motor-debug/Welling_Motor_Debug_Tool/mainForm.cs

using NPOI.POIFS.Crypt.Dsig;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Diagnostics;
using System.Diagnostics.Eventing.Reader;
using System.Drawing;
using System.IO;
using System.IO.Ports;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Runtime.InteropServices.ComTypes;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading;
using System.Web;
using System.Windows.Forms;
using System.Xml.Linq;

namespace Welling_Motor_Debug_Tool
{
    public partial class mainForm : Form
    {
        #region 变量定义
        //版本号
        public static string Version = "2.4.1";
        //串口实例
        Serial_Process mySerialProcess = new Serial_Process();
        string PortNumSave = "";
        string PortBaudrateSave = "";
        //本地信息定义
        LocalInfo localInfo = new LocalInfo();
        //FTP实例
        ftp myFtp = new ftp();
        public string ServerIP = "";
        public string ServerPort = "";
        public string ServerUser = "";
        public string ServerPassWd = "";
        public bool OfflineFlag = false;
        //MC运行信息超时计数
        bool MC_RunInfo_Refresh = false;
        ushort MC_RunInfo_Refresh_Cnt = 0;
        //MC调试信息超时计数
        bool MC_DebugInfo_Refresh = false;
        ushort MC_DebugInfo_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 RunInfoSaveFilename = "";
        //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状态
        bool PowerOffAckStatus = false;
        //登录窗口
        public static Login EnterForm1 = new Login();
        //生产配置文件信息
        ArrayList array_CfgInfo = new ArrayList();
        //写入参数返回标志和计数
        public bool WriteACK = false;
        public ushort ACK_WaitCnt = 0;
        //写入参数返回提示标志
        public bool ACK_DisFlag = true;
        //Boot版本信息
        public string BootInfo = "";
        //接收指令临时缓存，转string
        public string CmdRevStrTemp = "";
        //计时器，用于统计运行时间
        public Stopwatch stopwatch = new Stopwatch();
        //力矩传感器检验参数窗口
        public static TorqueParams TorqueParamsForm = new TorqueParams();
        //参数生成窗口
        public static GenerateParams GenerateParamsForm = new GenerateParams();
        //版本信息窗口
        public static Version VersionForm = new Version();
        //本机硬件信息
        public string Local_HdInformation = "";
        //指令窗口显示
        public bool DebugWindowIsOpen = false, DebugDataDisplayEnable = false;
        //位置传感器数据记录
        string[] AngledataRecord = new string[42];
        //服务器设置窗口
        public static ServerSelect ServerCfgForm1 = new ServerSelect();
        #endregion

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

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

            //控制变量
            public Int16 IqCurrent;        //Pu, 地址偏移 48
            public Int16 IqVoltage;        //Pu, 地址偏移 50
            public Int16 IdCurrent;        //Pu, 地址偏移 52
            public Int16 IdVoltage;        //Pu, 地址偏移 54

            //状态机
            public UInt16 FSM;    //高到低依次表示系统状态机、二层状态机、电机状态机、助力状态机, 地址偏移 56

            //预留
            public UInt16 RS1;
            public UInt16 RS2;
            public UInt16 RS3;
        };

        #endregion

        #region 屏幕缩放比例获取
        public class PrimaryScreen
        {
            #region Win32 API  
            [DllImport("user32.dll")]
            static extern IntPtr GetDC(IntPtr ptr);
            [DllImport("gdi32.dll")]
            static extern int GetDeviceCaps(
            IntPtr hdc, // handle to DC  
            int nIndex // index of capability  
            );
            [DllImport("user32.dll", EntryPoint = "ReleaseDC")]
            static extern IntPtr ReleaseDC(IntPtr hWnd, IntPtr hDc);
            #endregion
            #region DeviceCaps常量  
            const int HORZRES = 8;
            const int VERTRES = 10;
            const int LOGPIXELSX = 88;
            const int LOGPIXELSY = 90;
            const int DESKTOPVERTRES = 117;
            const int DESKTOPHORZRES = 118;
            #endregion

            #region 属性  
            /// <summary>  
            /// 获取屏幕分辨率当前物理大小  
            /// </summary>  
            public static Size WorkingArea
            {
                get
                {
                    IntPtr hdc = GetDC(IntPtr.Zero);
                    Size size = new Size();
                    size.Width = GetDeviceCaps(hdc, HORZRES);
                    size.Height = GetDeviceCaps(hdc, VERTRES);
                    ReleaseDC(IntPtr.Zero, hdc);
                    return size;
                }
            }
            /// <summary>  
            /// 当前系统DPI_X 大小 一般为96  
            /// </summary>  
            public static int DpiX
            {
                get
                {
                    IntPtr hdc = GetDC(IntPtr.Zero);
                    int DpiX = GetDeviceCaps(hdc, LOGPIXELSX);
                    ReleaseDC(IntPtr.Zero, hdc);
                    return DpiX;
                }
            }
            /// <summary>  
            /// 当前系统DPI_Y 大小 一般为96  
            /// </summary>  
            public static int DpiY
            {
                get
                {
                    IntPtr hdc = GetDC(IntPtr.Zero);
                    int DpiX = GetDeviceCaps(hdc, LOGPIXELSY);
                    ReleaseDC(IntPtr.Zero, hdc);
                    return DpiX;
                }
            }
            /// <summary>  
            /// 获取真实设置的桌面分辨率大小  
            /// </summary>  
            public static Size DESKTOP
            {
                get
                {
                    IntPtr hdc = GetDC(IntPtr.Zero);
                    Size size = new Size();
                    size.Width = GetDeviceCaps(hdc, DESKTOPHORZRES);
                    size.Height = GetDeviceCaps(hdc, DESKTOPVERTRES);
                    ReleaseDC(IntPtr.Zero, hdc);
                    return size;
                }
            }

            /// <summary>  
            /// 获取宽度缩放百分比  
            /// </summary>  
            public static float ScaleX
            {
                get
                {
                    IntPtr hdc = GetDC(IntPtr.Zero);
                    int t = GetDeviceCaps(hdc, DESKTOPHORZRES);
                    int d = GetDeviceCaps(hdc, HORZRES);
                    float ScaleX = (float)GetDeviceCaps(hdc, DESKTOPHORZRES) / (float)GetDeviceCaps(hdc, HORZRES);
                    ReleaseDC(IntPtr.Zero, hdc);
                    return ScaleX;
                }
            }
            /// <summary>  
            /// 获取高度缩放百分比  
            /// </summary>  
            public static float ScaleY
            {
                get
                {
                    IntPtr hdc = GetDC(IntPtr.Zero);
                    float ScaleY = (float)(float)GetDeviceCaps(hdc, DESKTOPVERTRES) / (float)GetDeviceCaps(hdc, VERTRES);
                    ReleaseDC(IntPtr.Zero, hdc);
                    return ScaleY;
                }
            }
            #endregion
        }

        #endregion

        public static mainForm mainform1 = null;
        public mainForm()
        {
            InitializeComponent();
            mainform1 = this;
            System.Windows.Forms.Control.CheckForIllegalCrossThreadCalls = false;
            stopwatch.Start();

            //端口初始化
            mySerialProcess.Init();
            toolStripComboBox_ComNum.Items.AddRange(mySerialProcess.refreshPort());

            //检查备忘录文件
            if (!System.IO.File.Exists(localInfo.LocalPath + localInfo.NoteFileName))
            {
                System.IO.File.WriteAllText(localInfo.LocalPath + localInfo.NoteFileName, "");
            }

            //检验流水号记录文件
            if (!System.IO.File.Exists(localInfo.LocalPath + localInfo.SerialNumFileName1))
            {
                System.IO.File.WriteAllText(localInfo.LocalPath + localInfo.SerialNumFileName1, "0");
            }
            if (!System.IO.File.Exists(localInfo.LocalPath + localInfo.SerialNumFileName2))
            {
                System.IO.File.WriteAllText(localInfo.LocalPath + localInfo.SerialNumFileName2, "0");
            }

            //检查文件夹                        
            if (!Directory.Exists(localInfo.LocalPath))
            {
                Directory.CreateDirectory(localInfo.LocalPath);
            }
            if (!Directory.Exists(localInfo.LocalDataPath))
            {
                Directory.CreateDirectory(localInfo.LocalDataPath);
            }
            if (!Directory.Exists(localInfo.ToolsPath))
            {
                Directory.CreateDirectory(localInfo.ToolsPath);
            }
            if (!Directory.Exists(localInfo.LocalPath + localInfo.CfgPathName))
            {
                Directory.CreateDirectory(localInfo.LocalPath + localInfo.CfgPathName);
            }

            //服务器初始化
            do
            {
                //检查是否存在配置文件
                if (File.Exists(localInfo.LocalPath + localInfo.ServerCfgFileName)) //存在配置文件从文件选择
                {
                    //解密
                    string sLine = aes.DecryptFromFile(localInfo.LocalPath + localInfo.ServerCfgFileName, "2D820F88F60A39D5", "3687C5216B19D16B");
                    string[] array_CfgInfo = sLine.Split(',');
                    //解析配置文件
                    ServerIP = array_CfgInfo[0].ToString();
                    ServerPort = array_CfgInfo[1].ToString();
                    ServerUser = array_CfgInfo[2].ToString();
                    ServerPassWd = array_CfgInfo[3].ToString();
                    if (array_CfgInfo[4].ToString() == "True")
                    {
                        OfflineFlag = true;
                        checkBox_OffLineFacMode.Checked = true;
                        checkBox_OffLineCheckMode.Checked = true;
                    }
                }
                else //不存在配置文件由用户选择
                {
                    ServerCfgForm1.ShowDialog();
                    switch (ServerCfgForm1.comboBox_Server.SelectedIndex)
                    {
                        case 0: //武汉园区                        
                        case 1: //顺德工厂
                            {
                                ServerIP = "10.177.130.30";
                                ServerPort = "15021";
                                ServerUser = "factory_test";
                                ServerPassWd = "ttium";
                                OfflineFlag = false;                                
                                checkBox_OffLineFacMode.Checked = false;
                                checkBox_OffLineCheckMode.Checked = false;
                                break;
                            }
                        case 2: //威灵园区
                        case 3: //越南工厂
                        case 4: //公司外部
                            {
                                ServerIP = "8.134.109.44";
                                ServerPort = "21";
                                ServerUser = "ttium";
                                ServerPassWd = "ttium123";
                                OfflineFlag = false;                                
                                checkBox_OffLineFacMode.Checked = false;
                                checkBox_OffLineCheckMode.Checked = false;
                                break;
                            }
                        case 5: //离线使用
                            {
                                //输入管理员密码
                                Scan scan_form = new Scan();
                                scan_form.label1.Text = "请输入管理员密码";
                                scan_form.textBox_Scan.UseSystemPasswordChar = true;
                                scan_form.ShowDialog();
                                if (scan_form.textBox_Scan.Text == "ttium.123")
                                {
                                    OfflineFlag = true;
                                    checkBox_OffLineFacMode.Checked = true;
                                    checkBox_OffLineCheckMode.Checked = true;
                                }
                                else
                                {
                                    MessageBox.Show("密码错误！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                                    System.Environment.Exit(0);
                                }

                                break;
                            }
                        default: //无效
                            {
                                System.Environment.Exit(0);
                                break;
                            }
                    }
                    //保存网络配置文件
                    if (ServerCfgForm1.checkBox_NoticeSw.Checked)
                    {
                        string str = ServerIP + "," + ServerPort + "," + ServerUser + "," + ServerPassWd + "," + (OfflineFlag == true).ToString();
                        //加密保存
                        aes.EncryptToFile(str, localInfo.LocalPath + localInfo.ServerCfgFileName, "2D820F88F60A39D5", "3687C5216B19D16B");                        
                    }
                }
            } while (false);

            //检查配置文件
            if (File.Exists(localInfo.LocalPath + localInfo.ConfigFileName)) //存在配置文件，导入配置信息
            {
                //打开文件
                StreamReader objReader = new StreamReader(localInfo.LocalPath + localInfo.ConfigFileName);
                string sLine = "";
                ArrayList array_CfgInfo = new ArrayList();
                array_CfgInfo.Clear();
                while (sLine != null)
                {
                    sLine = objReader.ReadLine();
                    array_CfgInfo.Add(sLine);
                }
                objReader.Close();
                //解析配置文件
                try
                {
                    //Port Set
                    PortNumSave = array_CfgInfo[1].ToString().Split(':')[1];
                    PortBaudrateSave = array_CfgInfo[2].ToString().Split(':')[1];
                    toolStripComboBox_ComNum.SelectedIndex = toolStripComboBox_ComNum.Items.IndexOf(PortNumSave);
                    toolStripComboBox_Baudrate.SelectedIndex = toolStripComboBox_Baudrate.Items.IndexOf(PortBaudrateSave);
                    连接开机ToolStripMenuItem.Checked = (array_CfgInfo[3].ToString().Split(':')[1] == "True");
                    断开关机ToolStripMenuItem.Checked = (array_CfgInfo[4].ToString().Split(':')[1] == "True");
                    识别通讯盒ToolStripMenuItem.Checked = (array_CfgInfo[5].ToString().Split(':')[1] == "True");
                    //Option
                    写入存储ToolStripMenuItem.Checked = (array_CfgInfo[8].ToString().Split(':')[1] == "True");
                    //Server Set
                    toolStripTextBox_ServerPath.Text = array_CfgInfo[11].ToString().Split(':')[1];
                    //MacInfo
                    toolStripTextBox_MAC.Text = array_CfgInfo[14].ToString().Split(':')[1];
                    toolStripTextBoxMACAddr.Text = array_CfgInfo[15].ToString().Split(':')[1];
                    toolStripTextBox_MACDate.Text = DateTime.Now.ToString("yyyyMMdd");
                    toolStripTextBox_MACPD.Text = array_CfgInfo[17].ToString().Split(':')[1];
                    //Log Address
                    textBox_LogAddrBegin.Text = array_CfgInfo[20].ToString().Split(':')[1];
                    textBox_LogAddrEnd.Text = array_CfgInfo[21].ToString().Split(':')[1];
                    //电机类型
                    中置电机ToolStripMenuItem.Checked = (array_CfgInfo[24].ToString().Split(':')[1] == "True");
                    轮毂电机ToolStripMenuItem.Checked = !中置电机ToolStripMenuItem.Checked;
                    //检测阈值
                    toolStripTextBox_ThVol.Text = array_CfgInfo[28].ToString().Split(':')[1];
                    toolStripTextBox_ThCur.Text = array_CfgInfo[29].ToString().Split(':')[1];
                    toolStripTextBox_ThSpeed.Text = array_CfgInfo[30].ToString().Split(':')[1];
                    toolStripTextBox_ThTor.Text = array_CfgInfo[31].ToString().Split(':')[1];
                    toolStripTextBox_ThCad.Text = array_CfgInfo[32].ToString().Split(':')[1];
                    toolStripTextBox_ThBikeSpeed.Text = array_CfgInfo[33].ToString().Split(':')[1];
                    toolStripTextBox_ThT_PCB.Text = array_CfgInfo[34].ToString().Split(':')[1];
                    toolStripTextBox_ThT_MCU.Text = array_CfgInfo[35].ToString().Split(':')[1];
                    toolStripTextBox_ThT_Motor.Text = array_CfgInfo[36].ToString().Split(':')[1];
                    //MOS内阻校准系数
                    toolStripTextBox_MosCalK.Text = array_CfgInfo[39].ToString().Split(':')[1];
                    toolStripTextBox_MOS1.Text= array_CfgInfo[40].ToString().Split(':')[1];
                    toolStripTextBox_MOS2.Text = array_CfgInfo[41].ToString().Split(':')[1];
                    toolStripTextBox_MOS3.Text = array_CfgInfo[42].ToString().Split(':')[1];
                    //通信协议类型
                    cANToolStripMenuItem.Checked = (array_CfgInfo[45].ToString().Split(':')[1] == "True");
                    uARTToolStripMenuItem.Checked = !cANToolStripMenuItem.Checked;
                    //自动更新开关
                    打开ToolStripMenuItem.Checked = (array_CfgInfo[49].ToString().Split(':')[1] == "True");
                    关闭ToolStripMenuItem.Checked = !打开ToolStripMenuItem.Checked;
                    //位置校准偏差
                    textBox_AngleDiffTh.Text = array_CfgInfo[52].ToString().Split(':')[1];
                    toolStripTextBox_AngleAvgMax.Text = textBox_AngleDiffTh.Text;
                    textBox_AngleZeroTh.Text = array_CfgInfo[53].ToString().Split(':')[1];
                    toolStripTextBox_AngleZeroMax.Text = textBox_AngleZeroTh.Text;
                }
                catch (System.Exception)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("参数格式错误，写入默认值!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                    ConfigFileSave(false, localInfo.LocalPath + localInfo.ConfigFileName);
                }

            }
            else //不存在配置文件，生成文件写入默认值
            {
                ConfigFileSave(false, localInfo.LocalPath + localInfo.ConfigFileName);
            }

            //解析本地流水号记录
            do
            {
                //测试模式
                label_FacModeSerial.Text = File.ReadAllText(localInfo.LocalPath + localInfo.SerialNumFileName1);
                //检验模式
                label_CheckModeSerial.Text = File.ReadAllText(localInfo.LocalPath + localInfo.SerialNumFileName2);

            } while (false);


            //获取本机信息，读取时间较长，优先从本地文件获取
            do
            {
                try
                {
                    //本地文件为空，读取信息保存
                    if (!File.Exists(localInfo.LocalPath + localInfo.PC_InfoFileName))
                    {
                        Local_HdInformation = "";
                        Local_HdInformation += "计算机名称: " + System.Environment.UserName + "\r\n";
                        Local_HdInformation += "IP地址: " + PC_Information.GetIpAddress() + "\r\n";
                        Local_HdInformation += "系统ID: " + PC_Information.GetSystemID() + "\r\n";
                        Local_HdInformation += "操作系统类型: " + PC_Information.GetSystemType() + "\r\n";
                        Local_HdInformation += "主板型号: " + PC_Information.GetBoardType() + "\r\n";
                        Local_HdInformation += "主板厂商: " + PC_Information.GetBoardManufacturer() + "\r\n";
                        Local_HdInformation += "主板ID: " + PC_Information.GetBIOSSerialNumber() + "\r\n";
                        Local_HdInformation += "CPU型号: " + PC_Information.GetCpuName() + "\r\n";
                        Local_HdInformation += "CPU厂商: " + PC_Information.GetCpuManufacturer() + "\r\n";
                        Local_HdInformation += "CPU ID: " + PC_Information.GetCPUSerialNumber() + "\r\n";
                        Local_HdInformation += "内存容量: " + PC_Information.GetPhysicalMemory() + " GB" + "\r\n";
                        Local_HdInformation += "MAC ID: " + PC_Information.GetNetCardMACAddress().Replace(":", "-") + "\r\n";                        
                        System.IO.File.WriteAllText(localInfo.LocalPath + localInfo.PC_InfoFileName, Local_HdInformation);
                    }
                    //从本地读取，计算机名和IP地址重新读
                    else
                    {
                        Local_HdInformation = "";
                        string[] fileInfo = File.ReadAllLines(localInfo.LocalPath + localInfo.PC_InfoFileName, Encoding.UTF8);
                        fileInfo[0] = "计算机名称: " + System.Environment.UserName;
                        fileInfo[1] = "IP地址: " + PC_Information.GetIpAddress();
                        for (int i = 0; i < fileInfo.Length; i++)
                            Local_HdInformation += fileInfo[i] + "\r\n";
                        File.Delete(localInfo.LocalPath + localInfo.PC_InfoFileName);
                        System.IO.File.WriteAllText(localInfo.LocalPath + localInfo.PC_InfoFileName, Local_HdInformation);
                    }
                                        
                }
                catch(Exception)
                { 
                
                }
            } while (false);

