] = 0;
            ushort uwDataTemp = 0;
            try
            {
                uwDataTemp = 3;//负载序号
                ConfigParam[0] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[1] = (byte)(uwDataTemp >> 8);
                uwDataTemp = (ushort)(decimal.Parse(textBox_FacModeSensorCal3.Text) * 10); ;//负载值0.1Nm
                ConfigParam[2] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[3] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4104, ConfigParam);
                Delay_ms(200);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null);
            }
            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>
        /// 生产模式传感器标定3
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void buttonFacModeSet4_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            for (int i = 0; i < 4; i++)
                ConfigParam[i] = 0;
            ushort uwDataTemp = 0;
            try
            {
                uwDataTemp = 4;//负载序号
                ConfigParam[0] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[1] = (byte)(uwDataTemp >> 8);
                uwDataTemp = (ushort)(decimal.Parse(textBox_FacModeSensorCal4.Text) * 10); ;//负载值0.1Nm
                ConfigParam[2] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[3] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4104, ConfigParam);
                Delay_ms(200);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null);
            }
            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>
        /// 生产模式采集按钮
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeWorkMode_Click(object sender, EventArgs e)
        {
            var RunMode = new byte[1];
            if (button_FacModeWorkMode.Text == "开始")
            {
                RunMode[0] = 0x01;
                if (mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode))
                {
                    button_FacModeWorkMode.Text = "停止";
                    button_FacModeWorkMode.BackColor = Color.Yellow;
                }
            }
            else if (button_FacModeWorkMode.Text == "停止")
            {
                RunMode[0] = 0x00;
                if (mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode))
                {
                    button_FacModeWorkMode.Text = "开始";
                    button_FacModeWorkMode.BackColor = Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
                }
            }
        }

        /// <summary>
        /// 生产模式开关灯
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        bool LightSwitchStatus = false;
        private void button_FacModeLightSW_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];
            CtrlCode[0] = 0x00;
            if (LightSwitchStatus)
            {
                CtrlCode[1] = 0xF0;
                button_FacModeLightSW.BackColor = Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(128)))));
            }
            else
            { 
                CtrlCode[1] = 0xF1;
                button_FacModeLightSW.BackColor = Color.Yellow;
            }             
            if(mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode))
            {
                LightSwitchStatus = !LightSwitchStatus;
                comboBox_LightSwitch.SelectedIndex = LightSwitchStatus ? 0 : 1;
                comboBox_OBC_LightSw.SelectedIndex = LightSwitchStatus ? 0 : 1;
            }
        }

        /// <summary>
        /// 生产模式电机控制
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        bool MotorRunStatus = false;
        private void button_FacModeMotorRun_Click(object sender, EventArgs e)
        {
            //DebugMtbDefaultInfo = "整体运行模式=5, 位置获取模式=1, 采样模式=2, 旋转方向=0, 定位电流=1000, 拖拽电压=18, 拖拽电流=1000, 拖拽频率=20, 加速斜率=500, 减速斜率=100, 转速环控制器带宽=15, 转速环控制器m=4, 电流环控制器带宽=300, 电流环控制器m=1, 磁链观测器带宽=10, 磁链观测器m=10, 锁相环带宽=150, 锁相环m=2, 惯量=500, PWM 最大占空比=900, PWM七段式切五段式阈值=700, 功率限幅值=6500, 功率Error=500, 功率限幅Kp=20, 功率限幅Ki=3000";
            //DebugCityDefaultInfo = "整体运行模式=4, 位置获取模式=1, 采样模式=2, 旋转方向=1, 定位电流=1000, 拖拽电压=18, 拖拽电流=1000, 拖拽频率=20, 加速斜率=500, 减速斜率=100, 转速环控制器带宽=15, 转速环控制器m=4, 电流环控制器带宽=300, 电流环控制器m=1, 磁链观测器带宽=10, 磁链观测器m=10, 锁相环带宽=150, 锁相环m=2, 惯量=300, PWM 最大占空比=900, PWM七段式切五段式阈值=700, 功率限幅值=6500, 功率Error=500, 功率限幅Kp=20, 功率限幅Ki=3000";
            string DebugDefaultInfo = "整体运行模式=4, 位置获取模式=1, 采样模式=2, 旋转方向=1, 定位电流=1000, 拖拽电压=18, 拖拽电流=1000, 拖拽频率=20, 加速斜率=500, 减速斜率=100, 转速环控制器带宽=15, 转速环控制器m=4, 电流环控制器带宽=300, 电流环控制器m=1, 磁链观测器带宽=10, 磁链观测器m=10, 锁相环带宽=150, 锁相环m=2, 惯量=300, PWM 最大占空比=900, PWM七段式切五段式阈值=700, 功率限幅值=6500, 功率Error=500, 功率限幅Kp=20, 功率限幅Ki=3000";
            string[] strDataTemp = DebugDefaultInfo.Split(new string[] { ", " }, StringSplitOptions.None);
            