            //系统登录
            do
            {                
                EnterForm1.ShowDialog();
                try
                {
                    if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                    {
                        if (EnterForm1.comboBox_User.Text.Contains("量产"))
                        {
                            //隐藏设置项
                            其它配置项ToolStripMenuItem.Visible = false;
                            写入存储ToolStripMenuItem.Visible = false;
                            服务器配置ToolStripMenuItem.Visible = false;
                            判断阈值ToolStripMenuItem.Visible = false;
                            mOS内阻校准系数ToolStripMenuItem.Visible = false;
                            mOS内阻范围ToolStripMenuItem.Visible = false;
                            力矩传感器检验ToolStripMenuItem.Visible = false;
                            位置校准偏差范围ToolStripMenuItem.Visible = false;
                            //显示生产信息
                            生产信息ToolStripMenuItem.Visible = true;
                            //显示电机类型，但不可编辑
                            电机类型ToolStripMenuItem.Visible = true;
                            中置电机ToolStripMenuItem.Enabled = false;
                            轮毂电机ToolStripMenuItem.Enabled = false;
                            if (uARTToolStripMenuItem.Checked)
                                UART协议ToolStripMenuItem.Visible = true;
                            //隐藏研发调试界面
                            tabPage_MotorParam.Parent = null;
                            tabPage_BikeParam.Parent = null;
                            tabPage_BikeParam2.Parent = null;
                            tabPage_ControlParam.Parent = null;
                            tabPage_SensorParam.Parent = null;
                            tabPage_AssistParam.Parent = null;
                            tabPage_UsrRideParam.Parent = null;
                            tabPage_DebugParam.Parent = null;
                            tabPage_RecordInfo.Parent = null;
                            tabPage_OtherInfo.Parent = null;
                            tabPage_OBC.Parent = null;
                            tabPage_RAMorFLASH.Parent = null;
                            tabPage_FactoryMode.Parent = null;
                            tabPage_DebugInfo.Parent = null;
                            tabPage_AngleCal.Parent = null;
                            //显示运行信息
                            tabPage_RunInfo.Parent = tabControl2;
                            //根据电机类型修改生产信息和电机类型
                            if (EnterForm1.comboBox_User.Text.Contains("中置"))
                            {
                                中置电机ToolStripMenuItem.Checked = true;
                                轮毂电机ToolStripMenuItem.Checked = false;
                                toolStripTextBox_MACPD.Text = "MM_MC1";
                                toolStripTextBox_ServerPath.Text = "MIGIC_TEST";
                                ConfigFileSave(false, localInfo.LocalPath + localInfo.ConfigFileName);
                            }
                            else if (EnterForm1.comboBox_User.Text.Contains("轮毂"))
                            {
                                中置电机ToolStripMenuItem.Checked = false;
                                轮毂电机ToolStripMenuItem.Checked = true;
                                toolStripTextBox_MACPD.Text = "GF_250_1";
                                toolStripTextBox_ServerPath.Text = "HUB_Control_TEST";
                                ConfigFileSave(false, localInfo.LocalPath + localInfo.ConfigFileName);
                            }
                            //显示对应生产测试界面
                            if (EnterForm1.comboBox_User.Text.Contains("写入"))
                            {
                                tabPage_ProductMode_Write.Parent = tabControl1;
                                tabPage_ProductMode_Write.Select();
                                tabPage_ProductMode_Read.Parent = null;
                            }
                            else if (EnterForm1.comboBox_User.Text.Contains("检验"))
                            {
                                tabPage_ProductMode_Read.Parent = tabControl1;
                                tabPage_ProductMode_Read.Select();
                                tabPage_ProductMode_Write.Parent = null;
                            }
                            //应答指令不提示
                            ACK_DisFlag = false;
                            //退出登录
                            break;
                        }
                        else if (EnterForm1.comboBox_User.Text == "工程参数配置")
                        {
                            //隐藏工作台内容，新建窗口完成配置
                            groupBox1.Visible = false;
                            groupBox3.Visible = false;
                            tabControl2.Visible = false;
                            //隐藏提示信息
                            label_StarInfo.Visible = false;
                            //打开参数配置框                            
                            GenerateParamsForm.ShowDialog();
                            System.Environment.Exit(0);
                            //退出登录
                            break;
                        }
                        else if (EnterForm1.comboBox_User.Text.Contains("样机"))
                        {
                            //隐藏量产界面
                            tabPage_ProductMode_Read.Parent = null;
                            tabPage_ProductMode_Write.Parent = null;
                            //隐藏配置项
                            其它配置项ToolStripMenuItem.Visible = false;
                            服务器配置ToolStripMenuItem.Visible = false;
                            判断阈值ToolStripMenuItem.Visible = false;
                            力矩传感器检验ToolStripMenuItem.Visible = false;
                            mOS内阻校准系数ToolStripMenuItem.Visible = false;
                            mOS内阻范围ToolStripMenuItem.Visible = false;
                            位置校准偏差范围ToolStripMenuItem.Visible = false;
                            //显示生产信息
                            生产信息ToolStripMenuItem.Visible = true;
                            //显示电机类型，但不可编辑                            
                            电机类型ToolStripMenuItem.Visible = true;
                            中置电机ToolStripMenuItem.Enabled = true;
                            轮毂电机ToolStripMenuItem.Enabled = true;
                            if (uARTToolStripMenuItem.Checked)
                                UART协议ToolStripMenuItem.Visible = true;
                            if (EnterForm1.comboBox_User.Text.Contains("中置"))
                            {
                                中置电机ToolStripMenuItem.Checked = true;
                                轮毂电机ToolStripMenuItem.Checked = false;
                                toolStripTextBox_MACPD.Text = "MM_MC1";
                                toolStripTextBox_ServerPath.Text = "MIGIC_TEST";
                                ConfigFileSave(false, localInfo.LocalPath + localInfo.ConfigFileName);
                            }
                            else if (EnterForm1.comboBox_User.Text.Contains("轮毂"))
                            {
                                中置电机ToolStripMenuItem.Checked = false;
                                轮毂电机ToolStripMenuItem.Checked = true;
                                toolStripTextBox_MACPD.Text = "GF_250_1";
                                toolStripTextBox_ServerPath.Text = "HUB_Control_TEST";
                                ConfigFileSave(false, localInfo.LocalPath + localInfo.ConfigFileName);
                            }
                            //退出登录
                            break;
                        }
                        else if (EnterForm1.comboBox_User.Text == "FCT治具测试")
                        {
                            //隐藏设置项
                            其它配置项ToolStripMenuItem.Visible = false;
                            写入存储ToolStripMenuItem.Visible = false;
                            服务器配置ToolStripMenuItem.Visible = false;
                            判断阈值ToolStripMenuItem.Visible = false;
                            mOS内阻校准系数ToolStripMenuItem.Visible = false;
                            mOS内阻范围ToolStripMenuItem.Visible = false;
                            力矩传感器检验ToolStripMenuItem.Visible = false;
                            位置校准偏差范围ToolStripMenuItem.Visible = false;
                            //显示生产信息
                            生产信息ToolStripMenuItem.Visible = true;
                            //显示电机类型，但不可编辑                            
                            电机类型ToolStripMenuItem.Visible = false;
                            中置电机ToolStripMenuItem.Enabled = false;
                            轮毂电机ToolStripMenuItem.Enabled = false;
                            if (uARTToolStripMenuItem.Checked)
                                UART协议ToolStripMenuItem.Visible = true;
                            //隐藏研发调试界面
                            tabPage_MotorParam.Parent = null;
                            tabPage_BikeParam.Parent = null;
                            tabPage_BikeParam2.Parent = null;
                            tabPage_ControlParam.Parent = null;
                            tabPage_SensorParam.Parent = null;
                            tabPage_AssistParam.Parent = null;
                            tabPage_UsrRideParam.Parent = null;
                            tabPage_DebugParam.Parent = null;
                            tabPage_RecordInfo.Parent = null;
                            tabPage_OtherInfo.Parent = null;
                            tabPage_OBC.Parent = null;
                            tabPage_RAMorFLASH.Parent = null;
                            tabPage_FactoryMode.Parent = null;
                            tabPage_DebugInfo.Parent = null;
                            tabPage_AngleCal.Parent = null;
                            //显示运行信息
                            tabPage_RunInfo.Parent = tabControl2;
                            //目前仅轮毂使用   
                            中置电机ToolStripMenuItem.Checked = false;
                            轮毂电机ToolStripMenuItem.Checked = true;
                            toolStripTextBox_MACPD.Text = "GF_250_1";
                            toolStripTextBox_ServerPath.Text = "HUB_Control_FCT";
                            ConfigFileSave(false, localInfo.LocalPath + localInfo.ConfigFileName);
                            //显示量产测试界面
                            tabPage_ProductMode_Write.Parent = tabControl1;
                            tabPage_ProductMode_Write.Select();
                            tabPage_ProductMode_Read.Parent = null;
                            checkBox_OffLineFacMode.Checked = false;
                            checkBox_OffLineFacMode.Enabled = true;
                            checkBox_OffLineCheckMode.Checked = false;
                            checkBox_OffLineCheckMode.Enabled = true;
                            //应答指令不提示
                            ACK_DisFlag = false;
                            //退出登录
                            break;
                        }
                        else if (EnterForm1.comboBox_User.Text == "研发调试")
                        {
                            //隐藏量产界面
                            tabPage_ProductMode_Read.Parent = null;
                            tabPage_ProductMode_Write.Parent = null;
                            服务器配置ToolStripMenuItem.Visible = false;                            
                            if (uARTToolStripMenuItem.Checked)
                                UART协议ToolStripMenuItem.Visible = true;
                            //退出登录
                            break;
                        }
                        else if (EnterForm1.comboBox_User.Text == "管理员")
                        {
                            //不隐藏任何界面
                            //...
                            //退出登录
                            break;
                        }
                        else
                        {
                            MessageBox.Show("权限不支持", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                            //重新登录
                            continue;
                        }
                    }
                    else
                    {
                        MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        //重新登录
                        continue;
                    }
                }
                catch (Exception)
                {
                    System.Environment.Exit(0);
                }
            } while (true);                        

            //配置网络FTP服务器
            myFtp.FtpOption(ServerIP, ServerPort, ServerUser, ServerPassWd, "admin", "ttium_admin");
            //创建线程，定时检测网络连接状态
            Thread th = new Thread(NetworkCheck);
            th.IsBackground = true;
            th.Start();

            //允许跨线程访问
            Control.CheckForIllegalCrossThreadCalls = false;
        }

        /// <summary>
        /// 检查网络状态线程
        /// </summary>        
        private void NetworkCheck()
        {
            //允许离线使用，直接退出
            if (OfflineFlag == true) //允许离线使用
            {
                MessageBoxTimeOut.Show("离线使用，不检测网络状态!", "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Information);
                return;
            }
            //不允许离线使用，实时监测网络状态
            else
            {
                //初始化第一次连接FTP服务器
                bool Result = myFtp.CheckFtp();
                if (Result == true)//服务器连接成功
                {
                    myFtp.IsNetConnected = true;
                    //上传登录日志
                    do
                    {
                        //日志文件名
                        string date = DateTime.Now.ToString("yyyy-MM-dd_HHmmss_fff");
                        string fileName = date;
                        //日志内容
                        string fileInfo = Local_HdInformation;                        
                        //保存本地
                        if (!Directory.Exists(localInfo.LocalLogPath))
                            Directory.CreateDirectory(localInfo.LocalLogPath);
                        System.IO.File.WriteAllText(localInfo.LocalLogPath + fileName, fileInfo);
                        //上传服务器
                        myFtp.UploadFile(localInfo.LocalLogPath + fileName, "/Tools/Welling_Motor_Debug_Tool/log");
                        
                    } while (false);
                }
                else//服务器连接失败
                {
                    myFtp.IsNetConnected = false;
                    if (EnterForm1.comboBox_User.Text != "管理员")
                    {
                        MessageBoxTimeOut.Show("网络断开，将自动关闭!", "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        this.Close();
                    }                    
                }

                //创建定时器，定时30s检查网络
                System.Timers.Timer timer_CheckNet = new System.Timers.Timer();
                timer_CheckNet.Enabled = true;
                timer_CheckNet.Interval = 30000;
                timer_CheckNet.Elapsed += new System.Timers.ElapsedEventHandler(this.timer_CheckNet_Tick);
                timer_CheckNet.Start();
                while (true)
                {
                    Thread.Sleep(1);
                    if (myFtp.IsNetConnected == false)
                    {
                        label_Server_ComStatus.Text = "网络已断开";
                        label_ServerStatus.BackColor = Color.Red;
                    }
                    else
                    {
                        label_Server_ComStatus.Text = "网络已连接";
                        label_ServerStatus.BackColor = Color.Green;
                    }
                }
            }          
        }

        /// <summary>
        /// 线程中定时任务，检查网络状态
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>        
        private void timer_CheckNet_Tick(object sender, EventArgs e)
        {
            //连接FTP服务器
            bool Result = myFtp.CheckFtp();
            if (Result == true)//服务器连接成功
            {
                myFtp.IsNetConnected = true;
                //允许使用
                groupBox1.Enabled = true;
                groupBox3.Enabled = true;
                tabControl2.Enabled = true;
            }
            else//服务器连接失败
            {
                myFtp.IsNetConnected = false;
                if (EnterForm1.comboBox_User.Text != "管理员")
                {
                    MessageBoxTimeOut.Show("网络断开， 请检查网络!", "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Warning); //提示框自动3s关闭
                    //禁止使用
                    groupBox1.Enabled = false;
                    groupBox3.Enabled = false;
                    tabControl2.Enabled = false;
                    
                }
            }            
        }

        #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 MainForm_Load(object sender, System.EventArgs e)
        {
            timer_500ms.Start();

            //页面初始化
            label_BuildTime.Text = "编译时间：" + System.IO.File.GetLastWriteTime(this.GetType().Assembly.Location).ToString("yyyy-MM-dd HH:mm:ss");
            label_Computername.Text = System.Environment.UserName;
            label_UserName.Text = EnterForm1.comboBox_User.Text;
            
            //位置校准表格初始化
            for (int i = 0; i < 7; i++)
            {
                int index = dataGridView_AngleCal.Rows.Add();
                dataGridView_AngleCal.Rows[index].Cells[0].Value = i + 1;
            }
            dataGridView_AngleCal.AllowUserToAddRows = false;
            this.Text += Version;

            //检查版本，自动更新
            do
            {                
                if ((打开ToolStripMenuItem.Checked == false) || OfflineFlag == true)//关闭自动更新或离线时
                {
                    break;
                }
                //检查网络状态
                if (myFtp.CheckFtp() == false)
                {
                    MessageBoxTimeOut.Show("网络断开，自动更新失败！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Information);
                    break;
                }
                else
                {
                    //检查本地文件删除            
                    if (System.IO.File.Exists(localInfo.LocalPath + "\\Version"))
                        System.IO.File.Delete(localInfo.LocalPath + "\\Version");
                    //读取最新版本号
                    myFtp.DownloadFile("/Tools/Welling_Motor_Debug_Tool/Version", localInfo.LocalPath);
                    StreamReader objReader = new StreamReader(localInfo.LocalPath + "\\Version");
                    string sLine = "";
                    ArrayList arrText = new ArrayList();//创建一个动态数组
                    while (sLine != null)
                    {
                        sLine = objReader.ReadLine();
                        arrText.Add(sLine);
                    }
                    objReader.Close();
                    System.IO.File.Delete(localInfo.LocalPath + "\\Version");
                    //检查是否有最新版本
                    string[] VerOld = mainForm.Version.Trim().Split('.');
                    string[] VerNew = arrText[0].ToString().Trim().Split('.');
                    int VerOld_int = Convert.ToInt32(VerOld[0]) * 10000 + Convert.ToInt32(VerOld[1].PadLeft(2, '0')) * 100 + Convert.ToInt32(VerOld[2].PadLeft(2, '0'));
                    int VerNew_int = Convert.ToInt32(VerNew[0]) * 10000 + Convert.ToInt32(VerNew[1].PadLeft(2, '0')) * 100 + Convert.ToInt32(VerNew[2].PadLeft(2, '0'));
                    if (VerNew_int <= VerOld_int)
                    {
                        //版本已是最新，跳出
                        break;
                    }
                    //确认下载最新版本
                    if (MessageBox.Show("是否更新新版本？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                    {
                        string SavePath = Directory.GetCurrentDirectory();
                        string[] FileList = myFtp.GetFileNameList("/Tools/Welling_Motor_Debug_Tool");
                        foreach (string file in FileList)
                        {
                            if (file.Contains(".exe"))
                            {
                                myFtp.DownloadFile("/Tools/Welling_Motor_Debug_Tool/" + file, SavePath);
                                MessageBox.Show("新版本下载完成，请手动删除旧版本！\r\n最新版本：" + file, "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                                System.Environment.Exit(0);
                            }
                        }
                    }                    
                }
            } while (false);

            //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);

            //端口自动连接           
            if ((PortNumSave != string.Empty) && (PortBaudrateSave != string.Empty)) //有数值时采用上次使用的值
            {
                try
                {
                    PortConnect();
                }
                catch (System.Exception)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("参数格式错误，写入默认值!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                }
            }

            //不识别联动装置盒自动打开界面
#if true
            groupBox1.Visible = true;
            groupBox3.Visible = true;
            tabControl2.Visible = true;
            label_StarInfo.Visible = false;
#endif

            //创建线程，定时解析数据
            Thread th = new Thread(Task_SerialProcess);
            th.IsBackground = true;
            th.Start();
        }

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

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

        #endregion

        #region 故障日志解析显示
        private void ErrorLogDisplay(MC_ErrorLogSaveInfo_Struct_t Log1, MC_ErrorLogSaveInfo_Struct_t Log2)
        {
            string SaveData = "";
            //Log1
            if (Log1.Error_Index != 0xFFFF)
            {
                SaveData += "故障序号:" + Convert.ToString(Log1.Error_Index) + ", ";
                SaveData += "备注1:" + Convert.ToString(Log1.NotesInfo1) + ", ";
                SaveData += "备注2:" + Convert.ToString(Log1.NotesInfo2) + ", ";
                SaveData += "备注3:" + Convert.ToString(Log1.NotesInfo3) + ", ";
                SaveData += "故障码:" + "0x" + Convert.ToString(Log1.ErrorCode, 16).PadLeft(8, '0').ToUpper() + ", ";
                SaveData += "运行时间:" + Convert.ToString(Log1.RunTime) + "min" + ", ";
                SaveData += "车速:" + ((float)Log1.RunInfo.BikeSpeed / 10f).ToString("0.0") + "km/h" + ", ";
                SaveData += "电机转速:" + Convert.ToString(Log1.RunInfo.MotorSpeed) + "rpm" + ", ";
                SaveData += "功率:" + Convert.ToString(Log1.RunInfo.Power * 2) + "w" + ", ";
                SaveData += "电压:" + Convert.ToString(Log1.RunInfo.BusVoltage) + "mV" + ", ";
                SaveData += "电流:" + Convert.ToString(Log1.RunInfo.BusCurrent) + "mA" + ", ";
                SaveData += "踏频:" + Convert.ToString(Log1.RunInfo.Cadence) + "rpm" + ", ";
                SaveData += "力矩:" + Convert.ToString(Log1.RunInfo.Torque) + "N.m" + ", ";
                SaveData += "方向:" + ((Log1.RunInfo.CadenceDir == 0) ? "正" : ((Log1.RunInfo.CadenceDir == 1) ? "反" : "停止")) + ", ";
                SaveData += "档位:" + "0x" + Convert.ToString(Log1.RunInfo.GearSt, 16).PadLeft(2, '0').ToUpper() + ", ";
                SaveData += "灯开关:" + ((Log1.RunInfo.LightSwitch == 0xF1) ? "开" : "关") + ", ";
                SaveData += "电量:" + Convert.ToString(Log1.RunInfo.SOC) + "%" + ", ";
                if ((Log1.RunInfo.RemainDistance == 0xEEEE) || (Log1.RunInfo.RemainDistance == 0xFFFF))
                {
                    SaveData += "续航:" + "---km" + ", ";
                }
                else
                {
                    SaveData += "续航:" + Convert.ToString(Log1.RunInfo.RemainDistance) + "km" + ", ";
                }
                SaveData += "力矩AD:" + Convert.ToString(Log1.RunInfo.Torque_AD) + ", ";
                SaveData += "功耗:" + Convert.ToString(Log1.RunInfo.PowerPerKm * 10) + "mAh/km" + ", ";
                SaveData += "PCB温度:" + Convert.ToString((int)(Log1.RunInfo.T_PCB - 40)) + "℃" + ", ";
                SaveData += "绕组温度:" + Convert.ToString((int)(Log1.RunInfo.T_Coil - 40)) + "℃" + ", ";
                SaveData += "MCU温度:" + Convert.ToString((int)(Log1.RunInfo.T_MCU - 40)) + "℃" + ", ";
                SaveData += "单次里程:" + Convert.ToString((float)Log1.RunInfo.Ride_Km / 10f) + "km" + ", ";
                SaveData += "单次时间:" + Convert.ToString(Log1.RunInfo.Ride_Time) + "s" + ", ";
                SaveData += "q轴电流:" + Convert.ToString(Log1.IqCurrent) + ", ";
                SaveData += "q轴电压:" + Convert.ToString(Log1.IqVoltage) + ", ";
                SaveData += "d轴电流:" + Convert.ToString(Log1.IdCurrent) + ", ";
                SaveData += "d轴电压:" + Convert.ToString(Log1.IdVoltage) + ", ";
                SaveData += "系统状态机:" + Convert.ToString((Log1.FSM & 0xF000) >> 12) + ", ";
                SaveData += "二层状态机:" + Convert.ToString((Log1.FSM & 0x0F00) >> 8) + ", ";
                SaveData += "电机状态机:" + Convert.ToString((Log1.FSM & 0x00F0) >> 4) + ", ";
                SaveData += "助力状态机:" + Convert.ToString((Log1.FSM & 0x000F)) + ", ";
                SaveData += "\r\n\r\n";

                richTextBox_Record.AppendText(SaveData);
                SaveData = "";
            }

            //Log2
            if (Log2.Error_Index != 0xFFFF)
            {
                SaveData += "故障序号:" + Convert.ToString(Log2.Error_Index) + ", ";
                SaveData += "备注1:" + Convert.ToString(Log2.NotesInfo1) + ", ";
                SaveData += "备注2:" + Convert.ToString(Log2.NotesInfo2) + ", ";
                SaveData += "备注3:" + Convert.ToString(Log2.NotesInfo3) + ", ";
                SaveData += "故障码:" + "0x" + Convert.ToString(Log2.ErrorCode, 16).PadLeft(8, '0').ToUpper() + ", ";
                SaveData += "运行时间:" + Convert.ToString(Log2.RunTime) + "min" + ", ";
                SaveData += "车速:" + ((float)Log2.RunInfo.BikeSpeed / 10f).ToString("0.0") + "km/h" + ", ";
                SaveData += "电机转速:" + Convert.ToString(Log2.RunInfo.MotorSpeed) + "rpm" + ", ";
                SaveData += "功率:" + Convert.ToString(Log2.RunInfo.Power * 2) + "w" + ", ";
                SaveData += "电压:" + Convert.ToString(Log2.RunInfo.BusVoltage) + "mV" + ", ";
                SaveData += "电流:" + Convert.ToString(Log2.RunInfo.BusCurrent) + "mA" + ", ";
                SaveData += "踏频:" + Convert.ToString(Log2.RunInfo.Cadence) + "rpm" + ", ";
                SaveData += "力矩:" + Convert.ToString(Log2.RunInfo.Torque) + "N.m" + ", ";
                SaveData += "方向:" + ((Log2.RunInfo.CadenceDir == 0) ? "正" : ((Log2.RunInfo.CadenceDir == 1) ? "反" : "停止")) + ", ";
                SaveData += "档位:" + "0x" + Convert.ToString(Log2.RunInfo.GearSt, 16).PadLeft(2, '0').ToUpper() + ", ";
                SaveData += "灯开关:" + ((Log2.RunInfo.LightSwitch == 0xF1) ? "开" : "关") + ", ";
                SaveData += "电量:" + Convert.ToString(Log2.RunInfo.SOC) + "%" + ", ";
                if ((Log2.RunInfo.RemainDistance == 0xEEEE) || (Log2.RunInfo.RemainDistance == 0xFFFF))
                {
                    SaveData += "续航:" + "---km" + ", ";
                }
                else
                {
                    SaveData += "续航:" + Convert.ToString(Log2.RunInfo.RemainDistance) + "km" + ", ";
                }
                SaveData += "力矩AD:" + Convert.ToString(Log2.RunInfo.Torque_AD) + ", ";
                SaveData += "功耗:" + Convert.ToString(Log2.RunInfo.PowerPerKm * 10) + "mAh/km" + ", ";
                SaveData += "PCB温度:" + Convert.ToString((int)(Log2.RunInfo.T_PCB - 40)) + "DegreeC" + ", ";
                SaveData += "绕组温度:" + Convert.ToString((int)(Log2.RunInfo.T_Coil - 40)) + "DegreeC" + ", ";
                SaveData += "MCU温度:" + Convert.ToString((int)(Log2.RunInfo.T_MCU - 40)) + "DegreeC" + ", ";
                SaveData += "单次里程:" + Convert.ToString((float)Log2.RunInfo.Ride_Km / 10f) + "km" + ", ";
                SaveData += "单次时间:" + Convert.ToString(Log2.RunInfo.Ride_Time) + "s" + ", ";
                SaveData += "q轴电流:" + Convert.ToString(Log2.IqCurrent) + ", ";
                SaveData += "q轴电压:" + Convert.ToString(Log2.IqVoltage) + ", ";
                SaveData += "d轴电流:" + Convert.ToString(Log2.IdCurrent) + ", ";
                SaveData += "d轴电压:" + Convert.ToString(Log2.IdVoltage) + ", ";
                SaveData += "系统状态机:" + Convert.ToString((Log1.FSM & 0xF000) >> 12) + ", ";
                SaveData += "二层状态机:" + Convert.ToString((Log1.FSM & 0x0F00) >> 8) + ", ";
                SaveData += "电机状态机:" + Convert.ToString((Log1.FSM & 0x00F0) >> 4) + ", ";
                SaveData += "助力状态机:" + Convert.ToString((Log1.FSM & 0x000F)) + ", ";
                SaveData += "\r\n\r\n";

                richTextBox_Record.AppendText(SaveData);
                SaveData = "";
            }
        }
        #endregion