            var ConfigParam = new byte[60];
            for (int i = 0; i < 60; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = 0x00;
            ushort uwDataTemp = 0;

            if (!MotorRunStatus) //停止状态
            { 
                //设置电机调试参数
                strDataTemp[0] = "整体运行模式=3";
                if (radioButton_FacModeDriverCity.Checked == true)
                {
                    strDataTemp[3] = "旋转方向=1";
                    strDataTemp[10] = "转速环控制器带宽=3";
                    strDataTemp[18] = "惯量=300";
                }
                else if (radioButton_FacModeDriverMtb.Checked == true)
                {
                    strDataTemp[3] = "旋转方向=0";
                    strDataTemp[10] = "转速环控制器带宽=3";
                    strDataTemp[18] = "惯量=500";
                }
                else
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("请选择电机类型！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_1s.Enabled = true;
                    return;
                }

                try
                {
                    for (int i = 0; i < strDataTemp.Length; i++)
                    {
                        uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                        ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                        ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                    }
                    if(!mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, ConfigParam))
                        return;
                }
                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;
                }

                //设置转速百分比50%
                trackBar_FacModeMotorSpeedAdj.Value = 100;
                MotorRunStatus = !MotorRunStatus;
                button_FacModeMotorRun.BackColor = Color.Yellow;

                //电机进入配置模式
                var RunMode = new byte[1];
                RunMode[0] = 0x01;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode);
                button_FacModeWorkMode.Text = "停止";
                button_FacModeWorkMode.BackColor = Color.Yellow;
            }
            else //运转状态
            {
                //设置电机调试参数
                strDataTemp[0] = "整体运行模式=5";
                if (radioButton_FacModeDriverCity.Checked == true)
                {
                    strDataTemp[3] = "旋转方向=1";
                    strDataTemp[10] = "转速环控制器带宽=15";
                    strDataTemp[18] = "惯量=300";
                }
                else if (radioButton_FacModeDriverMtb.Checked == true)
                {
                    strDataTemp[3] = "旋转方向=0";
                    strDataTemp[10] = "转速环控制器带宽=15";
                    strDataTemp[18] = "惯量=500";
                }
                else
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("请选择电机类型！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_1s.Enabled = true;
                    return;
                }

                try
                {
                    for (int i = 0; i < strDataTemp.Length; i++)
                    {
                        uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                        ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                        ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                    }
                    if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, ConfigParam))
                        return;
                }
                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;
                }

                //设置转速百分比50%
                trackBar_FacModeMotorSpeedAdj.Value = 5;
                MotorRunStatus = !MotorRunStatus;
                button_FacModeMotorRun.BackColor = Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));

                //电机退出配置模式
                var RunMode = new byte[1];
                RunMode[0] = 0x00;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, RunMode);
                button_FacModeWorkMode.Text = "开始";
                button_FacModeWorkMode.BackColor = Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
            }
        }

        /// <summary>
        /// 生产模式转速调节
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void trackBar_FacModeMotorSpeedAdj_ValueChanged(object sender, EventArgs e)
        {
            //转速百分比更新
            label_FacModeMotorSpeedSet.Text = trackBar_FacModeMotorSpeedAdj.Value.ToString() + "%";
            numericUpDown_SpeedAdj.Value = trackBar_FacModeMotorSpeedAdj.Value;
            //设置转速百分比
            var Data = new byte[1];
            Data[0] = (byte)trackBar_FacModeMotorSpeedAdj.Value;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }

        /// <summary>
        /// 生产模式读取整车参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeBikeParaRead_Click(object sender, EventArgs e)
        {
            textBox_FacModeWheelSize.Text = "";
            textBox_FacModeSpeedLimit.Text = "";
            comboBox_FacModeAssist1.SelectedIndex = -1;
            comboBox_FacModeAssist2.SelectedIndex = -1;
            comboBox_FacModeLightVol.SelectedIndex = -1;
            comboBox_FacModeStartMode.SelectedIndex = -1;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3C00, null);
        }

        /// <summary>
        /// 生产模式写入整车参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeBikeParaSet_Click(object sender, EventArgs e)
        {
            string BikeDefaultInfo = "轮胎周长=219, 电控传动比=35, 助力最大限速=25, 推行模式限速=6, 前牙盘T数=38, 后牙盘T数=11, 助力方案1=341, 助力方案2=682, 前后灯电压=6, 轮胎周长微调=0, 启动模式=2, 自动关机时间=15";
            var ConfigParam = new byte[28];
            for (int i = 0; i < 28; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)(0x01);
            ushort uwDataTemp = 0;
            string[] strDataTemp = BikeDefaultInfo.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                //周长
                uwDataTemp = Convert.ToUInt16(textBox_FacModeWheelSize.Text);
                ConfigParam[2] = (byte)uwDataTemp;
                ConfigParam[3] = (byte)(uwDataTemp >> 8);
                //限速
                uwDataTemp = Convert.ToUInt16(textBox_FacModeSpeedLimit.Text);
                ConfigParam[6] = (byte)uwDataTemp;
                ConfigParam[7] = (byte)(uwDataTemp >> 8);
                //助力方案1
                if (comboBox_FacModeAssist1.SelectedIndex == 0) uwDataTemp = 0;
                else if (comboBox_FacModeAssist1.SelectedIndex == 1) uwDataTemp = 341;
                else if (comboBox_FacModeAssist1.SelectedIndex == 2) uwDataTemp = 682;
                else
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_1s.Enabled = true;
                    return;
                }
                ConfigParam[14] = (byte)uwDataTemp;
                ConfigParam[15] = (byte)(uwDataTemp >> 8);
                //助力方案2
                if(comboBox_FacModeAssist2.SelectedIndex == 0) uwDataTemp = 0;
                else if (comboBox_FacModeAssist2.SelectedIndex == 1) uwDataTemp = 341;
                else if (comboBox_FacModeAssist2.SelectedIndex == 2) uwDataTemp = 682;
                else
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_1s.Enabled = true;
                    return;
                }
                ConfigParam[16] = (byte)uwDataTemp;
                ConfigParam[17] = (byte)(uwDataTemp >> 8);
                //灯压
                if(comboBox_FacModeLightVol.SelectedIndex == 0) uwDataTemp = 6;
                else if (comboBox_FacModeLightVol.SelectedIndex == 1) uwDataTemp = 12;
                else
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_1s.Enabled = true;
                    return;
                }
                ConfigParam[18] = (byte)uwDataTemp;
                ConfigParam[19] = (byte)(uwDataTemp >> 8);
                //启动模式
                if (comboBox_FacModeStartMode.SelectedIndex == 0) uwDataTemp = 1;
                else if (comboBox_FacModeStartMode.SelectedIndex == 2) uwDataTemp = 3;
                else uwDataTemp = 2;
                ConfigParam[22] = (byte)uwDataTemp;
                ConfigParam[23] = (byte)(uwDataTemp >> 8);