        #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];

            try
            {
                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
                            while (CmdLen > 0) //读取命令段
                            {
                                Cmd = (ushort)(buffer[6] * 256 + buffer[7]);
                                DataNum = (byte)(buffer[7]);//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 + 8];
                                    }
                                    // 串口接收的数据  显示在子窗口
                                    if (this.DebugWindowIsOpen && this.DebugDataDisplayEnable)
                                    {
                                        string strTemp = String.Empty;
                                        strTemp += System.DateTimeOffset.Now.ToString("HH:mm:ss.fff") + " <-- ";
                                        for (int i = 0; i < CmdLen + 11; i++)
                                        {                                            
                                            strTemp += (buffer[i].ToString("X2") + " ");
                                        }
                                        strTemp += "\n";
                                        DebugForm.debug1.richTextBox_DebugRev.Text += strTemp;
                                    }
                                    buffer.RemoveRange(0, CmdLen + 11);
                                    DataCmdProcess(PackageID, Cmd, Data);//对于不同的命令段，做不同的处理
                                    DataRevToString(Cmd, Data);//指令数据转为字符串                                    
                                }
                            }
                        }
                        else
                        {
                            buffer.RemoveAt(0);//ID不对
                        }
                    }
                    else
                    {
                        buffer.RemoveAt(0);//帧头不对，删除帧头高字节
                    }
                }
            }
            catch (Exception)
            { 
            
            }
        }

        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;
                                    MessageBoxTimeOut.Show("连接成功！", "提示", 500);
                                    groupBox1.Visible = true;
                                    groupBox3.Visible = true;
                                    tabControl2.Visible = true;
                                    label_StarInfo.Visible = false;
                                }));
                            }
                            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 = Convert.ToString(DataTemp) + " mV";
                                    //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 = Convert.ToString(DataTemp) + " mA";
                                    //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（显示力矩Reg），空2bytes
                                    DataTemp = (ushort)(Data[19] * 256 + Data[18]);
                                    textBox_TorqueReg.Text = Convert.ToString(DataTemp);
                                    //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
                                    RunInfoAutoSave();
                                }));
                            }
                            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
                                {
                                    if (ACK_DisFlag == true)
                                    {
                                        MessageBoxTimeOut.Show("OK", "反馈指令", 500, MessageBoxButtons.OK, MessageBoxIcon.Information);
                                        //关机反馈
                                        PowerOffAckStatus = true;
                                    }
                                    //应答标志置位
                                    WriteACK = true;
                                }));
                            }
                            break;
                        }
                    case 0xB226://马达参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_MotorParam.Clear();
                                    for (int i = 0; i < myParams.MotorParam.Count; i++)
                                    {
                                        if (i == 6)
                                            richTextBox_MotorParam.AppendText(myParams.MotorParam[i] + "=" + Convert.ToString((short)(Data[2 * i + 1] * 256 + Data[2 * i])) + ", ");
                                        else
                                            richTextBox_MotorParam.AppendText(myParams.MotorParam[i] + "=" + Convert.ToString((ushort)(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.BikeParam.Count; i++)
                                    {
                                        if (i == 9)
                                            richTextBox_BikeParam.AppendText(myParams.BikeParam[i] + "=" + Convert.ToString((short)(Data[2 * i + 1] * 256 + Data[2 * i])) + ", ");
                                        else
                                            richTextBox_BikeParam.AppendText(myParams.BikeParam[i] + "=" + Convert.ToString((ushort)(Data[2 * i + 1] * 256 + Data[2 * i])) + ", ");
                                        //更新前后灯参数
                                        if (i == 8)
                                        {
                                            comboBox_TailLightMode.SelectedIndex = ((Data[2 * i + 1] >> 4) & 0x0F) - 1;
                                            comboBox_TailLightVol.SelectedIndex = ((Data[2 * i + 1] & 0x0F) == 6) ? 0 : 1;
                                            comboBox_FrontLightVol.SelectedIndex = ((Data[2 * i] & 0x0F) == 6) ? 0 : 1;
                                        }
                                        //更新开关机参数
                                        else if (i == 11)
                                        {
                                            textBox_PowerOnDelay.Text = Convert.ToString((Data[2 * i + 1] >> 4) & 0x0F);
                                            textBox_PowerOffDelay.Text = Convert.ToString(Data[2 * i + 1] & 0x0F);
                                            textBox_AutoPowerOff.Text = Convert.ToString(Data[2 * i]);
                                        }
                                    }
                                    richTextBox_BikeParam.Text = richTextBox_BikeParam.Text.Substring(0, richTextBox_BikeParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB420://控制器参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ControlParam.Clear();
                                    for (int i = 0; i < myParams.ControlParam.Count; i++)
                                    {
                                        richTextBox_ControlParam.AppendText(myParams.ControlParam[i] + "=" + Convert.ToString((ushort)(Data[2 * i + 1] * 256 + Data[2 * i])) + ", ");
                                        //转把定速巡航
                                        if (i == 13)
                                        {
                                            comboBox_Bike_CCS.SelectedIndex = ((Data[2 * i]) == 0xAA) ? 1 : 2;
                                        }
                                    }
                                    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((ushort)(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[9] * 256 + Data[8]).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();

                                    WriteACK = true;
                                }));
                            }
                            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");
                                    int index_3 = myParams.AssistParam.IndexOf("踏频助力加速限制");
                                    int index_4 = myParams.AssistParam.IndexOf("踏频助力电流步进");
                                    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((ushort)(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((long)((Data[4 * i - 5] << 24) + (Data[4 * i - 6] << 16) + (Data[4 * i - 7] << 8) + Data[4 * i - 8])) + ", ");
                                        }
                                        else if (i < index_3) //数据占用2bytes，无符号
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString((ushort)(Data[2 * i + 17] * 256 + Data[2 * i + 16])) + ", ");
                                        }
                                        else if (i <= index_4) //数据占用2bytes，有符号
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString((short)(Data[2 * i + 17] * 256 + Data[2 * i + 16])) + ", ");
                                        }
                                        else //数据占用2bytes，无符号
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString((ushort)(Data[2 * i + 17] * 256 + Data[2 * i + 16])) + ", ");
                                        }

                                    }
                                    richTextBox_AssistParam.Text = richTextBox_AssistParam.Text.Substring(0, richTextBox_AssistParam.Text.Length - 2);
                                }));
                            }
                            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((short)(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 < 8; i++)//前8位:硬件板号
                                    {
                                        if (Data[32 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        else if (Data[32 + i] == 'r')
                                        {
                                            Data[32 + i] = (byte)'.';
                                            break;
                                        }
                                        string strTemp = "";
                                        strTemp = ((char)Data[32 + i]).ToString();
                                        textBox_HW.Text += strTemp;
                                        textBox_OBC_ReadHW.Text += strTemp;
                                        textBox_FacModeHW.Text += strTemp;
                                    }
                                    for (ushort i = 0; i < 4; i++)//9-12位:单片机型号
                                    {
                                        if (Data[40 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        else if (Data[40 + i] == 'r')
                                        {
                                            Data[40 + i] = (byte)'.';
                                            break;
                                        }
                                        string strTemp = "";
                                        strTemp = ((char)Data[40 + i]).ToString();
                                        textBox_HW.Text += strTemp;
                                        textBox_OBC_ReadHW.Text += strTemp;
                                        textBox_FacModeHW.Text += strTemp;
                                    }
                                    for (ushort i = 0; i < 4; i++)//13-16位:单片机ID
                                    {
                                        string strTemp = "";
                                        strTemp = Convert.ToString(Data[44 + i], 16).PadLeft(2, '0').ToUpper();
                                        textBox_HW.Text += strTemp;
                                        textBox_OBC_ReadHW.Text += strTemp;
                                        textBox_FacModeHW.Text += strTemp;
                                    }
                                    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) || (Data[48 + i] == 0x00) || (Data[48 + i] == (char)' '))
                                        {
                                            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 0xAB09://存储器数据
                    case 0xAB0A:
                    case 0xAB0B:
                    case 0xAB0C:
                        {
                            unchecked
                            {
                                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;
                                    if (ByteNum > 4) //数据长度超过4Bytes，按照16进制显示字节流
                                    {
                                        for (int i = 0; i < ByteNum; i++)
                                        {
                                            richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8 + i], 16).PadLeft(2, '0').ToUpper() + " ");
                                        }
                                    }
                                    else //根据设置自动转换10进制显示
                                    {
                                        if (checkBox_ReadRanFlash_ChangeFormat.Checked == true) //10进制显示
                                        {
                                            switch (ByteNum)
                                            {
                                                case 1:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8]) + ", ");
                                                        break;
                                                    }
                                                case 2:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8] + (Data[9] << 8)) + ", ");
                                                        break;
                                                    }
                                                case 3:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8] + (Data[9] << 8) + (Data[10] << 16)) + ", ");
                                                        break;
                                                    }
                                                case 4:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8] + (Data[9] << 8) + (Data[10] << 16) + (Data[11] << 24)) + ", ");
                                                        break;
                                                    }
                                                default:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText("无效数据" + ", ");
                                                        break;
                                                    }
                                            }
                                        }
                                        else //16进制显示
                                        {
                                            switch (ByteNum)
                                            {
                                                case 1:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText("0x" + Convert.ToString(Data[8], 16).PadLeft(2, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                case 2:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText("0x" + Convert.ToString(Data[8] + (Data[9] << 8), 16).PadLeft(4, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                case 3:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText("0x" + Convert.ToString(Data[8] + (Data[9] << 8) + (Data[10] << 16), 16).PadLeft(6, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                case 4:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText("0x" + Convert.ToString(Data[8] + (Data[9] << 8) + (Data[10] << 16) + (Data[11] << 24), 16).PadLeft(8, '0').ToUpper() + ", ");
                                                        break;
                                                    }
                                                default:
                                                    {
                                                        richTextBox_RamFlasgData.AppendText("无效数据" + ", ");
                                                        break;
                                                    }
                                            }
                                        }
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xAB88://故障日志
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //电机存储的故障日志，一包128字节包含2条故障日志
                                    var ErrorLogSaveInfo1 = new MC_ErrorLogSaveInfo_Struct_t();
                                    var ErrorLogSaveInfo2 = new MC_ErrorLogSaveInfo_Struct_t();
                                    ErrorLogSaveInfo1 = MyConverter.ByteToStructure<MC_ErrorLogSaveInfo_Struct_t>(Data, 8);
                                    ErrorLogSaveInfo2 = MyConverter.ByteToStructure<MC_ErrorLogSaveInfo_Struct_t>(Data, 72);

                                    //数据显示
                                    ErrorLogDisplay(ErrorLogSaveInfo1, ErrorLogSaveInfo2);

                                }));
                            }
                            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";
                                    textBox_ODO_KM.Text = DataTemp32.ToString();
                                    //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";
                                    textBox_ODO_TIME.Text = DataTemp32.ToString();
                                    //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";
                                    textBox_TRIP_KM.Text = DataTemp32.ToString();
                                    //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";
                                    textBox_TRIP_TIME.Text = DataTemp32.ToString();
                                }));
                            }
                            break;
                        }
                    case 0x1720://客户信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //软件标识
                                    textBox_SP.Text = "";
                                    textBox_OBC_ReadSP.Text = "";
                                    textBox_FacModeSP.Text = "";
                                    for (ushort i = 0; i < 23; i++)
                                    {
                                        if (Data[i] == 'r')
                                        {
                                            Data[i] = (byte)'.';
                                        }
                                        textBox_SP.Text += ((char)Data[i]).ToString();
                                        textBox_OBC_ReadSP.Text += ((char)Data[i]).ToString();
                                        textBox_FacModeSP.Text += ((char)Data[i]).ToString();
                                    }                                    
                                    //Git提交版本信息
                                    textBox_FacModeGit.Text = "";
                                    for (ushort i = 0; i < 9; i++)
                                    {
                                        textBox_SP.Text += ((char)Data[23 + i]).ToString();
                                        textBox_FacModeGit.Text += ((char)Data[23 + i]).ToString();
                                    }
                                    Class_Motor_Ver.Special = textBox_SP.Text;
                                }));
                            }
                            break;
                        }
                    case 0xBA20: //调试信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MC_DebugInfo_Refresh = true;
                                    //系统状态机
                                    DataTemp = (short)(Data[0]);
                                    textBox_DebugInfo_SysFun.Text = Convert.ToString(DataTemp);
                                    //二层状态机
                                    DataTemp = (short)(Data[1]);
                                    textBox_DebugInfo_SecondFun.Text = Convert.ToString(DataTemp);
                                    //电机状态机
                                    DataTemp = (short)(Data[2]);
                                    textBox_DebugInfo_MotorFun.Text = Convert.ToString(DataTemp);
                                    //助力状态机
                                    DataTemp = (short)(Data[3]);
                                    textBox_DebugInfo_AssistFun.Text = Convert.ToString(DataTemp);
                                    //IdRef
                                    DataTemp = (short)(Data[5] * 256 + Data[4]);
                                    textBox_DebugInfo_IdRef.Text = Convert.ToString(DataTemp);
                                    //IqRef
                                    DataTemp = (short)(Data[7] * 256 + Data[6]);
                                    textBox_DebugInfo_IqRef.Text = Convert.ToString(DataTemp);
                                    //UdRef
                                    DataTemp = (short)(Data[9] * 256 + Data[8]);
                                    textBox_DebugInfo_UdRef.Text = Convert.ToString(DataTemp);
                                    //UqRef
                                    DataTemp = (short)(Data[11] * 256 + Data[10]);
                                    textBox_DebugInfo_UqRef.Text = Convert.ToString(DataTemp);
                                    //瞬时力矩
                                    DataTemp = (short)(Data[13] * 256 + Data[12]);
                                    textBox_DebugInfo_TorquePu.Text = Convert.ToString(DataTemp);
                                    //时间滤波力矩
                                    DataTemp = (short)(Data[15] * 256 + Data[14]);
                                    textBox_DebugInfo_TorqueFil.Text = Convert.ToString(DataTemp);
                                    //踏频滤波力矩
                                    DataTemp = (short)(Data[17] * 256 + Data[16]);
                                    textBox_DebugInfo_TorqueCadence.Text = Convert.ToString(DataTemp);
                                    //IdFdb
                                    DataTemp = (short)(Data[19] * 256 + Data[18]);
                                    textBox_DebugInfo_IdFdb.Text = Convert.ToString(DataTemp);
                                    //IqFdb
                                    DataTemp = (short)(Data[21] * 256 + Data[20]);
                                    textBox_DebugInfo_IqFdb.Text = Convert.ToString(DataTemp);
                                    //助力输出
                                    DataTemp = (short)(Data[23] * 256 + Data[22]);
                                    textBox_DebugInfo_AssistOut.Text = Convert.ToString(DataTemp);
                                    //转把百分比
                                    DataTemp = (short)(Data[25] * 256 + Data[24]);
                                    textBox_DebugInfo_ThrottlePer.Text = Convert.ToString(DataTemp);
                                    //数据保存
                                    RunInfoAutoSave();
                                }));
                            }
                            break;
                        }
                    case 0xBB20: //产品标签信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //产品标签
                                    textBox_TagInfo.Text = "";                                    
                                    for (ushort i = 0; i < 32; i++)
                                    {
                                        textBox_TagInfo.Text += ((char)Data[i]).ToString();
                                    }                                    
                                }));
                            }
                            break;
                        }
                    case 0xBC20: //内阻校正信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //内阻1
                                    uData16 = (ushort)(Data[1] * 256 + Data[0]);
                                    textBox_MOS_R1.Text = Convert.ToString(uData16);
                                    //内阻2
                                    uData16 = (ushort)(Data[3] * 256 + Data[2]);
                                    textBox_MOS_R2.Text = Convert.ToString(uData16);
                                    //内阻3
                                    uData16 = (ushort)(Data[5] * 256 + Data[4]);
                                    textBox_MOS_R3.Text = Convert.ToString(uData16);
                                    //K1
                                    uData16 = (ushort)(Data[7] * 256 + Data[6]);
                                    textBox_MOS_K1.Text = Convert.ToString(uData16);
                                    //K2
                                    uData16 = (ushort)(Data[9] * 256 + Data[8]);
                                    textBox_MOS_K2.Text = Convert.ToString(uData16);
                                    //K3
                                    uData16 = (ushort)(Data[11] * 256 + Data[10]);
                                    textBox_MOS_K3.Text = Convert.ToString(uData16);
                                    //K4
                                    uData16 = (ushort)(Data[13] * 256 + Data[12]);
                                    textBox_MOS_K4.Text = Convert.ToString(uData16);
                                    //K5
                                    uData16 = (ushort)(Data[15] * 256 + Data[14]);
                                    textBox_MOS_K5.Text = Convert.ToString(uData16);

                                }));
                            }
                            break;
                        }
                    case 0xBD20: //整车信息2
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_BikeParam2.Clear();
                                    for (int i = 0; i < myParams.BikeParam2.Count; i++)
                                    {                                        
                                        richTextBox_BikeParam2.AppendText(myParams.BikeParam2[i] + "=" + Convert.ToString((short)(Data[2 * i + 1] * 256 + Data[2 * i])) + ", ");                                                                                                                   
                                    }
                                    richTextBox_BikeParam2.Text = richTextBox_BikeParam2.Text.Substring(0, richTextBox_BikeParam2.Text.Length - 2);

                                }));
                            }
                            break;
                        }
                    case 0xBE20: //用户骑行参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_UsrRidesParam.Clear();
                                    for (int i = 0; i < myParams.UsrRideParam.Count; i++)
                                    {
                                        richTextBox_UsrRidesParam.AppendText(myParams.UsrRideParam[i] + "=" + Convert.ToString(Data[i]) + ", ");
                                    }
                                    richTextBox_UsrRidesParam.Text = richTextBox_UsrRidesParam.Text.Substring(0, richTextBox_UsrRidesParam.Text.Length - 2);

                                }));
                            }
                            break;
                        }
                    case 0xBF58:
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    string[] str1 = new string[42];
                                    double[] error1 = new double[42];
                                    //更新校准数据
                                    for (int i = 0; i < 42; i++)
                                    {
                                        double data1 = (Data[4 + i * 2] + (Data[4 + i * 2 + 1] << 8)) / 32767.0 * 360;

                                        error1[i] = data1 - (60 * (i % 6) + 60);
                                        if (error1[i] < -180)
                                        {
                                            error1[i] = error1[i] + 360;
                                        }
                                        str1[i] = data1.ToString("F2");
                                        AngledataRecord[i] = str1[i];
                                    }

                                    for (int i = 0; i < 7; i++)
                                        for (int j = 0; j < 6; j++)
                                        {
                                            dataGridView_AngleCal.Rows[i].Cells[j + 1].Value = str1[6 * i + j];
                                        }
                                    //计算偏差最小值、最大值和平均值
                                    //Array.ConvertAll(error1, Math.Abs);
                                    textBox_AngleDiffMin.Text = error1.Min().ToString("F2");
                                    textBox_AngleDiffMax.Text = error1.Max().ToString("F2");
                                    textBox_AngleDiffAvg.Text = error1.Average().ToString("F2");
                                    //计算零点偏差
                                    double tmp1 = ((Int16)(Data[0] + (Data[1] << 8))) / 32767.0 * 360;
                                    textBox_AngleZeroInit.Text = tmp1.ToString("F2");
                                    double tmp2 = ((Int16)(Data[2] + (Data[3] << 8))) / 32767.0 * 360;
                                    textBox_AngleZeroCur.Text = tmp2.ToString("F2");
                                    double tmp3 = (tmp2 - tmp1);
                                    textBox_AngleZeroDiff.Text = tmp3.ToString("F2");

                                }));
                            }
                            break;
                        }
                    case 0xC109: //Boot版本信息
                        {
                            BootInfo = "";
                            for (ushort i = 0; i < 9; i++)
                            {
                                BootInfo += ((char)Data[i]).ToString();
                            }
                            break;
                        }
                    default:
                        {
                            break;
                        }
                }
                //存储器导出数据显示
                if ((CmdTemp & 0xFF00) == 0xAB00)
                {
                    unchecked
                    {
                        this.Invoke((EventHandler)(delegate
                        {
                            long ByteNum = 0;
                            ByteNum = ((Data[4] << 24) + (Data[5] << 16) + (Data[6] << 8) + Data[7]) - ((Data[0] << 24) + (Data[1] << 16) + (Data[2] << 8) + Data[3]) + 1;
                            if (ByteNum > 4) //数据长度超过4Bytes，按照16进制显示字节流
                            {
                                for (int i = 0; i < ByteNum; i++)
                                {
                                    richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8 + i], 16).PadLeft(2, '0').ToUpper() + " ");
                                }
                            }
                        }));
                    }
                }
            }
            #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) + " mAh" + "\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");
                                    //循环次数
                                    richTextBox_OBC_BMS_RunInfo.AppendText("循环次数:" + Convert.ToString((ushort)(Data[13] * 256 + Data[12])) + " 次");
                                }));
                            }
                            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];
                                    //限速微调
                                    numericUpDown_OBC_SpeedLimitAdj.Value = (int)(Data[6] > 128 ? (Data[6] - 256) : Data[6]);
                                    richTextBox_OBC_ReadUserInfo.AppendText("限速微调:" + Convert.ToString(numericUpDown_OBC_SpeedLimitAdj.Value) + " km/h" + "\r\n");
                                    //定速巡航
                                    comboBox_OBC_BikeCCS.SelectedIndex = (Data[7] == 0xAA) ? 1 : 2;
                                    richTextBox_OBC_ReadUserInfo.AppendText("转把巡航:" + comboBox_OBC_BikeCCS.Text + "\r\n");
                                }));
                            }
                            break;
                        }
                    case 0x5303://电机应答反馈
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MessageBoxTimeOut.Show("OK", "反馈指令", 500, MessageBoxButtons.OK, MessageBoxIcon.Information);
                                }));
                            }
                            break;
                        }
                    case 0x5620: //用户骑行参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_UsrRidesParam.Clear();
                                    for (int i = 0; i < myParams.UsrRideParam.Count; i++)
                                    {
                                        richTextBox_UsrRidesParam.AppendText(myParams.UsrRideParam[i] + "=" + Convert.ToString(Data[i]) + ", ");
                                    }
                                    richTextBox_UsrRidesParam.Text = richTextBox_UsrRidesParam.Text.Substring(0, richTextBox_UsrRidesParam.Text.Length - 2);

                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
            #endregion

        }

        private void DataRevToString(ushort CmdTemp, byte[] Data)
        {
            CmdRevStrTemp = "";
            CmdRevStrTemp += Convert.ToString(CmdTemp >> 8, 16).PadLeft(2, '0').ToUpper() + " ";
            CmdRevStrTemp += Convert.ToString(CmdTemp & 0xFF, 16).PadLeft(2, '0').ToUpper() + " ";
            ushort len = (ushort)(CmdTemp & 0x00FF);
            for (int i = 0; i < len ; i++)
            {
                CmdRevStrTemp += Convert.ToString(Data[i], 16).PadLeft(2, '0').ToUpper() + " ";
            }
        }
        #endregion