                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3D1C, ConfigParam);
            }
            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>
        /// 生产模式读取助力参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeAssistParaRead_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            textBox_FacModeStartGain.Text = "";
            textBox_FacModeCircuitK.Text = "";
            textBox_FacModeFltCounter.Text = "";
            textBox_FacModeSpeedLimitTh.Text ="";
            textBox_FacModeSpeedLimitEnd.Text = "";
            textBox_FacModeCadencePer.Text = "";
            ConfigParam[0] = (byte)(1 & 0xFF);
            ConfigParam[1] = (byte)(1 >> 8);
            ConfigParam[2] = (byte)(1 & 0xFF);
            ConfigParam[3] = (byte)(1 >> 8);
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4304, ConfigParam);
        }

        /// <summary>
        /// 生产模式写入助力参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeAssistParaSet_Click(object sender, EventArgs e)
        {
            string AssistDefaultInfo = "零速启动增益=4096, 巡航启动增益=4096, 助力转矩曲线编号=1, 助力踏频曲线编号=1, 转矩曲线.a=0, 转矩曲线.b=0, 转矩曲线.c=2048, 转矩曲线.d=137, 踏频曲线.a=0, 踏频曲线.b=0, 踏频曲线.c=35000, 踏频曲线.d=0, 助力启动阈值=80, 助力停止阈值=40, 启动时电流增长阶梯=10, 启动对应踏频脉冲数=32, 转矩滤波对应踏频脉冲数=45, 待速转速=0, 待速最大电流=500, 车速限幅启动阈值=25, 车速限幅停止阈值=27, 踏频占比=1229";
            var ConfigParam = new byte[80];
            for (int i = 0; i < 80; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)(0x01);
            ushort uwDataTemp = 0;
            ulong ulDataTemp = 0;
            int index_1 = 0, index_2 = 0;
            string[] strDataTemp = AssistDefaultInfo.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                //因数据类型不同，预处理
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "转矩曲线.a")
                    {
                        index_1 = i;
                        break;
                    }
                }
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "踏频曲线.d")
                    {
                        index_2 = i;
                        break;
                    }
                }
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    ulDataTemp = Convert.ToUInt32(strDataTemp[i].Split('=')[1]);
                    if (i < index_1)
                    {
                        ConfigParam[2 * i + 4] = (byte)ulDataTemp;
                        ConfigParam[2 * i + 5] = (byte)(ulDataTemp >> 8);
                    }
                    else if (i <= index_2)
                    {
                        ConfigParam[4 * i - 4] = (byte)ulDataTemp;
                        ConfigParam[4 * i - 3] = (byte)(ulDataTemp >> 8);
                        ConfigParam[4 * i - 2] = (byte)(ulDataTemp >> 16);
                        ConfigParam[4 * i - 1] = (byte)(ulDataTemp >> 24);
                    }
                    else
                    {
                        ConfigParam[2 * i + 20] = (byte)ulDataTemp;
                        ConfigParam[2 * i + 21] = (byte)(ulDataTemp >> 8);
                    }
                }

                //零速增益
                uwDataTemp = Convert.ToUInt16(textBox_FacModeStartGain.Text);
                ConfigParam[4] = (byte)uwDataTemp;
                ConfigParam[5] = (byte)(uwDataTemp >> 8);
                //电流阶梯
                uwDataTemp = Convert.ToUInt16(textBox_FacModeCircuitK.Text);
                ConfigParam[48] = (byte)uwDataTemp;
                ConfigParam[49] = (byte)(uwDataTemp >> 8);
                //滤波脉冲
                uwDataTemp = Convert.ToUInt16(textBox_FacModeFltCounter.Text);
                ConfigParam[52] = (byte)uwDataTemp;
                ConfigParam[53] = (byte)(uwDataTemp >> 8);
                //限速启动
                uwDataTemp = Convert.ToUInt16(textBox_FacModeSpeedLimitTh.Text);
                ConfigParam[58] = (byte)uwDataTemp;
                ConfigParam[59] = (byte)(uwDataTemp >> 8);
                //限速停止
                uwDataTemp = Convert.ToUInt16(textBox_FacModeSpeedLimitEnd.Text);
                ConfigParam[60] = (byte)uwDataTemp;
                ConfigParam[61] = (byte)(uwDataTemp >> 8);
                //踏频占比
                uwDataTemp = Convert.ToUInt16(textBox_FacModeCadencePer.Text);
                ConfigParam[62] = (byte)uwDataTemp;
                ConfigParam[63] = (byte)(uwDataTemp >> 8);