        /// <summary>
        /// 端口连接或断开
        /// </summary>
        private void PortConnect()
        {
            bool result = false;
            if (连接ToolStripMenuItem.Text == "连接")
            {
                result = mySerialProcess.SerialOpen(toolStripComboBox_ComNum.Text, toolStripComboBox_Baudrate.Text, 连接开机ToolStripMenuItem.Checked, 识别通讯盒ToolStripMenuItem.Checked);
                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;
                    label_PortStatus.BackColor = Color.Green;
                }
            }
            else if (连接ToolStripMenuItem.Text == "断开")
            {
                checkBox_OBC_StartSetGearSt.Checked = false;
                checkBox_OBC_StartReadBMS.Checked = false;
                checkBox_ReadRanFlash_AutoSW.Checked = false;
                mySerialProcess.SerialClose(断开关机ToolStripMenuItem.Checked);

                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";
                label_PortStatus.BackColor = Color.Red;
            }
        }

        /// <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)
        {
            PortConnect();
        }

        /// <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>
        /// 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)
        {
            if (写入存储ToolStripMenuItem.Checked)
            {
                EnterForm1.ShowDialog();
                try
                {
                    if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                    {
                        if (EnterForm1.comboBox_User.Text == "工程参数配置")
                        {
                            写入存储ToolStripMenuItem.Checked = false;
                            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                        }
                        else
                        {
                            MessageBox.Show("权限不支持", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        }
                    }
                    else
                    {
                        MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
                catch (Exception)
                {
                    MessageBox.Show("用户不存在或密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            else
            {
                写入存储ToolStripMenuItem.Checked = true;
                ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
            }            
            
        }

        /// <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("yyyy-MM-dd HH:mm:ss");

            //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;

            //MC_Debuginfo超时清除
            if (MC_DebugInfo_Refresh == false)
            {
                MC_DebugInfo_Refresh_Cnt++;
                if (MC_DebugInfo_Refresh_Cnt > 10)//5s
                {
                    MC_DebugInfo_Clear();
                    MC_DebugInfo_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_DebugInfo_Refresh_Cnt = 0;
            }
            MC_DebugInfo_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 (识别通讯盒ToolStripMenuItem.Checked)
            {
                if (mySerialProcess.CDL_Online_Flag == false)
                {
                    mySerialProcess.CDL_OnlineCheck_Cnt++;
                    if (mySerialProcess.CDL_OnlineCheck_Cnt > 1)//1s
                    {
                        timer_500ms.Enabled = false;
                        MessageBox.Show("连接失败！", "提示");
                        timer_500ms.Enabled = true;
                        //关闭串口
                        mySerialProcess.SerialClose(断开关机ToolStripMenuItem.Checked);
                        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";
                        label_PortStatus.BackColor = Color.Red;
                    }
                }
            }

            //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;
                }
            }

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

                if (checkBox_ReadRanFlash_AutoClear.Checked == true)
                    richTextBox_RamFlasgData.Clear();

                do
                {
                    if ((textBox_Address_Begin.Text == string.Empty) || (textBox_Address_End.Text == string.Empty))
                    {
                        checkBox_ReadRanFlash_AutoSW.Checked = false;
                        MessageBox.Show("请输入起始和结束地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        continue;
                    }
                    else if ((textBox_Address_Begin.Text.Length != 8) || (textBox_Address_End.Text.Length != 8))
                    {
                        checkBox_ReadRanFlash_AutoSW.Checked = false;
                        MessageBox.Show("请检查地址长度！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        continue;
                    }
                    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)
                        {
                            checkBox_ReadRanFlash_AutoSW.Checked = false;
                            MessageBox.Show("结束地址必须大于或等于起始地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                            continue;
                        }
                        else
                        {
                            var SendByte = new byte[8];
                            SendByte[0] = (byte)(Address_Begin >> 24);
                            SendByte[1] = (byte)(Address_Begin >> 16);
                            SendByte[2] = (byte)(Address_Begin >> 8);
                            SendByte[3] = (byte)(Address_Begin);
                            SendByte[4] = (byte)(Addres_End >> 24);
                            SendByte[5] = (byte)(Addres_End >> 16);
                            SendByte[6] = (byte)(Addres_End >> 8);
                            SendByte[7] = (byte)(Addres_End);

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

            //写入参数等待计时
            ACK_WaitCnt++;

        }

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

        /// <summary>
        /// 调试信息清除
        /// </summary>
        private void MC_DebugInfo_Clear()
        {
            foreach (Control c in tabPage_DebugInfo.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);
            short wDataTemp = 0;
            ushort DataTemp = 0;
            string[] strDataTemp = richTextBox_MotorParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (i == 6)
                    {
                        wDataTemp = Convert.ToInt16(strDataTemp[i].Split('=')[1]);
                        ConfigParam[2 * i + 2] = (byte)wDataTemp;
                        ConfigParam[2 * i + 3] = (byte)(wDataTemp >> 8);
                    }
                    else
                    {
                        DataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                        ConfigParam[2 * i + 2] = (byte)DataTemp;
                        ConfigParam[2 * i + 3] = (byte)(DataTemp >> 8);
                    }
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3B28, ConfigParam);
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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);

            string[] strDataTemp = richTextBox_BikeParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    short wDataTemp = 0;
                    //前后灯参数修改
                    if (i == 8)
                    {
                        wDataTemp |= (short)((comboBox_TailLightMode.SelectedIndex + 1) << 12);          //Bit15~Bit12:尾灯模式
                        wDataTemp |= (short)((comboBox_TailLightVol.SelectedIndex == 0 ? 6 : 12) << 8);  //Bit11~Bit8:尾灯电压
                        wDataTemp |= (short)(comboBox_FrontLightVol.SelectedIndex == 0 ? 6 : 12);        //Bit7~Bit0:前灯电压
                    }
                    //开关机参数
                    else if (i == 11)
                    {
                        wDataTemp |= (short)(Convert.ToInt16(textBox_PowerOnDelay.Text) << 12);
                        wDataTemp |= (short)(Convert.ToInt16(textBox_PowerOffDelay.Text) << 8);
                        wDataTemp |= (short)(Convert.ToInt16(textBox_AutoPowerOff.Text));
                    }
                    else
                    {
                        wDataTemp = Convert.ToInt16(strDataTemp[i].Split('=')[1]);
                    }
                    ConfigParam[2 * i + 2] = (byte)wDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(wDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3D1C, ConfigParam);
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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();
            comboBox_Bike_CCS.SelectedIndex = 0;
            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++)
                {
                    if (i == 13)
                    {
                        uwDataTemp = (comboBox_Bike_CCS.SelectedIndex == 1) ? (ushort)0x00AA : (ushort)0x0000;
                    }
                    else
                    {
                        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_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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_500ms.Enabled = false;
                MessageBox.Show("请选择助力参数编号！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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);
            long lDataTemp = 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++)
                {
                    lDataTemp = Convert.ToInt32(strDataTemp[i].Split('=')[1]);
                    if (i < index_1)
                    {
                        ConfigParam[2 * i + 4] = (byte)lDataTemp;
                        ConfigParam[2 * i + 5] = (byte)(lDataTemp >> 8);
                    }
                    else if (i <= index_2)
                    {
                        ConfigParam[4 * i - 4] = (byte)lDataTemp;
                        ConfigParam[4 * i - 3] = (byte)(lDataTemp >> 8);
                        ConfigParam[4 * i - 2] = (byte)(lDataTemp >> 16);
                        ConfigParam[4 * i - 1] = (byte)(lDataTemp >> 24);
                    }
                    else
                    {
                        ConfigParam[2 * i + 20] = (byte)lDataTemp;
                        ConfigParam[2 * i + 21] = (byte)(lDataTemp >> 8);
                    }
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4450, ConfigParam);
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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] == "力矩传感器踏频脉冲数")
                    {
                        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_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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_500ms.Enabled = false;
                MessageBox.Show("请检查字符长度是否为8", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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_500ms.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_500ms.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_500ms.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_500ms.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_Off = new byte[5];
            var Code_Reset = new byte[5];

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

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

            timer_500ms.Enabled = false;
            if (MessageBox.Show("系统将关机", "确认关机?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                timer_500ms.Enabled = true;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Off);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Reset);
                PowerOffAckStatus = false;
                Delay_ms(250);
                int TryCnt = 3;
                while ((TryCnt--) >= 0)
                {
                    if (!PowerOffAckStatus)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Off);
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Reset);
                        PowerOffAckStatus = false;
                        Delay_ms(250);
                    }
                    else break;
                }

                if (PowerOffAckStatus)
                {
                    MessageBoxTimeOut.Show("已关机！", "提示", 3000, MessageBoxButtons.OK, MessageBoxIcon.None);
                }
                else
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("关机失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_500ms.Enabled = true;
                }
            }
            timer_500ms.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_500ms.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_500ms.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 = 3000;//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 RunInfoAutoSave()
        {
            if (运行信息记录ToolStripMenuItem.Checked == true)
            {
                if (RunInfoSaveFilename == string.Empty)
                {
                    return;
                }
                string SaveData = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff").Replace(" ", "_") + "  -->  ";
                foreach (Control c in tabPage_RunInfo.Controls)
                {
                    if (c is TextBox)
                    {
                        SaveData += c.Text + " , ";
                    }
                }
                foreach (Control c in tabPage_DebugInfo.Controls)
                {
                    if (c is TextBox)
                    {
                        SaveData += c.Text + " , ";
                    }
                }
                SaveData += "\r\n";
                System.IO.File.AppendAllText(RunInfoSaveFilename, 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 (运行信息记录ToolStripMenuItem.Checked == false)
            {
                if (mySerialProcess.mySerial.IsOpen == true)
                {
                    RunInfoSaveFilename = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_运行信息" + ".txt";
                    System.IO.File.AppendAllText(RunInfoSaveFilename, "时间 --> 车速 , 转速 , 踏频 , 力矩Reg , 力矩 , 踩踏方向 , 电压 , 电流 , 功率 , 电量 , " +
                        "PCB温度 , 绕组温度 , MOS温度 , 挡位 , 灯开关 , 续航 , 平均功耗 , 单次里程 , 单次时间 , 故障码 , " +
                        "系统状态机 , 二层状态机 , 电机状态机 , 助力状态机 , D轴电流给定 , Q轴电流给定 , D轴电压给定 , Q轴电压给定 , 瞬时力矩 , 时间滤波力矩 , 踏频滤波力矩 , D轴电流反馈 , Q轴电流反馈 , 助力函数输出" + "\r\n");

                    MessageBoxTimeOut.Show("开始记录", "提示", 500, MessageBoxButtons.OK, MessageBoxIcon.Information);
                    运行信息记录ToolStripMenuItem.Checked = true;
                }
                else
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("请连接电机", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    timer_500ms.Enabled = true;
                }
            }
            else
            {
                运行信息记录ToolStripMenuItem.Checked = false;
                MessageBoxTimeOut.Show("停止记录", "提示", 500, MessageBoxButtons.OK, MessageBoxIcon.Information);
            }

        }

        /// <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_500ms.Enabled = false;
                    MessageBox.Show("串口未连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.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_500ms.Enabled = false;
                    MessageBox.Show("请检查档位设置和大灯开关!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.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();
            comboBox_OBC_BikeCCS.SelectedIndex = 0;
            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_500ms.Enabled = false;
                MessageBox.Show("请选择启动模式！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
                return;
            }
            if (comboBox_OBC_AssistFunc.SelectedIndex == -1)//检查数据有效性
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("请选择助力方案！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
                return;
            }
            //周长微调
            UserInfoCode[0] = (byte)(int)numericUpDown_OBC_WheelAdj.Value;
            //启动模式
            UserInfoCode[1] = (byte)(comboBox_OBC_StartMode.SelectedIndex + 1);
            //助力方案
            UserInfoCode[2] = (byte)(comboBox_OBC_AssistFunc.SelectedIndex + 1);
            //自动关机时间
            UserInfoCode[3] = (byte)(uint)numericUpDown_OBC_OffTime.Value;
            //限速微调
            UserInfoCode[4] = (byte)(int)numericUpDown_OBC_SpeedLimitAdj.Value;
            //定速巡航开关
            UserInfoCode[5] = (byte)((comboBox_OBC_BikeCCS.SelectedIndex == 1) ? 0xAA : 0x00);
            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 = "";
            textBox_ODO_KM.Text = "---";
            textBox_ODO_TIME.Text = "---";
            textBox_TRIP_KM.Text = "---";
            textBox_TRIP_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_500ms.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_500ms.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_500ms.Enabled = false;
                    MessageBox.Show("串口未连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.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_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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_500ms.Enabled = false;
                MessageBox.Show("请选择EEPROM存储标志", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
                return;
            }
            if ((radioButton_SIP_SaveYes.Checked == false) && (radioButton_SIP_SaveNo.Checked == false))
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("请选择SIP校验存储标志", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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_500ms.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_500ms.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;

            if (checkBox_ReadRanFlash_AutoClear.Checked == true)
                richTextBox_RamFlasgData.Clear();

            if ((textBox_Address_Begin.Text == string.Empty) || (textBox_Address_End.Text == string.Empty))
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("请输入起始和结束地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer_500ms.Enabled = true;
                return;
            }
            else if ((textBox_Address_Begin.Text.Length != 8) || (textBox_Address_End.Text.Length != 8))
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("请检查地址长度！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                timer_500ms.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_500ms.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_500ms.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 if (comboBox_WorkMode.Text == "调试模式")
                RunMode[0] = 0x02;
            else
                RunMode[0] = 0x00;
            mySerialProcess.SendCmdWithoutNotice((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;

            Delay_ms(500);
            //设置百分比
            do
            {
                var PercentCode = new byte[1];
                if (comboBox_GearSt.SelectedIndex == 0) //Off
                {
                    PercentCode[0] = 0;
                    textBox_MotorSpeedPercent.Text = "0";
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, PercentCode);                    
                }
                else if (comboBox_GearSt.SelectedIndex == 6) //Walk
                {
                    if (comboBox_WorkMode.SelectedIndex != 0)
                    {
                        PercentCode[0] = 100;
                        textBox_MotorSpeedPercent.Text = "100";
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, PercentCode);
                    }
                }

            } while (false);
        }

        /// <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_500ms.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_500ms.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_500ms.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_500ms.Enabled = true;
                    }
                    else
                    {
                        timer_500ms.Enabled = false;
                        MessageBox.Show("初始化失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        timer_500ms.Enabled = true;
                    }
                    timer_500ms.Enabled = true;
                }
            }
            timer_500ms.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 = "";
            LightSwitchStatus = false;
            MotorRunStatus = false;
            textBox_MotorSpeedPercent.Text = "5";            
            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);
            //零点判断
            label1_TorqueCal0.BackColor = Color.Red;
            WriteACK = false;
            ACK_WaitCnt = 0;
            Delay_ms(200);
            if (WriteACK == true) //力矩读取正常
            {
                WriteACK = false;
                //获取零点
                ushort ZeroNew;
                ZeroNew = (ushort)Convert.ToUInt16(textBox_FacModeSensorADC0.Text);                
                //比较零点
                if ((ZeroNew <= TorqueParamsForm.Zero.Max) && (ZeroNew >= TorqueParamsForm.Zero.Min))                    
                {
                    label1_TorqueCal0.BackColor = Color.Green;
                }
                else
                {
                    MessageBoxTimeOut.Show("力矩传感器零点超范围！\r\n" + "最新零点：" + ZeroNew.ToString(), "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                }

            }
            else //力矩读取不正常
            {
                MessageBoxTimeOut.Show("读取力矩传感器数据失败！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
            }

        }

        /// <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);
                //标定1判断
                label1_TorqueCal1.BackColor = Color.Red;
                WriteACK = false;
                ACK_WaitCnt = 0;
                Delay_ms(200);
                if (WriteACK == true) //力矩读取正常
                {
                    WriteACK = false;
                    //获取标定1
                    ushort K1_T, K1;
                    K1_T = (ushort)(Convert.ToUInt16(textBox_FacModeSensorCal1.Text) * 10);
                    K1 = (ushort)(Convert.ToUInt16(textBox_FacModeSensorADC1.Text));
                    //比较标定1
                    if ((K1_T == TorqueParamsForm.K1.T) && (K1 <= TorqueParamsForm.K1.Max) && (K1 >= TorqueParamsForm.K1.Min))
                    {
                        label1_TorqueCal1.BackColor = Color.Green;
                    }
                    else
                    {
                        MessageBoxTimeOut.Show("力矩传感器标定1超范围！\r\n" + "加载扭矩：" + K1_T.ToString() + "\r\n标定值：" + K1.ToString(), "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }

                }
                else //力矩读取不正常
                {
                    MessageBoxTimeOut.Show("读取力矩传感器数据失败！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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);
                //标定2判断
                label1_TorqueCal2.BackColor = Color.Red;
                WriteACK = false;
                ACK_WaitCnt = 0;
                Delay_ms(200);
                if (WriteACK == true) //力矩读取正常
                {
                    WriteACK = false;
                    //获取标定2
                    ushort K2_T, K2;
                    K2_T = (ushort)(Convert.ToUInt16(textBox_FacModeSensorCal2.Text) * 10);
                    K2 = (ushort)(Convert.ToUInt16(textBox_FacModeSensorADC2.Text));
                    //比较标定1
                    if ((K2_T == TorqueParamsForm.K2.T) && (K2 <= TorqueParamsForm.K2.Max) && (K2 >= TorqueParamsForm.K2.Min))
                    {
                        label1_TorqueCal2.BackColor = Color.Green;
                    }
                    else
                    {
                        MessageBoxTimeOut.Show("力矩传感器标定2超范围！\r\n" + "加载扭矩：" + K2_T.ToString() + "\r\n标定值：" + K2.ToString(), "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }

                }
                else //力矩读取不正常
                {
                    MessageBoxTimeOut.Show("读取力矩传感器数据失败！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.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);
                //标定3判断
                label1_TorqueCal3.BackColor = Color.Red;
                WriteACK = false;
                ACK_WaitCnt = 0;
                Delay_ms(200);
                if (WriteACK == true) //力矩读取正常
                {
                    WriteACK = false;
                    //获取标定3
                    ushort K3_T, K3;
                    K3_T = (ushort)(Convert.ToUInt16(textBox_FacModeSensorCal3.Text) * 10);
                    K3 = (ushort)(Convert.ToUInt16(textBox_FacModeSensorADC3.Text));
                    //比较标定1
                    if ((K3_T == TorqueParamsForm.K3.T) && (K3 <= TorqueParamsForm.K3.Max) && (K3 >= TorqueParamsForm.K3.Min))
                    {
                        label1_TorqueCal3.BackColor = Color.Green;
                    }
                    else
                    {
                        MessageBoxTimeOut.Show("力矩传感器标定3超范围！\r\n" + "加载扭矩：" + K3_T.ToString() + "\r\n标定值：" + K3.ToString(), "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }

                }
                else //力矩读取不正常
                {
                    MessageBoxTimeOut.Show("读取力矩传感器数据失败！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
            }
        }
        /// <summary>
        /// 生产模式传感器标定4
        /// </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
            {
                WriteACK = false;
                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);
                //标定4判断
                label1_TorqueCal4.BackColor = Color.Red;
                WriteACK = false;
                ACK_WaitCnt = 0;
                Delay_ms(200);
                if (WriteACK == true) //力矩读取正常
                {
                    //获取标定4
                    ushort K4_T, K4;
                    K4_T = (ushort)(Convert.ToUInt16(textBox_FacModeSensorCal4.Text) * 10);
                    K4 = (ushort)(Convert.ToUInt16(textBox_FacModeSensorADC4.Text));
                    //比较标定1
                    if ((K4_T == TorqueParamsForm.K4.T) && (K4 <= TorqueParamsForm.K4.Max) && (K4 >= TorqueParamsForm.K4.Min))
                    {
                        label1_TorqueCal4.BackColor = Color.Green;
                    }
                    else
                    {
                        MessageBoxTimeOut.Show("力矩传感器标定4超范围！\r\n" + "加载扭矩：" + K4_T.ToString() + "\r\n标定值：" + K4.ToString(), "提示", 2000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }

                }
                else //力矩读取不正常
                {
                    MessageBoxTimeOut.Show("读取力矩传感器数据失败！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
            }
        }

        /// <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)
        {
            string DebugDefaultInfo = "";

            //获取调试信息
            if (richTextBox_DebugParam.Text == string.Empty)
            {
                richTextBox_DebugParam.Clear();
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4500, null);
            }
            Delay_ms(200);
            DebugDefaultInfo = richTextBox_DebugParam.Text;            

            //获取参数
            string[] strDataTemp = DebugDefaultInfo.Split(new string[] { ", " }, StringSplitOptions.None);
            if (strDataTemp.Length != 29)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
                return;
            }

            //设置参数
            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
            {
                //设置速度环
                strDataTemp[0] = "整体运行模式=3";                
                //发送数据
                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_500ms.Enabled = false;
                    MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_500ms.Enabled = true;
                }
                Delay_ms(200);
                //设置转速百分比100%
                textBox_MotorSpeedPercent.Text = "100";
                ConfigParam[0] = (byte)100;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, ConfigParam);
                MotorRunStatus = !MotorRunStatus;
                button_FacModeMotorRun.BackColor = Color.Yellow;
                Delay_ms(200);
                //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);
            }
            else //运转状态
            {
                //设置转速百分比0%
                textBox_MotorSpeedPercent.Text = "0";
                ConfigParam[0] = (byte)0;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, ConfigParam);
                MotorRunStatus = !MotorRunStatus;
                button_FacModeMotorRun.BackColor = Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(192)))), ((int)(((byte)(192)))));
                Delay_ms(200);
                //还原为原始值                
                strDataTemp = DebugDefaultInfo.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);
                    }
                    if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, ConfigParam))
                        return;
                }
                catch (Exception)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_500ms.Enabled = true;
                }
                Delay_ms(200);
                //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);
            }
        }

        /// <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 = "---";
            textBox_FacModeGit.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 = "";
            string MacAddDefaultInfo = "";
            string MacDateDefaultInfo = DateTime.Now.ToString("yyyyMMdd");
            string MacPPDefaultInfo = "";

            do
            {
                //填入生产商
                if (toolStripTextBox_MAC.Text == string.Empty)
                {
                    break;
                }
                MacDefaultInfo = toolStripTextBox_MAC.Text;
                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
                if (toolStripTextBoxMACAddr.Text == string.Empty)
                {
                    break;
                }
                MacAddDefaultInfo = toolStripTextBoxMACAddr.Text;
                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
                if (toolStripTextBox_MACDate.Text == string.Empty)
                {
                    break;
                }
                MacDateDefaultInfo = toolStripTextBox_MACDate.Text;
                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
                if (toolStripTextBox_MACPD.Text == string.Empty)
                {
                    break;
                }
                MacPPDefaultInfo = toolStripTextBox_MACPD.Text;
                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);

                return;
            } while (false);

            timer_500ms.Enabled = false;
            MessageBox.Show("生产信息配置不完整！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            timer_500ms.Enabled = true;
        }

        /// <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)
        {
            Button_FacModeSaveResult.Text = "存储中…";
            string[] AssistParams = new string[15];

            do
            {
                //读取一次马达参数
                richTextBox_MotorParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3A00, null)) break; ;
                Delay_ms(100);

                //读取一次整车参数
                richTextBox_BikeParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3C00, null)) break;
                Delay_ms(100);

                //读取一次整车参数2
                richTextBox_BikeParam2.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4C00, null)) break;
                Delay_ms(100);

                //读取一次控制参数
                richTextBox_ControlParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3E00, null)) break;
                Delay_ms(100);

                //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)) break;
                Delay_ms(100);

                //读取15次助力参数
                for (int i = 1; i <= 15; i++)
                {
                    var ConfigParam = new byte[4];
                    richTextBox_AssistParam.Clear();
                    ConfigParam[0] = (byte)(i & 0xFF);
                    ConfigParam[1] = (byte)(i >> 8);
                    ConfigParam[2] = (byte)(((i >= 5) ? 5 : i) & 0xFF);
                    ConfigParam[3] = (byte)(((i >= 5) ? 5 : i) >> 8);
                    if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4304, ConfigParam)) break;
                    Delay_ms(200);
                    AssistParams[i - 1] = richTextBox_AssistParam.Text + "\r\n";
                }

                //读取一次用户骑行参数
                richTextBox_UsrRidesParam.Clear();
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4A00, null);
                Delay_ms(100);

                //读取一次调试信息
                richTextBox_DebugParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4500, null)) break;
                Delay_ms(100);

                //读取一次历史信息
                richTextBox_Record.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null)) break;
                Delay_ms(100);

                //读取一次电机运行信息
                var CtrlCode = new byte[2];
                CtrlCode[0] = 0x00;
                CtrlCode[1] = 0xF0;
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode)) break;
                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)) break;
                Delay_ms(100);

                //读取一次生产信息
                textBox_MAC.Text = "";
                textBox_MACAdd.Text = "";
                textBox_MACDate.Text = "";
                textBox_PP.Text = "";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1F00, null)) break;
                Delay_ms(100);

                //读取一次自定义信息
                textBox_User1.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1300, null)) break;
                Delay_ms(100);
                textBox_User2.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1500, null)) break;
                Delay_ms(100);
                textBox_User3.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1700, null)) break;
                Delay_ms(100);

                //读取一次密钥
                textBox_Key.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1000, null)) break;
                Delay_ms(100);

                //读取一次存储标志
                radioButton_EE_SaveYes.Checked = false;
                radioButton_EE_SaveNo.Checked = false;
                radioButton_SIP_SaveYes.Checked = false;
                radioButton_SIP_SaveNo.Checked = false;
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4800, null)) break;
                Delay_ms(100);

                //读取一次MOS内阻校准参数
                foreach (Control c in groupBox21.Controls)
                {
                    if (c is TextBox)
                        c.Text = "";
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                Delay_ms(100);

                //提示检查
#if false
            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;

            Delay_ms(200);
#endif

                //判断数据是否有效
                if ((textBox_FacModeName.Text == "---") || (textBox_FacModeNum.Text == "---"))
                {
                    MessageBox.Show("SN无效，保存失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    break;
                }
                if ((textBox_FacModeName.Text == string.Empty) || (textBox_FacModeNum.Text == string.Empty))
                {
                    MessageBox.Show("SN无效，保存失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    break;
                }

                //设置文件存储路径
                string Save_Path = localInfo.LocalPath + DateTime.Now.ToString("yyyy-MM-dd") + "\\";
                string PD_PathName = textBox_FacModeName.Text + "_" + textBox_FacModeNum.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_"); ;
                Save_Path += PD_PathName;
                if (!Directory.Exists(Save_Path))
                    Directory.CreateDirectory(Save_Path);

                //保存页面
                string PIC_SaveFileName = "";
                Double scaleX = PrimaryScreen.ScaleX;
                Double scaleY = PrimaryScreen.ScaleY;

                //保存页面
                Bitmap bit = new Bitmap((int)(this.Width * scaleX), (int)(this.Height * scaleY));//实例化一个和窗体一样大的bitmap
                Graphics g = Graphics.FromImage(bit);
                g.CopyFromScreen((int)(this.Left * scaleX), (int)(this.Top * scaleY), 0, 0, new Size((int)(this.Width * scaleX), (int)(this.Height * scaleY)));//保存整个窗体为图片
                PIC_SaveFileName = Save_Path + "\\" + textBox_FacModeName.Text + "_" + textBox_FacModeNum.Text + "_测试页面" + ".png";
                bit.Save(PIC_SaveFileName);

                //保存数据
                string DataFileName = "";
                string FileInfo = "";
                DataFileName = Save_Path + "\\" + textBox_FacModeName.Text + "_" + textBox_FacModeNum.Text + "_记录数据" + ".txt";                
                FileInfo += "测试计算机：\r\n" + label_Computername.Text + "\r\n";
                FileInfo += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[电机信息]\r\n";
                FileInfo += "电机型号: " + textBox_FacModeName.Text + "\r\n";
                FileInfo += "电机编号: " + textBox_FacModeNum.Text + "\r\n";
                FileInfo += "硬件版本: " + textBox_HW.Text + "\r\n";
                FileInfo += "软件版本: " + textBox_FW.Text + "\r\n";
                FileInfo += "软件标识: " + textBox_SP.Text + "\r\n";
                FileInfo += "Git信息: " + textBox_FacModeGit.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[马达参数]\r\n";
                FileInfo += richTextBox_MotorParam.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[整车参数]\r\n";
                FileInfo += richTextBox_BikeParam.Text + "\r\n";
                FileInfo += "\r\n";                
                FileInfo += "[控制参数]\r\n";
                FileInfo += richTextBox_ControlParam.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[传感器参数]\r\n";
                FileInfo += richTextBox_SensorParam.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[助力参数]\r\n";
                for(int i=0;i<15;i++)
                {
                    FileInfo += AssistParams[i] + "\r\n";
                }                
                FileInfo += "[调试参数]\r\n";
                FileInfo += richTextBox_DebugParam.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[历史信息]\r\n";
                FileInfo += richTextBox_Record.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[MOS内阻校准参数]\r\n";
                FileInfo += textBox_MOS_K1.Text + ", ";
                FileInfo += textBox_MOS_K2.Text + ", ";
                FileInfo += textBox_MOS_K3.Text + ", ";
                FileInfo += textBox_MOS_K4.Text + ", ";
                FileInfo += textBox_MOS_K5.Text + ", ";
                FileInfo += textBox_MOS_R1.Text + ", ";
                FileInfo += textBox_MOS_R2.Text + ", ";
                FileInfo += textBox_MOS_R3.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[整车参数2]\r\n";
                FileInfo += richTextBox_BikeParam2.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[用户骑行参数]\r\n";
                FileInfo += richTextBox_UsrRidesParam.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[生产信息]\r\n";
                FileInfo += "生产商: " + textBox_MAC.Text + "\r\n";
                FileInfo += "生产地: " + textBox_MACAdd.Text + "\r\n";
                FileInfo += "生产日期: " + textBox_MACDate.Text + "\r\n";
                FileInfo += "产品标识: " + textBox_PP.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[自定义信息]\r\n";
                FileInfo += "自定义1: " + textBox_User1.Text + "\r\n";
                FileInfo += "自定义2: " + textBox_User2.Text + "\r\n";
                FileInfo += "自定义3: " + textBox_User3.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[校验密钥]\r\n";
                FileInfo += textBox_Key.Text + "\r\n";
                FileInfo += "\r\n";
                FileInfo += "[存储标志]\r\n";
                FileInfo += "EEPROM: " + ((radioButton_EE_SaveYes.Checked == true) ? "已存储" : "未存储") + "\r\n";
                FileInfo += "SIP: " + ((radioButton_SIP_SaveYes.Checked == true) ? "已存储" : "未存储") + "\r\n";
                FileInfo += "\r\n";
                FileInfo += Local_HdInformation;
                FileInfo += "\r\n";
                FileInfo += "文件格式: V2.0\r\n";
                System.IO.File.WriteAllText(DataFileName, FileInfo);
                Delay_ms(1000);

                timer_500ms.Enabled = false;
                MessageBox.Show("存储完成！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                timer_500ms.Enabled = true;

                //数据上传
                if (myFtp.IsNetConnected == true)
                {
                    string DataNow = DateTime.Now.ToString("yyyy-MM-dd");
                    //检查路径
                    if (myFtp.DirectoryExist("\\", toolStripTextBox_ServerPath.Text) == false)
                    {
                        myFtp.MakeDir(toolStripTextBox_ServerPath.Text);
                    }
                    if (myFtp.DirectoryExist(toolStripTextBox_ServerPath.Text, "Samples") == false)
                    {
                        myFtp.MakeDir(toolStripTextBox_ServerPath.Text + "\\Samples");
                    }
                    if (myFtp.DirectoryExist(toolStripTextBox_ServerPath.Text + "\\Samples", DataNow) == false)
                    {
                        myFtp.MakeDir(toolStripTextBox_ServerPath.Text + "\\Samples" + "\\" + DataNow);
                    }
                    if (myFtp.DirectoryExist(toolStripTextBox_ServerPath.Text + "\\Samples" + "\\" + DataNow, PD_PathName) == false)
                    {
                        myFtp.MakeDir(toolStripTextBox_ServerPath.Text + "\\Samples" + "\\" + DataNow + "\\" + PD_PathName);
                    }
                    //上传文件
                    bool result1 = myFtp.UploadFile(PIC_SaveFileName, toolStripTextBox_ServerPath.Text + "\\Samples" + "\\" + DataNow + "\\" + PD_PathName);
                    bool result2 = myFtp.UploadFile(DataFileName, toolStripTextBox_ServerPath.Text + "\\Samples" + "\\" + DataNow + "\\" + PD_PathName);
                    if ((result1 & result2) == true)
                    {
                        MessageBoxTimeOut.Show("数据已上传！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Information);                        
                    }
                    else
                    {
                        timer_500ms.Enabled = false;
                        MessageBox.Show("数据上传失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        timer_500ms.Enabled = true;
                    }

                }
                else
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("服务器断开！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                }

                Button_FacModeSaveResult.Text = "保存数据";
                return;

            } while (false);

            timer_500ms.Enabled = false;
            MessageBox.Show("保存失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            timer_500ms.Enabled = true;
            Button_FacModeSaveResult.Text = "保存数据";
        }

        /// <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)
        {
            Double scaleX = PrimaryScreen.ScaleX;
            Double scaleY = PrimaryScreen.ScaleY;

            //保存页面
            Bitmap bit = new Bitmap((int)(this.Width * scaleX), (int)(this.Height * scaleY));//实例化一个和窗体一样大的bitmap
            Graphics g = Graphics.FromImage(bit);
            g.CopyFromScreen((int)(this.Left * scaleX), (int)(this.Top * scaleY), 0, 0, new Size((int)(this.Width * scaleX), (int)(this.Height * scaleY)));//保存整个窗体为图片       
            SaveFileDialog sf = new SaveFileDialog();
            sf.Title = "页面保存";
            sf.FileName = "MotorInfo_" + textBox_FacModeName.Text + "_" + textBox_FacModeNum.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + ".png";
            sf.Filter = "图片|*.png";
            timer_500ms.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_500ms.Enabled = true;
        }
        /// <summary>
        /// 生产模式关机
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Button_FacModePowerOff_Click(object sender, EventArgs e)
        {
            var Code_Off = new byte[5];
            var Code_Reset = new byte[5];

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

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


            timer_500ms.Enabled = false;
            if (MessageBox.Show("系统将关机", "确认关机?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                timer_500ms.Enabled = true;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Off);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Reset);
                PowerOffAckStatus = false;
                Delay_ms(250);
                int TryCnt = 3;
                while ((TryCnt--) >= 0)
                {
                    if (!PowerOffAckStatus)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Off);
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code_Reset);
                        PowerOffAckStatus = false;
                        Delay_ms(250);
                    }
                    else break;
                }

                if (PowerOffAckStatus)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("已关机！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
                    timer_500ms.Enabled = true;
                }
                else
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("关机失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_500ms.Enabled = true;
                }
            }
            timer_500ms.Enabled = true;
        }

        //仪表电源键按下
        private void button_OBC_ButtonPower_Click(object sender, EventArgs e)
        {
            var Code = new byte[2];

            Code[0] = 0;
            Code[1] = 0b00100000;
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x0C, (ushort)0x3A02, Code);
        }

        /// <summary>
        /// 仪表加键按下
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ButtonAcc_Click(object sender, EventArgs e)
        {
            var Code = new byte[2];

            Code[0] = 0;
            Code[1] = 0b00010000;
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x0C, (ushort)0x3A02, Code);
        }

        /// <summary>
        /// 仪表减键按下
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ButtonDec_Click(object sender, EventArgs e)
        {
            var Code = new byte[2];

            Code[0] = 0;
            Code[1] = 0b00001000;
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x0C, (ushort)0x3A02, Code);
        }

        /// <summary>
        /// 仪表Walk键按下
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ButtonWalk_Click(object sender, EventArgs e)
        {
            var Code = new byte[2];

            Code[0] = 0;
            Code[1] = 0b00000100;
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x0C, (ushort)0x3A02, Code);
        }

        /// <summary>
        /// 仪表Light键按下
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ButtonLight_Click(object sender, EventArgs e)
        {
            var Code = new byte[2];

            Code[0] = 0;
            Code[1] = 0b00000010;
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x0C, (ushort)0x3A02, Code);
        }

        /// <summary>
        /// 仪表Set键按下
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ButtonSet_Click(object sender, EventArgs e)
        {
            var Code = new byte[2];

            Code[0] = 0;
            Code[1] = 0b00000001;
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x0C, (ushort)0x3A02, Code);
        }

        /// <summary>
        /// 导出电机故障日志
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ExportLog_Click(object sender, EventArgs e)
        {
            var Address = new byte[4];
            UInt32 Address_Begin;
            UInt32 Addres_End;

            string textBox_Address_Begin = textBox_LogAddrBegin.Text;
            string textBox_Address_End = textBox_LogAddrEnd.Text;

            richTextBox_Record.Clear();
            textBox_LogAddrBegin.ReadOnly = true;
            textBox_LogAddrEnd.ReadOnly = true;

            if (!mySerialProcess.mySerial.IsOpen)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("串口未连接！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
                return;
            }

            if ((textBox_Address_Begin == string.Empty) || (textBox_Address_End == string.Empty))
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("请输入日志存储起始地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
                return;
            }
            else
            {
                Address = mySerialProcess.HexStringToBytes(textBox_Address_Begin, false);
                Address_Begin = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);
                Address = mySerialProcess.HexStringToBytes(textBox_Address_End, false);
                Addres_End = ((UInt32)Address[0] << 24) + ((UInt32)Address[1] << 16) + ((UInt32)Address[2] << 8) + ((UInt32)Address[3]);

                if (Addres_End <= Address_Begin)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("结束地址应大于起始地址！", "提示");
                    timer_500ms.Enabled = true;
                    return;
                }
                else if (((Addres_End - Address_Begin + 1) % 128) != 0) //
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("（结束地址 - 起始地址 + 1）应为128整数倍！", "提示");
                    timer_500ms.Enabled = true;
                    return;
                }
                else
                {
                    UInt32 ReadCount = 0;
                    button_ExportLog.Text = "导出中...";
                    button_ExportLog.Enabled = false;
                    ReadCount = (Addres_End - Address_Begin + 1) / 128;
                    for (ushort i = 0; i < ReadCount; i++)
                    {
                        var SendByte = new byte[8];
                        UInt32 Address_Temp_Begin;
                        UInt32 Address_Temp_End;
                        Address_Temp_Begin = Address_Begin + 128 * (UInt32)i;
                        SendByte[0] = (byte)(Address_Temp_Begin >> 24);
                        SendByte[1] = (byte)(Address_Temp_Begin >> 16);
                        SendByte[2] = (byte)(Address_Temp_Begin >> 8);
                        SendByte[3] = (byte)(Address_Temp_Begin);
                        Address_Temp_End = Address_Temp_Begin + 127;
                        SendByte[4] = (byte)(Address_Temp_End >> 24);
                        SendByte[5] = (byte)(Address_Temp_End >> 16);
                        SendByte[6] = (byte)(Address_Temp_End >> 8);
                        SendByte[7] = (byte)(Address_Temp_End);

                        mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x11, (ushort)0x2D08, SendByte);
                        Delay_ms(200);//Thread.Sleep(200);
                    }
                    button_ExportLog.Text = "导出日志";
                    button_ExportLog.Enabled = true;
                }
            }
        }

        /// <summary>
        /// 保存日志信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_SaveRecordInfo_Click(object sender, EventArgs e)
        {
            string SaveInfo = "";

            if (richTextBox_Record.Text == string.Empty)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("无内容！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                timer_500ms.Enabled = true;
                return;
            }

            //获取保存信息
            SaveInfo += "读取时间：" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\r\n";
            SaveInfo += "电机型号：" + textBox_FacModeName.Text + "\r\n";
            SaveInfo += "电机SN：" + textBox_FacModeNum.Text + "\r\n";
            SaveInfo += "硬件版本：" + textBox_FacModeHW.Text + "\r\n";
            SaveInfo += "软件版本：" + textBox_FacModeFW.Text + "\r\n";
            SaveInfo += "\r\n";
            SaveInfo += richTextBox_Record.Text;

            //设置保存路径和文件名
            SaveFileDialog sf = new SaveFileDialog();
            sf.Title = "数据保存";
            sf.FileName = "MotorLog_" + textBox_FacModeName.Text + "_" + textBox_FacModeNum.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + ".ttlog";
            sf.FileName.Replace(" ", "");
            sf.Filter = "日志|*.ttlog";
            if (sf.ShowDialog() == DialogResult.OK)
            {
                System.IO.File.AppendAllText(sf.FileName, SaveInfo);
            }
        }

        /// <summary>
        /// 双击修改日志起始地址
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void label_LogAddrBegin_DoubleClick_1(object sender, EventArgs e)
        {
            textBox_LogAddrBegin.ReadOnly = false;
        }

        /// <summary>
        /// 双击修改日志结束地址
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void label88_DoubleClick(object sender, EventArgs e)
        {
            textBox_LogAddrEnd.ReadOnly = false;
        }

        /// <summary>
        /// 存储器自动读取选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void checkBox_ReadRanFlash_AutoSW_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox_ReadRanFlash_AutoSW.Checked == true)
            {
                //检查串口是否打开
                if (!mySerialProcess.mySerial.IsOpen)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("串口未连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                    checkBox_ReadRanFlash_AutoSW.Checked = false;
                    return;
                }
            }
        }

        /// <summary>
        /// 系统开机按钮
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 开机ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            byte[] Data = new byte[1];
            Data[0] = 0xF1;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Data);      
        }

        /// <summary>
        /// 系统关机按钮
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 关机ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            byte[] Data = new byte[1];
            Data[0] = 0xF0;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Data);       
        }

        /// <summary>
        /// 连接开机选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 连接开机ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //输入用户名
            EnterForm1.ShowDialog();
            try
            {
                if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                {
                    if (EnterForm1.comboBox_User.Text == "管理员")
                    {
                        连接开机ToolStripMenuItem.Checked = !连接开机ToolStripMenuItem.Checked;
                        ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                    }
                    else
                    {
                        MessageBox.Show("权限不支持", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
                else
                {
                    MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception)
            {
                MessageBox.Show("用户不存在或密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        /// <summary>
        /// 断开关机选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 断开关机ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //输入用户名
            EnterForm1.ShowDialog();
            try
            {
                if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                {
                    if (EnterForm1.comboBox_User.Text == "管理员")
                    {
                        断开关机ToolStripMenuItem.Checked = !断开关机ToolStripMenuItem.Checked;
                        ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                    }
                    else
                    {
                        MessageBox.Show("权限不支持", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
                else
                {
                    MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception)
            {
                MessageBox.Show("用户不存在或密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        /// <summary>
        /// 识别通讯盒选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 识别通讯盒ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //输入用户名
            EnterForm1.ShowDialog();
            try
            {
                if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                {
                    if (EnterForm1.comboBox_User.Text == "管理员")
                    {
                        识别通讯盒ToolStripMenuItem.Checked = !识别通讯盒ToolStripMenuItem.Checked;
                        ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                    }
                    else
                    {
                        MessageBox.Show("权限不支持", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
                else
                {
                    MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            catch (Exception)
            {
                MessageBox.Show("用户不存在或密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        /// <summary>
        /// 将配置信息导出为cfg文件
        /// </summary>
        private void ConfigFileSave(bool DeleteFlag, string FileName)
        {
            if (DeleteFlag)
            {
                if (File.Exists(FileName))
                    File.Delete(FileName);
            }
            string CfgFileInfo = "";
            CfgFileInfo += "[PortSet]" + "\r\n";
            CfgFileInfo += "PortNum:" + toolStripComboBox_ComNum.Text + "\r\n";
            CfgFileInfo += "PortBaudrate:" + "115200" + "\r\n";
            CfgFileInfo += "AutoOn:" + 连接开机ToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "AutoOff:" + 断开关机ToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "CheckCDL:" + 识别通讯盒ToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[Option]" + "\r\n";
            CfgFileInfo += "SaveWhenWrite:" + 写入存储ToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[ServerSet]" + "\r\n";
            CfgFileInfo += "PathName:" + toolStripTextBox_ServerPath.Text + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[MacInfo]" + "\r\n";
            CfgFileInfo += "MacName:" + toolStripTextBox_MAC.Text + "\r\n";
            CfgFileInfo += "MacAddress:" + toolStripTextBoxMACAddr.Text + "\r\n";
            CfgFileInfo += "MacDate:" + toolStripTextBox_MACDate.Text + "\r\n";
            CfgFileInfo += "MacPdInfo:" + toolStripTextBox_MACPD.Text + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[LogAddress]" + "\r\n";
            CfgFileInfo += "BeginAddress:" + textBox_LogAddrBegin.Text + "\r\n";
            CfgFileInfo += "EndAddress:" + textBox_LogAddrEnd.Text + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[MotorType]" + "\r\n";
            CfgFileInfo += "MidMotor:" + 中置电机ToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "HubMotor:" + 轮毂电机ToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[CheckValue]" + "\r\n";
            CfgFileInfo += "Voltage:" + toolStripTextBox_ThVol.Text + "\r\n";
            CfgFileInfo += "Current:" + toolStripTextBox_ThCur.Text + "\r\n";
            CfgFileInfo += "MotorSpeed:" + toolStripTextBox_ThSpeed.Text + "\r\n";
            CfgFileInfo += "Torque:" + toolStripTextBox_ThTor.Text + "\r\n";
            CfgFileInfo += "Cadence:" + toolStripTextBox_ThCad.Text + "\r\n";
            CfgFileInfo += "BikeSpeed:" + toolStripTextBox_ThBikeSpeed.Text + "\r\n";
            CfgFileInfo += "T_PCB:" + toolStripTextBox_ThT_PCB.Text + "\r\n";
            CfgFileInfo += "T_MCU:" + toolStripTextBox_ThT_MCU.Text + "\r\n";
            CfgFileInfo += "T_Motor:" + toolStripTextBox_ThT_Motor.Text + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[MosCalK]" + "\r\n";
            CfgFileInfo += "K1-K5:" + toolStripTextBox_MosCalK.Text + "\r\n";
            CfgFileInfo += "MOS1:" + toolStripTextBox_MOS1.Text + "\r\n";
            CfgFileInfo += "MOS2:" + toolStripTextBox_MOS2.Text + "\r\n";
            CfgFileInfo += "MOS3:" + toolStripTextBox_MOS3.Text + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[ProtocolType]" + "\r\n";
            CfgFileInfo += "CAN:" + cANToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "UART:" + uARTToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[AutoUpdate]" + "\r\n";
            CfgFileInfo += "AutoUpdate:" + 打开ToolStripMenuItem.Checked.ToString() + "\r\n";
            CfgFileInfo += "\r\n";
            CfgFileInfo += "[AngleCal]" + "\r\n";
            CfgFileInfo += "MaxDiffLimit:" + textBox_AngleDiffTh.Text + "\r\n";
            CfgFileInfo += "ZeroDiffLimit:" + textBox_AngleZeroTh.Text + "\r\n";