                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4450, ConfigParam);
            }
            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>
        /// 生产模式写入型号
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_FacModeSetName_Click(object sender, EventArgs e)
        {
            string Mode = textBox_FacModeName.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;
                }
            }

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

        /// <summary>
        /// 生产模式写入SN
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Button_FacModeSetNum_Click(object sender, EventArgs e)
        {
            string SN = textBox_FacModeNum.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;
                }
            }

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

        /// <summary>
        /// 生产模式读取版本信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Button_FacModeReadVer_Click_1(object sender, EventArgs e)
        {
            textBox_Model.Text = "---";
            textBox_SN.Text = "---";
            textBox_HW.Text = "---";
            textBox_FW.Text = "---";
            textBox_SP.Text = "---";
            textBox_OBC_ReadModel.Text = "---";
            textBox_OBC_ReadSN.Text = "---";
            textBox_OBC_ReadHW.Text = "---";
            textBox_OBC_ReadFW.Text = "---";
            textBox_OBC_ReadSP.Text = "---";
            textBox_FacModeName.Text = "---";
            textBox_FacModeNum.Text = "---";
            textBox_FacModeHW.Text = "---";
            textBox_FacModeFW.Text = "---";
            textBox_FacModeSP.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>
        /// 生产模式写入生产信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Button_FacModeSetMacDate_Click(object sender, EventArgs e)
        {
            var MACArray = new byte[32];
            string MacDefaultInfo = "Welling";
            string MacAddDefaultInfo = "Shunde";
            string MacDateDefaultInfo = DateTime.Now.ToString("yyyyMMdd");
            string MacPPDefaultInfo = "MM_MC1";

            //填入生产商
            for (ushort i = 0; i < MacDefaultInfo.Length; i++)
            {
                MACArray[i] = (byte)MacDefaultInfo[i];
            }
            if (MacDefaultInfo.Length < 8)
            {
                MACArray[MacDefaultInfo.Length] = (byte)'.';
                for (ushort i = 0; i < 8 - MacDefaultInfo.Length - 1; i++)
                {
                    MACArray[MacDefaultInfo.Length + 1 + i] = 0x20;
                }
            }
            //填入生产地
            for (ushort i = 0; i < MacAddDefaultInfo.Length; i++)
            {
                MACArray[8 + i] = (byte)MacAddDefaultInfo[i];
            }
            if (MacAddDefaultInfo.Length < 8)
            {
                MACArray[MacAddDefaultInfo.Length + 8] = (byte)'.';
                for (ushort i = 0; i < 8 - MacAddDefaultInfo.Length - 1; i++)
                {
                    MACArray[MacAddDefaultInfo.Length + 1 + i + 8] = 0x20;
                }
            }
            //填入生产日期
            for (ushort i = 0; i < MacDateDefaultInfo.Length; i++)
            {
                MACArray[16 + i] = (byte)MacDateDefaultInfo[i];
            }
            if (MacDateDefaultInfo.Length < 8)
            {
                MACArray[MacDateDefaultInfo.Length + 16] = (byte)'.';
                for (ushort i = 0; i < 8 - MacDateDefaultInfo.Length - 1; i++)
                {
                    MACArray[MacDateDefaultInfo.Length + 1 + i + 16] = 0x20;
                }
            }
            //填入产品标识
            for (ushort i = 0; i < MacPPDefaultInfo.Length; i++)
            {
                MACArray[24 + i] = (byte)MacPPDefaultInfo[i];
            }
            if (MacPPDefaultInfo.Length < 8)
            {
                MACArray[MacPPDefaultInfo.Length + 24] = (byte)'.';
                for (ushort i = 0; i < 8 - MacPPDefaultInfo.Length - 1; i++)
                {
                    MACArray[MacPPDefaultInfo.Length + 1 + i + 24] = 0x20;
                }
            }
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2420, MACArray);
        }

        /// <summary>
        /// 生产模式保存测试页面
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Button_FacModeSaveResult_Click(object sender, EventArgs e)
        {
            //查询传感器
            richTextBox_SensorParam.Clear();
            textBox_FacModeSensorADC0.Text = "";
            textBox_FacModeSensorADC1.Text = "";
            textBox_FacModeSensorADC2.Text = "";
            textBox_FacModeSensorADC3.Text = "";
            textBox_FacModeSensorADC4.Text = "";
            if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null)) return;
            Delay_ms(100);
            //读取一次电机信息
            var CtrlCode = new byte[2];
            CtrlCode[0] = 0x00;
            CtrlCode[1] = 0xF0;
            if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode)) return;
            Delay_ms(100);
            //读取一次整车参数
            textBox_FacModeWheelSize.Text = "";
            textBox_FacModeSpeedLimit.Text = "";
            comboBox_FacModeAssist1.SelectedIndex = -1;
            comboBox_FacModeAssist2.SelectedIndex = -1;
            comboBox_FacModeLightVol.SelectedIndex = -1;
            comboBox_FacModeStartMode.SelectedIndex = -1;
            if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3C00, null)) return;
            Delay_ms(100);
            //读取一次助力参数
            var ConfigParam = new byte[4];
            textBox_FacModeStartGain.Text = "";
            textBox_FacModeCircuitK.Text = "";
            textBox_FacModeFltCounter.Text = "";
            textBox_FacModeSpeedLimitTh.Text = "";
            textBox_FacModeSpeedLimitEnd.Text = "";
            textBox_FacModeCadencePer.Text = "";
            ConfigParam[0] = (byte)(1 & 0xFF);
            ConfigParam[1] = (byte)(1 >> 8);
            ConfigParam[2] = (byte)(1 & 0xFF);
            ConfigParam[3] = (byte)(1 >> 8);
            if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4304, ConfigParam)) return;
            Delay_ms(100);
            //读取一次版本信息
            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 = "---";
            textBox_FacModeName.Text = "---";
            textBox_FacModeNum.Text = "---";
            textBox_FacModeHW.Text = "---";
            textBox_FacModeFW.Text = "---";
            Class_Motor_Ver.Mode = "---";
            Class_Motor_Ver.SN = "---";
            Class_Motor_Ver.HW = "---";
            Class_Motor_Ver.FW = "---";
            Class_Motor_Ver.Special = "---";
            if (!mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3900, null)) return;
            Delay_ms(100);

            //提示检查
            timer_1s.Enabled = false;
            if (MessageBox.Show("请检查信息是否完整！", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.No)
            {
                MessageBox.Show("请检查参数！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
                return;
            }
            timer_1s.Enabled = true;

            //保存页面
            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 = "页面保存";
            sf.FileName = textBox_FacModeName.Text + "_" + textBox_FacModeNum.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";
            timer_1s.Enabled = false;
            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
            }
            timer_1s.Enabled = true;

            //关机保存参数
            var Code = new byte[5];
            Code[0] = (byte)'O';
            Code[1] = (byte)'F';
            Code[2] = (byte)'F';
            Code[3] = (byte)'.';
            Code[4] = (byte)'.';
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
            PowerOffAckStatus = false;
            Delay_ms(250);
            int TryCnt = 3;
            while ((TryCnt--) >= 0)
            {
                if (!PowerOffAckStatus)
                {
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
                    PowerOffAckStatus = false;
                    Delay_ms(250);
                }
                else  break;
            }

            if (PowerOffAckStatus)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("测试完成，已关机！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
                timer_1s.Enabled = true;
            }
            else
            {
                timer_1s.Enabled = false;
                MessageBox.Show("关机失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 工具箱页面保存
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 页面保存ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //保存页面
            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 = "页面保存";
            sf.FileName = "MotorInfo_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + ".png";
            sf.Filter = "图片|*.png";
            timer_1s.Enabled = false;
            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
            }
            timer_1s.Enabled = true;
        }
    }
}