            System.IO.File.WriteAllText(FileName, CfgFileInfo);
        }

        /// <summary>
        /// 配置状态更新，点击时保存
        /// </summary>
        private void ConfigFileSave_Click(object sender, EventArgs e)
        {
            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
        }

        /// <summary>
        /// 文本框修改结束，回车保存
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void ConfigFileSave_KeyDown(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                MessageBox.Show("数据已保存！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
            }
        }

        /// <summary>
        /// 弹出扫码按钮
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ScanCode_Click(object sender, EventArgs e)
        {
            Scan scan_form = new Scan();
            scan_form.ShowDialog();
            do
            {
                if (scan_form.textBox_Scan.Text == string.Empty)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("无内容!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                    break;
                }
                string ScanInfo = scan_form.textBox_Scan.Text;
                string regexInfo = "";
                string[] InfoList = { "" };
                try
                {
                    if (中置电机ToolStripMenuItem.Checked == true)
                    {
                        regexInfo = @"[0-9][0-9][V][0-9][0-9][0-9][W]";
                        InfoList = Regex.Split(ScanInfo, regexInfo, RegexOptions.IgnoreCase);
                    }
                    else if (轮毂电机ToolStripMenuItem.Checked == true)
                    {
                        InfoList = ScanInfo.Split(new string[] { "  " }, StringSplitOptions.None);
                        string Model = InfoList[0];
                        string Spec = InfoList[1];
                        string Sn = InfoList[2];
                        InfoList[0] = Model.Replace("-", "").Replace("Q12", "QA").Replace("Q15", "QB").Replace("Q18", "QC").Substring(2, 12) + Spec.Substring(Spec.Length - 4);
                        InfoList[1] = Sn;
                    }
                }
                catch (Exception)
                {
                    MessageBox.Show("格式错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    return;
                }
                if (InfoList.Length >= 2)
                {
                    //写入型号
                    textBox_FacModeName.Text = InfoList[0];
                    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);

                    //写入SN
                    textBox_FacModeNum.Text = InfoList[1];
                    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);
                }
                else
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("格式错误!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                    break;
                }
            } while (false);
            scan_form.Dispose();
        }

        /// <summary>
        /// 切换电机类型
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 中置电机ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            中置电机ToolStripMenuItem.Checked = true;
            轮毂电机ToolStripMenuItem.Checked = false;
            toolStripTextBox_MACPD.Text = "MM_MC1";
            toolStripTextBox_ServerPath.Text = "MIGIC_TEST";
            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
        }

        /// <summary>
        /// 切换电机类型
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 轮毂电机ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            中置电机ToolStripMenuItem.Checked = false;
            轮毂电机ToolStripMenuItem.Checked = true;
            toolStripTextBox_MACPD.Text = "GF_250_1";
            toolStripTextBox_ServerPath.Text = "HUB_Control_TEST";
            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
        }

        /// <summary>
        /// 获取配置文件日期
        /// </summary>
        /// <param name="DisAll"></param>
        private void GetDateList(bool DisAll)
        {
            string[] DateList = { "" };

            //从服务器更新日期列表
            if ((checkBox_OffLineFacMode.Checked == false) && (checkBox_OffLineCheckMode.Checked == false))
            {
                DateList = myFtp.GetDirectoryList(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName);
            }
            //从本地更新日期列表
            else
            {
                DateList = Directory.GetDirectories(localInfo.LocalPath + "\\" + localInfo.CfgPathName);
            }
            
            comboBox_FacModeCfgDate.Items.Clear();
            comboBox_CheckModeCfgDate.Items.Clear();

            //日期列表加载
            if (DisAll == true)
            {
                comboBox_FacModeCfgDate.Items.Add("显示近期");
                comboBox_CheckModeCfgDate.Items.Add("显示近期");
                comboBox_FacModeCfgDate.Items.Add("---");
                comboBox_CheckModeCfgDate.Items.Add("---");
                foreach (var file in DateList)
                {
                    comboBox_FacModeCfgDate.Items.Add(file.Substring(file.LastIndexOf("\\") + 1));
                    comboBox_CheckModeCfgDate.Items.Add(file.Substring(file.LastIndexOf("\\") + 1));
                }
            }
            else
            {
                if (DateList.Length > 10)
                {
                    comboBox_FacModeCfgDate.Items.Add("显示全部");
                    comboBox_CheckModeCfgDate.Items.Add("显示全部");
                    comboBox_FacModeCfgDate.Items.Add("---");
                    comboBox_CheckModeCfgDate.Items.Add("---");
                }
                for (int i = (DateList.Length > 10) ? (DateList.Length - 10) : 0; i < DateList.Length; i++)//显示最近10个日期
                {
                    comboBox_FacModeCfgDate.Items.Add(DateList[i].Substring(DateList[i].LastIndexOf("\\") + 1));
                    comboBox_CheckModeCfgDate.Items.Add(DateList[i].Substring(DateList[i].LastIndexOf("\\") + 1));
                }
            }
        }

        /// <summary>
        /// 获取配置文件列表
        /// </summary>
        /// <param name="date"></param>
        private void GetFileListFrom(string date)
        {
            string[] FileList = { "" };

            //从服务器更新文件列表
            if ((checkBox_OffLineFacMode.Checked == false) && (checkBox_OffLineCheckMode.Checked == false))
            {                
                FileList = myFtp.GetFileNameList(toolStripTextBox_ServerPath.Text + "/cfg/" + date);
            }
            else
            {
                FileList = Directory.GetFiles(localInfo.LocalPath + "\\" + localInfo.CfgPathName + "\\" + date);
            }                

            comboBox_CheckModeCfgFile.Items.Clear();
            comboBox_FacModeCfgFile.Items.Clear();

            foreach (var file in FileList)
            {
                if (file.Contains(".ttcfg"))
                {
                    comboBox_CheckModeCfgFile.Items.Add(file.Substring(file.LastIndexOf("\\") + 1));
                    comboBox_FacModeCfgFile.Items.Add(file.Substring(file.LastIndexOf("\\") + 1));
                }
            }
        }

        /// <summary>
        /// 检验模式选择文件日期
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox_CheckModeCfgDate_SelectionChangeCommitted(object sender, EventArgs e)
        {
            if (comboBox_CheckModeCfgDate.SelectedItem.ToString() == "显示全部")
            {
                GetDateList(true);
            }
            else if (comboBox_CheckModeCfgDate.SelectedItem.ToString() == "显示近期")
            {
                GetDateList(false);
            }
            else
            {
                comboBox_CheckModeCfgFile.Text = "";
                GetFileListFrom(comboBox_CheckModeCfgDate.SelectedItem.ToString());
            }
        }

        /// <summary>
        /// 配置模式选择文件日期
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox_FacModeCfgDate_SelectionChangeCommitted(object sender, EventArgs e)
        {
            if (comboBox_FacModeCfgDate.SelectedItem.ToString() == "显示全部")
            {
                GetDateList(true);
            }
            else if (comboBox_FacModeCfgDate.SelectedItem.ToString() == "显示近期")
            {
                GetDateList(false);
            }
            else
            {
                comboBox_FacModeCfgFile.Text = "";
                GetFileListFrom(comboBox_FacModeCfgDate.SelectedItem.ToString());
            }
        }

        /// <summary>
        /// 选中量产模式
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void tabControl1_Selected(object sender, TabControlEventArgs e)
        {
            //更新生产配置文件目录
            GetDateList(false);            
        }

        /// <summary>
        /// 量产测试结束
        /// </summary>
        /// <param name=""></param>
        private void FacMode_Stop(bool OK_Flag)
        {
            //打开开始按钮
            button__FacMode_Start.Enabled = true;

            //系统关机
            var Code = new byte[32];//发送的指令数据 
            Code[0] = 0xF0;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);

            //关闭串口
            //mySerialProcess.SerialClose(false);

            //路径设置
            string LocalSavePath = "";
            string ServerSavePath = "";
            if (OK_Flag)
            {
                LocalSavePath = localInfo.LocalDataPath + localInfo.WalkLogPathName + "OK\\";
                ServerSavePath = toolStripTextBox_ServerPath.Text + "/funcTest/OK/";                
            }
            else
            {
                LocalSavePath = localInfo.LocalDataPath + localInfo.WalkLogPathName + "FAIL\\";
                ServerSavePath = toolStripTextBox_ServerPath.Text + "/funcTest/FAIL/";
            }
            if (Directory.Exists(LocalSavePath) == false)
            {
                Directory.CreateDirectory(LocalSavePath);
            }

            //保存和上传
            string LogSavePath = "";
            string LogSaveFileName = "";
            string ProductInfo = textBox_FacModeScan.Text.Replace(" ", "_");
            LogSavePath = LocalSavePath + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ProductInfo;
            if (Directory.Exists(LogSavePath) == false)
            {
                Directory.CreateDirectory(LogSavePath);
            }
            //测试页面
            Double scaleX = PrimaryScreen.ScaleX;
            Double scaleY = PrimaryScreen.ScaleY;
            Bitmap bit = new Bitmap((int)(this.Width * scaleX), (int)(this.Height * scaleY));//实例化一个和窗体一样大的bitmap
            Graphics g = Graphics.FromImage(bit);
            g.CopyFromScreen((int)(this.Left * scaleX), (int)(this.Top * scaleY), 0, 0, new Size((int)(this.Width * scaleX), (int)(this.Height * scaleY)));//保存整个窗体为图片           
            LogSaveFileName = LogSavePath + "\\" + ProductInfo + "_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + "_测试页面" + ".png";
            bit.Save(LogSaveFileName);
            //上传测试页面到服务器
            if (myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (myFtp.DirectoryExist(ServerSavePath, DateNow) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow);
                }
                if (myFtp.DirectoryExist(ServerSavePath + DateNow, ProductInfo) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow + "/" + ProductInfo);
                }
                bool result = myFtp.UploadFile(LogSaveFileName, ServerSavePath + DateNow + "/" + ProductInfo);
                if (result == true)
                    richTextBox_FacModeLog.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试页面上传服务器成功" + "\r\n";
            }
            else
            {
                richTextBox_FacModeLog.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "服务器断开" + "\r\n";
            }
            //测试记录
            LogSaveFileName = LogSavePath + "\\" + ProductInfo + "_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + "_测试记录" + ".log";
            string file_str = "";
            file_str += "测试计算机：\r\n" + label_Computername.Text + "\r\n";            
            file_str += "测试时间：\r\n" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\r\n\r\n";
            file_str += "检验记录：\r\n" + richTextBox_FacModeLog.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            file_str += "检验结果：\r\n" + label_FacModeResult.Text + "\r\n\r\n";
            file_str += Local_HdInformation;
            System.IO.File.WriteAllText(LogSaveFileName, file_str);
            //上传测试记录到服务器
            if (myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (myFtp.DirectoryExist(ServerSavePath, DateNow) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow);
                }
                if (myFtp.DirectoryExist(ServerSavePath + DateNow, ProductInfo) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow + "/" + ProductInfo);
                }
                bool result = myFtp.UploadFile(LogSaveFileName, ServerSavePath + DateNow + "/" + ProductInfo);
                if (result == true)
                    richTextBox_FacModeLog.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试记录上传服务器成功" + "\r\n";
            }
            else
            {
                richTextBox_FacModeLog.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "服务器断开" + "\r\n";
            }

            //扫码框清空
            textBox_FacModeScan.Text = "";
        }

        /// <summary>
        /// 量产测试开始
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button__FacMode_Start_Click(object sender, EventArgs e)
        {
            //关闭测试项目编辑
            pictureBox_WriteLock.Image = global::Welling_Motor_Debug_Tool.Properties.Resources.Lock;
            foreach (Control c in groupBox2.Controls)
            {
                if (c is CheckBox)
                    c.Enabled = false;
            }
            WriteLockStatus = true;
            
            //检查配置文件
            if (comboBox_FacModeCfgFile.Text == "")
            {
                MessageBox.Show("请选择配置文件!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            //开始测试
            TestStart();
        }
        /// <summary>
        /// 测试子函数
        /// </summary>
        private void TestStart()
        {
            //初始化标签
            FacModelLabelInit();
            richTextBox_FacModeLog.Clear();

            //按钮禁止操作
            button__FacMode_Start.Enabled = false;

            //记录配置文件
            richTextBox_FacModeLog.AppendText("配置文件：" + comboBox_FacModeCfgDate.Text + " / " + comboBox_FacModeCfgFile.Text + "\r\n");

            //检查打标信息格式
            label_FacModeStatus.Text = "检查扫码信息";
            Delay_ms(500);
            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "检查扫码信息" + "\r\n");
            if (textBox_FacModeScan.Text == string.Empty)
            {
                MessageBox.Show("请扫码!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                button__FacMode_Start.Enabled = true;
                return;
            }
            try
            {
                if (中置电机ToolStripMenuItem.Checked == true)
                {
                    if (textBox_FacModeScan.Text.Split(' ').Length != 7)
                    {
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "标签格式错误";
                        button__FacMode_Start.Enabled = true;
                        return;
                    }
                }
                else if (轮毂电机ToolStripMenuItem.Checked == true) 
                {
                    if (textBox_FacModeScan.Text.Split(new string[] { "  " }, StringSplitOptions.None).Length != 3)
                    {
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "标签格式错误";
                        button__FacMode_Start.Enabled = true;
                        return;
                    }
                }             
            }
            catch (System.Exception)
            {
                label_FacModeStatus.Text = "存在故障！";
                label_FacModeResult.BackColor = Color.Red;
                label_FacModeResult.Text = "标签格式错误";
                button__FacMode_Start.Enabled = true;                
                return;
            }

            //打开串口
            mySerialProcess.SerialOpen(toolStripComboBox_ComNum.Text, toolStripComboBox_Baudrate.Text, false, false);
            if (!mySerialProcess.mySerial.IsOpen)
            {
                MessageBox.Show("请检查串口连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                //按钮禁止操作
                button__FacMode_Start.Enabled = true;
                return;
            }

            //流水号计数
            int serial = Convert.ToInt32(label_FacModeSerial.Text);
            serial += 1;
            label_FacModeSerial.Text = serial.ToString();
            File.WriteAllText(localInfo.LocalPath + localInfo.SerialNumFileName1, serial.ToString());

            //创建线程，执行测试任务
            Thread th = new Thread(FacModeTest_Task);
            th.Start();
        }

        /// <summary>
        /// 执行一次测试任务
        /// </summary>
        private void FacModeTest_Task()
        {            
            //开始测试
            richTextBox_FacModeLog.AppendText("产品标签：" + textBox_FacModeScan.Text + "\r\n");            
            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开始测试" + "\r\n");

            //变量定义
            var Code = new byte[255];//发送的指令数据                      
            
            label_FacModeStatus.Text = "开始测试"; 
            BootInfo = "";
            Delay_ms(500);
            label_FacModeStatus.Text = "系统开机";
            
            //UART控制器发送复位指令把联动装置盒控制器接口波特率改为57600
            if (uARTToolStripMenuItem.Checked)
            {
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送复位指令，切换联动装置盒波特率" + "\r\n");
                Code[0] = (byte)'R';
                Code[1] = (byte)'E';
                Code[2] = (byte)'S';
                Code[3] = (byte)'E';
                Code[4] = (byte)'T';
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
                Delay_ms(500);                
            }

            //发送开机指令                        
            //确保测试前先关机，发送关机指令再发送开机指令
            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送关机指令" + "\r\n");
            Code[0] = 0xF0;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
            Delay_ms(1500);
            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送开机指令" + "\r\n");
            Code[0] = 0xF1;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
            ACK_WaitCnt = 0;
            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "等待控制器返回Boot信息……" + "\r\n");
            while (ACK_WaitCnt <= 20) ; //10s，等待开机成功，联动装置盒控制器接口波特率需等待5s接口自动切换为9600
            
            //检查BOOT版本
            if (BootInfo != string.Empty)
            {
                label_FacModeBootVer.BackColor = Color.Green;
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开机成功，Boot版本：" + BootInfo + "\r\n");
                Delay_ms(500);
            }
            else
            {
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开机失败" + BootInfo + "\r\n");
                label_FacModeStatus.Text = "存在故障！";
                label_FacModeResult.BackColor = Color.Red;
                label_FacModeResult.Text = "测试异常";
                Delay_ms(500);
                //存储异常并上传
                FacMode_Stop(false);
                return;
            }

            //系统清除
            if (checkBox_FacModeSysClear.Checked)
            {
                do
                {
                    #if false
                    if (uARTToolStripMenuItem.Checked)//UART控制器默认按照5S协议收发数据
                    {
                        Code[0] = 0x00;//5S协议
                        Code[1] = 0x00;
                        mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                        Delay_ms(500);
                        mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                        Delay_ms(500);
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令进入5S协议" + "\r\n");
                    }
                    #endif

                    //发送系统清除指令    
                    label_FacModeStatus.Text = "系统清除";
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除" + "\r\n");
                    Code[0] = (byte)'C';
                    Code[1] = (byte)'L';
                    Code[2] = (byte)'E';
                    Code[3] = (byte)'A';
                    Code[4] = (byte)'R';
                    
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 6); //3s

                    //等待系统清除完成指令
                    if (WriteACK == true)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除成功" + "\r\n");
                        label_FacModeSysClear.BackColor = Color.Green;
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除，重发第1次" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 6) ; //3s
                        //等待系统清除完成指令
                        if (WriteACK == true)
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除成功" + "\r\n");
                            label_FacModeSysClear.BackColor = Color.Green;
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除，重发第2次" + "\r\n");
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 6) ; //3s
                            //等待系统清除完成指令
                            if (WriteACK == true)
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除成功" + "\r\n");
                                label_FacModeSysClear.BackColor = Color.Green;
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除失败" + "\r\n");
                                label_FacModeStatus.Text = "存在故障！";
                                label_FacModeResult.BackColor = Color.Red;
                                label_FacModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                FacMode_Stop(false);
                                return;
                            }
                        }
                    }

                    BootInfo = "";
                    //UART控制器发送复位指令把联动装置盒控制器接口波特率改为57600
                    if (uARTToolStripMenuItem.Checked)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送复位指令，切换联动装置盒波特率" + "\r\n");
                        Code[0] = (byte)'R';
                        Code[1] = (byte)'E';
                        Code[2] = (byte)'S';
                        Code[3] = (byte)'E';
                        Code[4] = (byte)'T';
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
                        Delay_ms(500);
                    }
                    //系统清除后需重新开机
                    label_FacModeStatus.Text = "重新开机";
                    //确保测试前先关机，发送关机指令再发送开机指令
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "重新发送关机指令" + "\r\n");
                    Code[0] = 0xF0;
                    mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
                    Delay_ms(1500);
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "重新发送开机指令" + "\r\n");
                    Code[0] = 0xF1;
                    mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
                    ACK_WaitCnt = 0;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "等待控制器返回Boot信息……" + "\r\n");
                    while (ACK_WaitCnt <= 20); //10s

                    //获取Boot版本信息
                    if (BootInfo != string.Empty)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "重新开机成功"  + "\r\n");
                        Delay_ms(500);
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "重新开机失败"  + "\r\n");
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        FacMode_Stop(false);
                        return;
                    }
                } while (false);
            }
            else
            {
                label_FacModeSysClear.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过系统清除！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过系统清除" + "\r\n");
                Delay_ms(500);
            }

            #if false
            if (uARTToolStripMenuItem.Checked)//UART控制器默认按照5S协议收发数据
            {
                Code[0] = 0x00;//5S协议
                Code[1] = 0x00;
                mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                Delay_ms(500);
                mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                Delay_ms(500);
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令进入5S协议" + "\r\n");
            }
            #endif

            //检查是否有故障
            if (textBox_ErrorCode.Text.Contains("H"))
            {
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "故障码：" + textBox_ErrorCode.Text + "\r\n");
                label_FacModeStatus.Text = "电机存在故障！";
                label_FacModeResult.BackColor = Color.Red;
                label_FacModeResult.Text = "测试异常";
                Delay_ms(500);
                //存储异常并上传
                FacMode_Stop(false);
                return;
            }

            //MOS内阻校准
            if (checkBox_FacMode_MosCal.Checked)
            {
                label_FacModeStatus.Text = "MOS内阻校准";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开始MOS内阻校准" + "\r\n");
                Delay_ms(500);
                //提示进行负载切换
                if (MessageBox.Show("电阻负载切换完成，开始校准？", "确认", MessageBoxButtons.OKCancel, MessageBoxIcon.Question) != DialogResult.OK)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "取消MOS内阻校准" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
                //确认后发送校准指令
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送校准指令" + "\r\n");
                string[] K = toolStripTextBox_MosCalK.Text.Split(',');
                Code[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
                ushort uwDataTemp = 0;
                uwDataTemp = Convert.ToUInt16(K[0]);
                Code[2] = (byte)(uwDataTemp & 0xFF);
                Code[3] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(K[1]);
                Code[4] = (byte)(uwDataTemp & 0xFF);
                Code[5] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(K[2]);
                Code[6] = (byte)(uwDataTemp & 0xFF);
                Code[7] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(K[3]);
                Code[8] = (byte)(uwDataTemp & 0xFF);
                Code[9] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(K[4]);
                Code[10] = (byte)(uwDataTemp & 0xFF);
                Code[11] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4A12, Code);
                WriteACK = false;
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 6) ; //3s
                if (WriteACK == true)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准完成" + "\r\n");
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送校准指令，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4A12, Code);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 6) ; //3s
                    if (WriteACK == true)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准完成" + "\r\n");
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送校准指令，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4A12, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 6) ; //3s
                        if (WriteACK == true)
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准完成" + "\r\n");
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }
                }
                #if false
                //因控制器复位需发送指令重新进入5S协议
                if (uARTToolStripMenuItem.Checked)//UART控制器默认按照5S协议收发数据
                {
                    Code[0] = 0x00;//5S协议
                    Code[1] = 0x00;
                    mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                    Delay_ms(500);
                    mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                    Delay_ms(500);
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令进入5S协议" + "\r\n");
                }
                #endif
                //读取显示校准返回数据
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准结果" + "\r\n");
                foreach (Control c in groupBox21.Controls)
                {
                    if (c is TextBox)
                        c.Text = "";
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if ((textBox_MOS_R1.Text == string.Empty) || (textBox_MOS_R2.Text == string.Empty) || (textBox_MOS_R3.Text == string.Empty))
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准结果，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if ((textBox_MOS_R1.Text == string.Empty) || (textBox_MOS_R2.Text == string.Empty) || (textBox_MOS_R3.Text == string.Empty))
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准结果，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if ((textBox_MOS_R1.Text == string.Empty) || (textBox_MOS_R2.Text == string.Empty) || (textBox_MOS_R3.Text == string.Empty))
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准结果异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻：" + textBox_MOS_R1.Text + " " + textBox_MOS_R2.Text + " " + textBox_MOS_R3.Text + "\r\n");
                }
                //与校准返回数据对比
                string[] MOS_R1_Th = toolStripTextBox_MOS1.Text.Split(',');
                string[] MOS_R2_Th = toolStripTextBox_MOS2.Text.Split(',');
                string[] MOS_R3_Th = toolStripTextBox_MOS3.Text.Split(',');
                if ((Convert.ToUInt16(textBox_MOS_R1.Text) >= Convert.ToUInt16(MOS_R1_Th[0])) && (Convert.ToUInt16(textBox_MOS_R1.Text) <= Convert.ToUInt16(MOS_R1_Th[1])) &&
                    (Convert.ToUInt16(textBox_MOS_R2.Text) >= Convert.ToUInt16(MOS_R2_Th[0])) && (Convert.ToUInt16(textBox_MOS_R2.Text) <= Convert.ToUInt16(MOS_R2_Th[1])) &&
                    (Convert.ToUInt16(textBox_MOS_R3.Text) >= Convert.ToUInt16(MOS_R3_Th[0])) && (Convert.ToUInt16(textBox_MOS_R3.Text) <= Convert.ToUInt16(MOS_R3_Th[1]))
                    )
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准合格" + "\r\n");
                    label_FacModeMosCal.BackColor = Color.Green;
                    //提示切换负载
                    MessageBox.Show("请将负载切换回电机！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                }
                else
                {                    
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准超范围" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    //提示切换负载
                    MessageBox.Show("请将负载切换回电机！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    return;
                }
            }
            else
            {
                label_FacModeMosCal.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过MOS内阻校准！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过MOS内阻校准" + "\r\n");
                Delay_ms(500);
            }

            //位置校准
            if (checkBox_FacMode_AngleCal.Checked)
            {
                //校准前进行一次开关机保存初始化数据
                BootInfo = "";
                label_FacModeStatus.Text = "位置校准";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开始位置校准" + "\r\n");
                //确保测试前先关机，发送关机指令再发送开机指令
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送关机指令" + "\r\n");
                Code[0] = 0xF0;
                mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
                Delay_ms(1500);
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送开机指令" + "\r\n");
                Code[0] = 0xF1;
                mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
                ACK_WaitCnt = 0;
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "等待控制器返回Boot信息……" + "\r\n");
                while (ACK_WaitCnt <= 10) ; //5s

                //获取Boot版本信息
                if (BootInfo != string.Empty)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "重新开机成功" + "\r\n");
                    Delay_ms(500);
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "重新开机失败" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }

                //发送位置校准指令
                for (int i = 0; i < 7; i++)
                    for (int j = 0; j < 6; j++)
                    {
                        dataGridView_AngleCal.Rows[i].Cells[j + 1].Value = "";
                    }
                foreach (Control cr in tabPage_AngleCal.Controls)
                {
                    if (cr is TextBox)
                    {
                        if ((cr != textBox_AngleDiffTh) && (cr != textBox_AngleZeroTh))
                            cr.Text = "";
                    }
                }
                Code[0] = 0;
                Code[1] = 0;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x0C, (ushort)0x5002, Code);
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置校准中，请等待" + "\r\n");
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 50) ; //25s

                //读取位置校准数据
                if (textBox_AngleDiffAvg.Text == string.Empty)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置校准失败" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置校准数据：" + "\r\n");
                for (int i = 0; i < 7; i++)
                {
                    richTextBox_FacModeLog.AppendText("电周期" + (i + 1).ToString()+"：");
                    for (int j = 0; j < 6; j++)
                    {
                        richTextBox_FacModeLog.AppendText(dataGridView_AngleCal.Rows[i].Cells[j + 1].Value.ToString() + ", ");
                    }
                    richTextBox_FacModeLog.AppendText("\r\n");
                    Delay_ms(200);
                }
                richTextBox_FacModeLog.AppendText("最小偏差：" + textBox_AngleDiffMin.Text+ ", " + "\r\n");
                richTextBox_FacModeLog.AppendText("最大偏差：" + textBox_AngleDiffMax.Text + ", " + "\r\n");
                richTextBox_FacModeLog.AppendText("平均偏差：" + textBox_AngleDiffAvg.Text + ", " + "\r\n");
                richTextBox_FacModeLog.AppendText("历史零点：" + textBox_AngleZeroInit.Text + ", " + "\r\n");
                richTextBox_FacModeLog.AppendText("当前零点：" + textBox_AngleZeroCur.Text + ", " + "\r\n");
                richTextBox_FacModeLog.AppendText("零点偏差：" + textBox_AngleZeroDiff.Text + ", " + "\r\n");

                //比较位置偏差
                if ((Math.Abs(Convert.ToDouble(textBox_AngleDiffMin.Text)) > Convert.ToDouble(textBox_AngleDiffTh.Text)) ||
                    (Math.Abs(Convert.ToDouble(textBox_AngleDiffMax.Text)) > Convert.ToDouble(textBox_AngleDiffTh.Text)) ||
                    (Math.Abs(Convert.ToDouble(textBox_AngleDiffAvg.Text)) > Convert.ToDouble(textBox_AngleZeroTh.Text))
                    )
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置偏差过大，无法校准" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }

                //写入校准偏差值
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置偏差满足要求，写入校准数据" + "\r\n");
                double data1 = Convert.ToDouble(textBox_AngleZeroInit.Text) - Convert.ToDouble(textBox_AngleDiffAvg.Text);
                if (data1 > 360)
                {
                    data1 -= 360;
                }
                else if (data1 < -360)
                {
                    data1 += 360;
                }
                Int16 data2 = (Int16)(data1 * 32768 / 360);
                Code[0] = 0x01;
                Code[1] = 0x00;
                Code[2] = (byte)(data2);
                Code[3] = (byte)(data2 >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x5104, Code);
                WriteACK = false;
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (WriteACK == true)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置偏差写入成功" + "\r\n");
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入位置偏差，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x5104, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (WriteACK == true)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置偏差写入成功" + "\r\n");
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入位置偏差，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x5104, Code);
                        WriteACK = false;
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (WriteACK == true)
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置偏差写入成功" + "\r\n");
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置偏差写入失败" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置校准正常，位置偏差值：" + textBox_AngleDiffAvg.Text + "\r\n");
                label_FacModeAngleCal.BackColor = Color.Green;
            }
            else
            {
                label_FacModeAngleCal.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过位置校准！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过位置校准" + "\r\n");
                Delay_ms(500);
            }

            //参数写入
            if (checkBox_FacModeCfgWrite.Checked)
            {
                label_FacModeStatus.Text = "参数写入";
                //写入产品型号和SN
                do
                {
                    //根据扫码信息获取型号和SN
                    string ScanInfo = textBox_FacModeScan.Text;
                    string regexInfo = "";
                    string[] InfoList = { "" };
                    try
                    {
                        if (中置电机ToolStripMenuItem.Checked == true)
                        {
                            regexInfo = @"[0-9][0-9][V][0-9][0-9][0-9][W]";
                            InfoList = Regex.Split(ScanInfo.Replace(" ", ""), regexInfo, RegexOptions.IgnoreCase);
                        }
                        else if (轮毂电机ToolStripMenuItem.Checked == true)
                        {
                            InfoList = ScanInfo.Split(new string[] { "  " }, StringSplitOptions.None);
                            string Model = InfoList[0];
                            string Spec = InfoList[1];
                            string Sn = InfoList[2];
                            InfoList[0] = Model.Replace("-", "").Replace("Q12", "QA").Replace("Q15", "QB").Replace("Q18", "QC").Substring(2, 12) + Spec.Substring(Spec.Length - 4);
                            InfoList[1] = Sn;
                        }
                    }
                    catch
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "标签格式错误"  + "\r\n");
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "标签格式错误";
                        Delay_ms(500);
                        //存储异常并上传
                        FacMode_Stop(false);
                        return;
                    }
                    
                    if (InfoList.Length >= 2)
                    {
                        //检查配置文件是否与打标信息一致
                        //...

                        //写入型号
                        label_FacModeStatus.Text = "写入型号";
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入型号" + "\r\n");
                        textBox_FacModeName.Text = InfoList[0];
                        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);
                        WriteACK = false;
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2); //1s
                        if (WriteACK == true)
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "型号写入成功" + "\r\n");
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入型号，第1次重发" + "\r\n");
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2210, ModeArray);                                                       
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (WriteACK == true)
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "型号写入成功" + "\r\n");
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入型号，第2次重发" + "\r\n");
                                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2210, ModeArray);
                                ACK_WaitCnt = 0;
                                while (ACK_WaitCnt <= 2) ; //1s
                                if (WriteACK == true)
                                {
                                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "型号写入成功" + "\r\n");
                                }
                                else
                                {
                                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "型号写入失败" + "\r\n");
                                    label_FacModeStatus.Text = "存在故障！";
                                    label_FacModeResult.BackColor = Color.Red;
                                    label_FacModeResult.Text = "测试异常";
                                    Delay_ms(500);
                                    //存储异常并上传
                                    FacMode_Stop(false);
                                    return;
                                }
                            }
                        }

                        //写入SN                    
                        label_FacModeStatus.Text = "写入SN";
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入SN" + "\r\n");
                        textBox_FacModeNum.Text = InfoList[1];
                        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);
                        WriteACK = false;
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2); //1s
                        if (WriteACK == true)
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "SN写入成功" + "\r\n");
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入SN，第1次重发" + "\r\n");
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2310, SNArray);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (WriteACK == true)
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "SN写入成功" + "\r\n");
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入SN，第2次重发" + "\r\n");
                                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2310, SNArray);
                                ACK_WaitCnt = 0;
                                while (ACK_WaitCnt <= 2) ; //1s
                                if (WriteACK == true)
                                {
                                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "SN写入成功" + "\r\n");
                                }
                                else
                                {
                                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "SN写入失败" + "\r\n");
                                    label_FacModeStatus.Text = "存在故障！";
                                    label_FacModeResult.BackColor = Color.Red;
                                    label_FacModeResult.Text = "测试异常";
                                    Delay_ms(500);
                                    //存储异常并上传
                                    FacMode_Stop(false);
                                    return;
                                }
                            }
                        }
                    }
                    else
                    {
                        MessageBox.Show("格式错误!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                        return;
                    }
                } while (false);

                //写入配置文件
                do
                {
                    label_FacModeStatus.Text = "写入配置文件";
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取配置文件" + "\r\n");
                    //配置文件
                    List<byte[]> CmdList = new List<byte[]>();
                    //从服务器下载文件
                    if ((checkBox_OffLineFacMode.Checked == false) && (checkBox_OffLineCheckMode.Checked == false))
                    {
                        string SelectFile = "";
                        SelectFile = comboBox_FacModeCfgDate.SelectedItem.ToString() + "/" + comboBox_FacModeCfgFile.SelectedItem.ToString();
                        if (File.Exists(localInfo.LocalPath + comboBox_FacModeCfgFile.SelectedItem.ToString()))//本地存在选定文件，先删除本地
                        {
                            File.Delete(localInfo.LocalPath + comboBox_FacModeCfgFile.SelectedItem.ToString());
                        }
                        myFtp.DownloadFile(toolStripTextBox_ServerPath.Text + "/" + localInfo.CfgPathName + SelectFile, localInfo.LocalPath);
                        //打开文件
                        StreamReader streamReader = new StreamReader(localInfo.LocalPath + comboBox_FacModeCfgFile.SelectedItem.ToString());
                        CmdList.Clear();
                        while (streamReader.Peek() != -1)
                        {
                            string fileLineInfo = streamReader.ReadLine();
                            if (fileLineInfo.IndexOf("[") != -1)
                            {
                                continue;
                            }
                            CmdList.Add(mySerialProcess.HexStringToBytes(fileLineInfo, true));
                        }
                        streamReader.Close();
                    }
                    //加载本地文件
                    else
                    {
                        string SelectFile = "";
                        SelectFile = comboBox_FacModeCfgDate.SelectedItem.ToString() + "\\" + comboBox_FacModeCfgFile.SelectedItem.ToString();
                        StreamReader streamReader = new StreamReader(localInfo.LocalPath + "\\" + localInfo.CfgPathName + "\\" + SelectFile);
                        CmdList.Clear();
                        while (streamReader.Peek() != -1)
                        {
                            string fileLineInfo = streamReader.ReadLine();
                            if (fileLineInfo.IndexOf("[") != -1)
                            {
                                continue;
                            }
                            CmdList.Add(mySerialProcess.HexStringToBytes(fileLineInfo, true));
                        }
                        streamReader.Close();
                    }
                    
                    int CmdNum = CmdList.Count(); //指令个数
                    Delay_ms(500);
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取完成，" + "共" + CmdNum.ToString() + "条指令，" + "开始写入" + "\r\n");
                    Delay_ms(500);
                    //开始写入
                    for (int i = 0; i < CmdList.Count; i++)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入第" + (i + 1).ToString() + "条指令" + "\r\n");
                        mySerialProcess.mySerial.Write(CmdList[i], 0, CmdList[i].Length);
                        WriteACK = false;
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (WriteACK == true)
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "第" + (i + 1).ToString() + "条指令写入正常" + "\r\n");
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入第" + (i + 1).ToString() + "条指令，第1次重发" + "\r\n");
                            mySerialProcess.mySerial.Write(CmdList[i], 0, CmdList[i].Length);
                            WriteACK = false;
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (WriteACK == true)
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "第" + (i + 1).ToString() + "条指令写入正常" + "\r\n");
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入第" + (i + 1).ToString() + "条指令，第2次重发" + "\r\n");
                                mySerialProcess.mySerial.Write(CmdList[i], 0, CmdList[i].Length);
                                WriteACK = false;
                                ACK_WaitCnt = 0;
                                while (ACK_WaitCnt <= 2) ; //1s
                                if (WriteACK == true)
                                {
                                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "第" + (i + 1).ToString() + "条指令写入正常" + "\r\n");
                                }
                                else
                                {
                                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "参数写入失败，" + "共" + CmdNum.ToString() + "条指令，" + "写入成功" + i.ToString() + "条" + "\r\n");
                                    label_FacModeStatus.Text = "存在故障！";
                                    label_FacModeResult.BackColor = Color.Red;
                                    label_FacModeResult.Text = "测试异常";
                                    Delay_ms(500);
                                    //存储异常并上传
                                    FacMode_Stop(false);
                                    return;
                                }
                            }
                        }
                    }
                    //写入完成
                    label_FacMode_CfgWrite.BackColor = Color.Green;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "参数写入成功" + "\r\n");
                    Delay_ms(500);
                } while (false);
            }
            else
            {
                label_FacMode_CfgWrite.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过参数写入！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过参数写入" + "\r\n");
                Delay_ms(500);
            }

            //BMS通讯
            if (checkBox_FacModeBMS.Checked)
            {
                if (label_FacModeBMS.BackColor == Color.Red)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "BMS通讯异常" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
            }
            else
            {
                label_FacModeBMS.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过BMS通讯检测！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过BMS通讯检测" + "\r\n");
                Delay_ms(500);
            }

            //基础功能检测
            if (checkBox_FacBaseFucTest.Checked)
            {
                label_FacModeStatus.Text = "基础功能检测";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开始基础功能检测" + "\r\n");
                //确认负载位置
                if (checkBox_FacMode_MosCal.Checked)
                {
                    if (MessageBox.Show("请再次确认负载是否切换回电机？", "确认", MessageBoxButtons.OKCancel, MessageBoxIcon.Question) == DialogResult.OK)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "负载已切换为电机，继续测试" + "\r\n");
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试取消" + "\r\n");
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        FacMode_Stop(false);
                        return;
                    }
                }                
                //发送指令进入配置模式
                do
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式" + "\r\n");
                    Code[0] = 0x01;
                    mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2); //1s
                    if (textBox_RunInfo_Vol.Text != "---")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第1次重发" + "\r\n");
                        mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_Vol.Text != "---")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第2次重发" + "\r\n");
                            mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (textBox_RunInfo_Vol.Text != "---")
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式异常" + "\r\n");
                                label_FacModeStatus.Text = "存在故障！";
                                label_FacModeResult.BackColor = Color.Red;
                                label_FacModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                FacMode_Stop(false);
                                return;
                            }
                        }                        
                    }
                } while (false);

                //发送指令启动电机
                do
                {
#if false //通过运行模式3启动电机
                    //发送指令读取调试信息
                    richTextBox_DebugParam.Clear();
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4500, null);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2); //1s

                    //获取调试信息
                    string DebugDefaultInfo = "";
                    if (richTextBox_DebugParam.Text == string.Empty)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "获取调试信息异常" + "\r\n");
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        FacMode_Stop(false);
                        return;
                    }
                    else
                    {
                        DebugDefaultInfo = richTextBox_DebugParam.Text;
                    }
                    //设置模式
                    string[] strDataTemp = DebugDefaultInfo.Split(new string[] { ", " }, StringSplitOptions.None);
                    strDataTemp[0] = "整体运行模式=3";
                    //发送数据
                    Code[0] = 0;
                    Code[1] = 0;
                    for (int i = 0; i < strDataTemp.Length; i++)
                    {
                        ushort uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                        Code[2 * i + 2] = (byte)uwDataTemp;
                        Code[2 * i + 3] = (byte)(uwDataTemp >> 8);
                    }
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, Code);
                    label_FacModeStatus.Text = "启动电机";
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "启动电机" + "\r\n");
#else //通过Walk模式启动电机
                    //设置转速100%
                    var Data = new byte[1];
                    Data[0] = (byte)100;
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
                    Delay_ms(500);
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
                    Delay_ms(500);
                    //启动电机进入WALK模式
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "基础功能检测，进入WALK" + "\r\n");
                    Code[0] = 0x22;
                    Code[1] = 0xF0;
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 200))
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK，第1次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);                       
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 200))
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK，第2次重发" + "\r\n");
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 200))
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK异常" + "\r\n");
                                label_FacModeStatus.Text = "存在故障！";
                                label_FacModeResult.BackColor = Color.Red;
                                label_FacModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                FacMode_Stop(false);
                                return;
                            }
                        }   
                    }
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入WALK，开始检测" + "\r\n");
#endif
                    Delay_ms(3000);
                } while (false);

                //判断车速
                if ((Convert.ToDouble(textBox_RunInfo_BikeSpeed.Text.Split(' ')[0]) <= Convert.ToDouble( toolStripTextBox_ThBikeSpeed.Text.Split(',')[1])) && 
                    (Convert.ToDouble(textBox_RunInfo_BikeSpeed.Text.Split(' ')[0]) >= Convert.ToDouble(toolStripTextBox_ThBikeSpeed.Text.Split(',')[0])))
                {
                    label_FacModeSpeed.BackColor = Color.Green;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "车速传感器正常" + " " + textBox_RunInfo_BikeSpeed.Text + "\r\n");
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "车速传感器异常" + " " + textBox_RunInfo_BikeSpeed.Text + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }

                //判断电压
                if ((Convert.ToDouble(textBox_RunInfo_Vol.Text.Split(' ')[0]) <= Convert.ToDouble(toolStripTextBox_ThVol.Text.Split(',')[1])) &&
                    (Convert.ToDouble(textBox_RunInfo_Vol.Text.Split(' ')[0]) >= Convert.ToDouble(toolStripTextBox_ThVol.Text.Split(',')[0])))
                {
                    label_FacModeVolTest.BackColor = Color.Green;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电压测量正常" + " " + textBox_RunInfo_Vol.Text + "\r\n");
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电压测量异常" + " " + textBox_RunInfo_Vol.Text + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }

                //判断电流
                if ((Convert.ToDouble(textBox_RunInfo_Current.Text.Split(' ')[0]) <= Convert.ToDouble(toolStripTextBox_ThCur.Text.Split(',')[1])) &&
                    (Convert.ToDouble(textBox_RunInfo_Current.Text.Split(' ')[0]) >= Convert.ToDouble(toolStripTextBox_ThCur.Text.Split(',')[0])))
                {
                    label_FacModeCurrentTest.BackColor = Color.Green;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电流测量正常" + " " + textBox_RunInfo_Current.Text + "\r\n");
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电流测量异常" + " " + textBox_RunInfo_Current.Text + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }

                //判断温度
                if ((Convert.ToDouble(textBox_RunInfo_T_PCB.Text.Split(' ')[0]) <= Convert.ToDouble(toolStripTextBox_ThT_PCB.Text.Split(',')[1])) &&
                    (Convert.ToDouble(textBox_RunInfo_T_PCB.Text.Split(' ')[0]) >= Convert.ToDouble(toolStripTextBox_ThT_PCB.Text.Split(',')[0])) &&
                    (Convert.ToDouble(textBox_RunInfo_T_MCU.Text.Split(' ')[0]) <= Convert.ToDouble(toolStripTextBox_ThT_MCU.Text.Split(',')[1])) &&
                    (Convert.ToDouble(textBox_RunInfo_T_MCU.Text.Split(' ')[0]) >= Convert.ToDouble(toolStripTextBox_ThT_MCU.Text.Split(',')[0])) &&
                    (Convert.ToDouble(textBox_RunInfo_T_Coil.Text.Split(' ')[0]) <= Convert.ToDouble(toolStripTextBox_ThT_Motor.Text.Split(',')[1])) &&
                    (Convert.ToDouble(textBox_RunInfo_T_Coil.Text.Split(' ')[0]) >= Convert.ToDouble(toolStripTextBox_ThT_Motor.Text.Split(',')[0])))
                {
                    label_FacModeNTC.BackColor = Color.Green;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "温度传感器正常" + " " + textBox_RunInfo_T_PCB.Text + " " + textBox_RunInfo_T_MCU.Text + " " + textBox_RunInfo_T_Coil.Text + "\r\n");
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "温度传感器异常" + " " + textBox_RunInfo_T_PCB.Text + " " + textBox_RunInfo_T_MCU.Text + " " + textBox_RunInfo_T_Coil.Text + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }

                //判断转速
                if ((Convert.ToDouble(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) <= Convert.ToDouble(toolStripTextBox_ThSpeed.Text.Split(',')[1])) &&
                    (Convert.ToDouble(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) >= Convert.ToDouble(toolStripTextBox_ThSpeed.Text.Split(',')[0])))
                {
                    label_FacModeMotorSpeed.BackColor = Color.Green;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机转速正常" + " " + textBox_RunInfo_MotorSpeed.Text + "\r\n");
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机转速异常" + " " + textBox_RunInfo_MotorSpeed.Text + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }

                //发送指令停止电机
                do
                {
                    //设置转速0%
                    var Data = new byte[1];
                    Data[0] = (byte)0;
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
                    Delay_ms(500);
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
                    Delay_ms(500);
#if false //通过修改调试模式停止电机
                    //获取调试信息
                    string DebugDefaultInfo = "";
                    if (richTextBox_DebugParam.Text == string.Empty)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "获取调试信息异常" + "\r\n");
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        FacMode_Stop(false);
                        return;
                    }
                    else
                    {
                        DebugDefaultInfo = richTextBox_DebugParam.Text;
                    }
                    //设置模式
                    string[] strDataTemp = DebugDefaultInfo.Split(new string[] { ", " }, StringSplitOptions.None);
                    //发送数据
                    Code[0] = 0;
                    Code[1] = 0;
                    for (int i = 0; i < strDataTemp.Length; i++)
                    {
                        ushort uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                        Code[2 * i + 2] = (byte)uwDataTemp;
                        Code[2 * i + 3] = (byte)(uwDataTemp >> 8);
                    }
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, Code);
                    label_FacModeStatus.Text = "停止电机";
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "停止电机" + "\r\n");

#else //通过调整档位停止电机
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令退出WALK" + "\r\n");
                    Code[0] = 0x00;
                    Code[1] = 0xF0;
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_GearSt.Text != "OFF")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令退出WALK，第1次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_GearSt.Text != "OFF")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令退出WALK，第2次重发" + "\r\n");
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (textBox_RunInfo_GearSt.Text != "OFF")
                            { 
                            
                            }
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "退出WALK异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已退出WALK，基础功能检测完成" + "\r\n");
#endif
                    Delay_ms(2000);
                } while (false);
            }
            else
            {
                label_FacModeSpeed.BackColor = Color.Yellow;
                label_FacModeVolTest.BackColor = Color.Yellow;
                label_FacModeCurrentTest.BackColor = Color.Yellow;
                label_FacModeNTC.BackColor = Color.Yellow;
                label_FacModeMotorSpeed.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过基础功能检测！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过基础功能检测" + "\r\n");
                Delay_ms(500);
            }

            //力矩检测
            if (checkBox_FacTor.Checked)
            {
                label_FacModeStatus.Text = "力矩传感器检测！";
                //发送指令进入配置模式
                do
                {
                    if (textBox_RunInfo_Vol.Text != "---") //已进入配置模式，不重新发送
                    {
                        break;
                    }
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式" + "\r\n");
                    Code[0] = 0x01;
                    mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_Vol.Text != "---")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                        Delay_ms(500);
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第1次重发" + "\r\n");
                        mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);                                                
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_Vol.Text != "---")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                            Delay_ms(500);
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第2次重发" + "\r\n");
                            mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (textBox_RunInfo_Vol.Text != "---")
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                                Delay_ms(500);
                            }
                            else
                            { 
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式异常" + "\r\n");
                                label_FacModeStatus.Text = "存在故障！";
                                label_FacModeResult.BackColor = Color.Red;
                                label_FacModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                FacMode_Stop(false);
                                return;
                            }
                        }  
                    }
                } while (false);
                ushort Max = 0, Torque = 0;
                //提示输入力矩信号
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "10s内模拟力矩信号输入" + "\r\n");
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 20) //10s
                {
                    //获取力矩值                            
                    Torque = (ushort)Convert.ToInt16(textBox_RunInfo_Torque.Text.Split(' ')[0]);
                    if (Torque > Max)
                        Max = Torque;
                    if ((Max <= Convert.ToDouble(toolStripTextBox_ThTor.Text.Split(',')[1])) &&
                        (Max >= Convert.ToDouble(toolStripTextBox_ThTor.Text.Split(',')[0])) &&
                        (ACK_WaitCnt >= 6))
                    {
                        label_FacModeTq.BackColor = Color.Green;
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "力矩传感器正常" + " " + textBox_RunInfo_Torque.Text + "\r\n");
                        break;
                    }
                }
                if (ACK_WaitCnt >= 20)                
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "力矩传感器异常" + " " + textBox_RunInfo_Torque.Text + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }          
            }
            else
            {
                label_FacModeTq.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过力矩检测！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过力矩检测" + "\r\n");
                Delay_ms(500);
            }

            //踏频检测
            if (checkBox_FacCad.Checked)
            {
                label_FacModeStatus.Text = "踏频传感器检测！";
                //发送指令进入配置模式
                do
                {
                    if (textBox_RunInfo_Vol.Text != "---") //已进入配置模式，不重新发送
                    {
                        break;
                    }
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式" + "\r\n");
                    Code[0] = 0x01;
                    mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_Vol.Text != "---")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                        Delay_ms(500);
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第1次重发" + "\r\n");
                        mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_Vol.Text != "---")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                            Delay_ms(500);
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第2次重发" + "\r\n");
                            mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (textBox_RunInfo_Vol.Text != "---")
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                                Delay_ms(500);
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式异常" + "\r\n");
                                label_FacModeStatus.Text = "存在故障！";
                                label_FacModeResult.BackColor = Color.Red;
                                label_FacModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                FacMode_Stop(false);
                                return;
                            }
                        }
                    }
                } while (false);
                ushort Max = 0, Cadence = 0;
                //提示输入踏频信号
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "10s内模拟踏频信号输入" + "\r\n");
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 20) //10s
                {
                    //获取踏频                           
                    Cadence = (ushort)Convert.ToInt16(textBox_RunInfo_Cadence.Text.Split(' ')[0]);
                    if (Cadence > Max)
                        Max = Cadence;
                    if ((Max <= Convert.ToDouble(toolStripTextBox_ThCad.Text.Split(',')[1])) &&
                        (Max >= Convert.ToDouble(toolStripTextBox_ThCad.Text.Split(',')[0])) &&
                        (ACK_WaitCnt >= 6))
                    {
                        label_FacModeCad.BackColor = Color.Green;
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "踏频传感器正常" + " " + textBox_RunInfo_Cadence.Text + "\r\n");
                        break;
                    }
                }
                if (ACK_WaitCnt >= 20)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "踏频传感器异常" + " " + textBox_RunInfo_Cadence.Text + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
            }
            else
            {
                label_FacModeCad.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过踏频检测！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过踏频检测" + "\r\n");
                Delay_ms(500);
            }

            //转把检测
            if (checkBox_FacThrrotleTest.Checked)
            {
                label_FacModeStatus.Text = "转把检测";
                //发送指令进入配置模式
                do
                {
                    if (textBox_RunInfo_Vol.Text != "---") //已进入配置模式，不重新发送
                    {
                        break;
                    }
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式" + "\r\n");
                    Code[0] = 0x01;
                    mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_Vol.Text != "---")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                        Delay_ms(500);
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第1次重发" + "\r\n");
                        mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_Vol.Text != "---")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                            Delay_ms(500);
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第2次重发" + "\r\n");
                            mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (textBox_RunInfo_Vol.Text != "---")
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                                Delay_ms(500);
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式异常" + "\r\n");
                                label_FacModeStatus.Text = "存在故障！";
                                label_FacModeResult.BackColor = Color.Red;
                                label_FacModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                FacMode_Stop(false);
                                return;
                            }
                        }
                    }
                } while (false);
                //进入TURBO档
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "转把检测，发送指令进入TURBO" + "\r\n");
                Code[0] = 0x04;
                Code[1] = 0xF0;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                WriteACK = false;
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (textBox_RunInfo_GearSt.Text != "TURBO")
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入TURBO，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);                                        
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_GearSt.Text != "TURBO")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入TURBO，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_GearSt.Text != "TURBO")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入TURBO异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }                        
                }
                //进入TURBO后，如果电机直接启动，认为转把电压异常
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "转把自检，请松开转把" + "\r\n");
                Delay_ms(3000);
                if (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) > 500)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "转把电压异常" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "转把自检正常" + "\r\n");
                Delay_ms(500);
                //提示转动转把
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入TURBO，10s内转动转把" + "\r\n");
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 20)
                {
                    if ((Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) > 500) && (ACK_WaitCnt >= 10))
                    {
                        label_FacModeGas.BackColor = Color.Green;
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "转把功能正常，松开转把" + "\r\n");
                        break;
                    }
                }
                if (ACK_WaitCnt >= 20) //转把超时
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "转把功能异常，松开转把" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
            }
            else
            {
                label_FacModeGas.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过转把检测！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过转把检测" + "\r\n");
                Delay_ms(500);
            }

            //刹车检测
            if (checkBox_FacBreakTest.Checked)
            {
                label_FacModeStatus.Text = "刹把检测";
                //发送指令进入配置模式
                do
                {
                    if (textBox_RunInfo_Vol.Text != "---") //已进入配置模式，不重新发送
                    {
                        break;
                    }
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式" + "\r\n");
                    Code[0] = 0x01;
                    mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                    WriteACK = false;
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_Vol.Text != "---")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                        Delay_ms(500);
                    }
                    else
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第1次重发" + "\r\n");
                        mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_Vol.Text != "---")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                            Delay_ms(500);
                        }
                        else
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式，第2次重发" + "\r\n");
                            mySerialProcess.SendCmdWithoutNotice((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (textBox_RunInfo_Vol.Text != "---")
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已进入配置模式" + "\r\n");
                                Delay_ms(500);
                            }
                            else
                            {
                                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入配置模式异常" + "\r\n");
                                label_FacModeStatus.Text = "存在故障！";
                                label_FacModeResult.BackColor = Color.Red;
                                label_FacModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                FacMode_Stop(false);
                                return;
                            }
                        }
                    }
                } while (false);
                //测试前先确定电机已停止
                UInt16 WaitTime = 10;
                do
                {
                    WaitTime--;
                    if (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 100)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机停止，开始进行剎把检测，进入WALK" + "\r\n");
                        break;
                    }
                    if (WaitTime == 0)
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机无法停止，剎把检测异常" + "\r\n");
                        label_FacModeStatus.Text = "存在故障！";
                        label_FacModeResult.BackColor = Color.Red;
                        label_FacModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        FacMode_Stop(false);
                        return;
                    }
                    Delay_ms(500);
                } while (true);   
                //设置转速100%
                var Data = new byte[1];
                Data[0] = (byte)100;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
                Delay_ms(500);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
                Delay_ms(500);
                //启动电机进入WALK模式
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "剎把检测，进入WALK" + "\r\n");
                Code[0] = 0x22;
                Code[1] = 0xF0;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                WriteACK = false;
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 500))
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK，第1次重发" + "\r\n");                    
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);                    
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 500))
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if ((textBox_RunInfo_GearSt.Text != "WALK") || (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 500))
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }   
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "进入WALK，10s内操作剎把" + "\r\n");
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 20)
                {
                    if (Convert.ToInt32(textBox_RunInfo_MotorSpeed.Text.Split(' ')[0]) < 100)
                    {
                        label_FacModeBreak.BackColor = Color.Green;
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "剎把功能正常，松开剎把" + "\r\n");
                        break;
                    }
                }
                if (ACK_WaitCnt >= 20) //剎把超时
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机转速：" + textBox_RunInfo_MotorSpeed.Text + "，" + "剎把功能异常，松开剎把" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
                //停止电机
                Code[0] = 0x00;
                Code[1] = 0xF0;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                WriteACK = false;
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (textBox_RunInfo_GearSt.Text != "OFF")
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "退出WALK，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);                    
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_GearSt.Text != "OFF")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "退出WALK，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_GearSt.Text != "OFF")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "退出WALK异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "退出WALK" + "\r\n");
                Delay_ms(500);
            }
            else
            {
                label_FacModeBreak.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过刹车检测！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过刹车检测" + "\r\n");
                Delay_ms(500);
            }

            //前后灯检测
            if (checkBox_FacLightTest.Checked)
            {
                //前后灯检测
                label_FacModeStatus.Text = "前后灯检测";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送开灯指令" + "\r\n");
                //发送指令打开车灯
                Code[0] = 0x00;
                Code[1] = 0xF1;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                WriteACK = false;
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (textBox_RunInfo_LightSwitch.Text != "ON")
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开灯指令，第1次重发" + "\r\n");                    
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);                    
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2); //1s
                    if (textBox_RunInfo_LightSwitch.Text != "ON")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开灯指令，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_LightSwitch.Text != "ON")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开灯指令发送异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    } 
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已打开前后灯" + "\r\n");
                Delay_ms(500);
                //提示检查灯压是否正确
                if (MessageBox.Show("前后灯是否正常开启？", "前后灯判断", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    label_FacModeLightF.BackColor = Color.Green;
                    label_FacModeLightB.BackColor = Color.Green;
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "前后灯正常" + "\r\n");
                    Delay_ms(500);
                }
                else
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "前后灯异常" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
                //发送指令关闭车灯
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送关灯指令" + "\r\n");
                Code[0] = 0x00;
                Code[1] = 0xF0;
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                WriteACK = false;
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (textBox_RunInfo_LightSwitch.Text != "OFF")
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "关灯指令，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (textBox_RunInfo_LightSwitch.Text != "OFF")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "关灯指令，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (textBox_RunInfo_LightSwitch.Text != "OFF")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "关灯指令发送异常" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "已关闭前后灯" + "\r\n");
                Delay_ms(500);
            }
            else
            {
                label_FacModeLightF.BackColor = Color.Yellow;
                label_FacModeLightB.BackColor = Color.Yellow;
                label_FacModeStatus.Text = "跳过前后灯检测！";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过前后灯检测" + "\r\n");
                Delay_ms(500);
            }

            //软件版本检测
            do
            {
                label_FacModeStatus.Text = "软件版本确认";
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令读取版本信息" + "\r\n");
                //发送指令读取版本                
                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);
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (Class_Motor_Ver.Mode == "---")
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取版本信息，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3900, null);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (Class_Motor_Ver.Mode == "---")
                    {
                        richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取版本信息，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3900, null);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (Class_Motor_Ver.Mode == "---")
                        {
                            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取版本信息失败" + "\r\n");
                            label_FacModeStatus.Text = "存在故障！";
                            label_FacModeResult.BackColor = Color.Red;
                            label_FacModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            FacMode_Stop(false);
                            return;
                        }
                    }  
                }
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "版本信息读取成功" + "\r\n");
                richTextBox_FacModeLog.AppendText("型号: " + Class_Motor_Ver.Mode + "\r\n");
                richTextBox_FacModeLog.AppendText("序列号: " + Class_Motor_Ver.SN + "\r\n");
                richTextBox_FacModeLog.AppendText("硬件版本: " + Class_Motor_Ver.HW + "\r\n");
                richTextBox_FacModeLog.AppendText("软件版本: " + Class_Motor_Ver.FW + "\r\n");
                richTextBox_FacModeLog.AppendText("软件标识: " + Class_Motor_Ver.Special + "\r\n");
                //判断版本是否正确
                string VerCheck = comboBox_FacModeCfgFile.Text.Split('_')[3] + "_" + comboBox_FacModeCfgFile.Text.Split('_')[4];
                string VerRead = "";                
                try
                {
                    VerRead = Class_Motor_Ver.FW.Split('_')[0] + Class_Motor_Ver.Special.Split('-')[2].Substring(0, 4).Replace('V', '.') + "_" + Class_Motor_Ver.FW.Split('_')[1];                 
                }
                catch (System.Exception)
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "软件版本信息不完整" + "\r\n");                    
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
                if (string.Equals(VerCheck, VerRead) == false) //版本错误，直接结束
                {
                    richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "软件版本错误" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    FacMode_Stop(false);
                    return;
                }
                label_FacModeFWVersion.BackColor = Color.Green;
                richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "软件版本正确" + "\r\n");
                Delay_ms(500);
            } while (false);

            //测试合格
            richTextBox_FacModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试结束" + "\r\n");
            label_FacModeStatus.Text = "测试结束！";
            label_FacModeResult.BackColor = Color.Green;
            label_FacModeResult.Text = "测试合格";
            Delay_ms(500);
            //存储并上传
            FacMode_Stop(true);
            return;
        }

        private void FacModelLabelInit()
        {
            //测试状态标签
            label_FacModeResult.BackColor = Color.Yellow;
            label_FacModeResult.Text = "测试中";
            //测试过程标签
            label_FacModeStatus.Text = "测试就绪";
            //测试结果标签
            foreach (Control c in groupBox28.Controls)
            {
                if (c is Label)
                {
                    if (c.Text == string.Empty)
                        c.BackColor = Color.Red;
                }
            }
        }

        private void comboBox_CheckModeCfgDate_Click(object sender, EventArgs e)
        {
            //更新生产配置文件目录
            GetDateList(false);
        }

        private void comboBox_FacModeCfgDate_Click(object sender, EventArgs e)
        {
            //更新生产配置文件目录
            GetDateList(false);
        }

        private void richTextBox_FacModeLog_TextChanged(object sender, EventArgs e)
        {
            richTextBox_FacModeLog.SelectionStart = richTextBox_FacModeLog.Text.Length;
            richTextBox_FacModeLog.ScrollToCaret();
        }

        /// <summary>
        /// 参数检验测试停止
        /// </summary>
        /// <param name="OK_Flag"></param>
        private void CheckMode_Stop(bool OK_Flag)
        {
            //打开开始按钮
            button_CheckModeStart.Enabled = true;

            //导出电机参数
            string Params = "";
            do
            {
                if (!OK_Flag)
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试异常，停止导出" + "\r\n");
                    break;
                }
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "导出电机存储参数" + "\r\n");
                //读取一次马达参数
                richTextBox_MotorParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3A00, null)) break; ;
                Delay_ms(100);
                Params += "[马达参数]" + "\r\n" + richTextBox_MotorParam.Text + "\r\n";
                Params += "\r\n";

                //读取一次整车参数
                richTextBox_BikeParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3C00, null)) break;
                Delay_ms(100);
                Params += "[整车参数]" + "\r\n" + richTextBox_BikeParam.Text + "\r\n";
                Params += "\r\n";

                //读取一次控制参数
                richTextBox_ControlParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3E00, null)) break;
                Delay_ms(100);
                Params += "[控制参数]" + "\r\n" + richTextBox_ControlParam.Text + "\r\n";
                Params += "\r\n";

                //查询传感器
                richTextBox_SensorParam.Clear();                
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4000, null)) break;
                Delay_ms(100);
                Params += "[传感器参数]" + "\r\n" + richTextBox_SensorParam.Text + "\r\n";
                Params += "\r\n";

                //读取15次助力参数
                Params += "[助力参数]" + "\r\n";
                for (int i = 1; i <= 15; i++)
                {
                    var ConfigParam = new byte[4];
                    richTextBox_AssistParam.Clear();
                    ConfigParam[0] = (byte)(i & 0xFF);
                    ConfigParam[1] = (byte)(i >> 8);
                    ConfigParam[2] = (byte)(((i >= 5) ? 5 : i) & 0xFF);
                    ConfigParam[3] = (byte)(((i >= 5) ? 5 : i) >> 8);
                    if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4304, ConfigParam)) break;
                    Delay_ms(200);
                    Params += richTextBox_AssistParam.Text + "\r\n";
                    Params += "\r\n";
                }
               
                //读取一次调试信息
                richTextBox_DebugParam.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4500, null)) break;
                Delay_ms(100);
                Params += "[调试参数]" + "\r\n" + richTextBox_DebugParam.Text + "\r\n";
                Params += "\r\n";

                //读取一次历史信息
                richTextBox_Record.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null)) break;
                Delay_ms(100);
                Params += "[历史信息]" + "\r\n" + richTextBox_Record.Text + "\r\n";
                Params += "\r\n";

                //读取一次MOS内阻校准参数
                foreach (Control c in groupBox21.Controls)
                {
                    if (c is TextBox)
                        c.Text = "";
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                Delay_ms(100);
                Params += "[MOS内阻校准参数]" + "\r\n";
                Params += textBox_MOS_K1.Text + ", " + textBox_MOS_K2.Text + ", " + textBox_MOS_K3.Text + ", " + textBox_MOS_K4.Text + ", "
                    + textBox_MOS_K5.Text + ", " + textBox_MOS_R1.Text + ", " + textBox_MOS_R2.Text + ", " + textBox_MOS_R3.Text + ", " + "\r\n";
                Params += "\r\n";

                //读取一次整车参数2
                richTextBox_BikeParam2.Clear();
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4C00, null)) break;
                Delay_ms(100);
                Params += "[整车参数2]" + "\r\n" + richTextBox_BikeParam2.Text + "\r\n";
                Params += "\r\n";

                //读取一次用户骑行参数
                richTextBox_UsrRidesParam.Clear();
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4A00, null);
                Delay_ms(100);
                Params += "[用户骑行参数]" + "\r\n" + richTextBox_UsrRidesParam.Text + "\r\n";
                Params += "\r\n";

                //读取一次生产信息
                textBox_MAC.Text = "";
                textBox_MACAdd.Text = "";
                textBox_MACDate.Text = "";
                textBox_PP.Text = "";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1F00, null)) break;
                Delay_ms(100);
                Params += "[生产信息]" + "\r\n";
                Params += "生产商: " + textBox_MAC.Text + "\r\n";
                Params += "生产地: " + textBox_MACAdd.Text + "\r\n";
                Params += "生产日期: " + textBox_MACDate.Text + "\r\n";
                Params += "产品标识: " + textBox_PP.Text + "\r\n";
                Params += "\r\n";

                //读取一次自定义信息
                textBox_User1.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1300, null)) break;
                Delay_ms(100);
                textBox_User2.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1500, null)) break;
                Delay_ms(100);
                textBox_User3.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1700, null)) break;
                Delay_ms(100);
                Params += "[自定义信息]" + "\r\n";
                Params += "自定义1: " + textBox_User1.Text + "\r\n";
                Params += "自定义2: " + textBox_User2.Text + "\r\n";
                Params += "自定义3: " + textBox_User3.Text + "\r\n";
                Params += "\r\n";

                //读取一次密钥
                textBox_Key.Text = "---";
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1000, null)) break;
                Delay_ms(100);
                Params += "[校验密钥]" + "\r\n" + textBox_Key.Text + "\r\n";
                Params += "\r\n";

                //读取一次存储标志
                radioButton_EE_SaveYes.Checked = false;
                radioButton_EE_SaveNo.Checked = false;
                radioButton_SIP_SaveYes.Checked = false;
                radioButton_SIP_SaveNo.Checked = false;
                if (!mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4800, null)) break;
                Delay_ms(100);
                Params += "[存储标志]" + "\r\n";
                Params += "EEPROM: " + ((radioButton_EE_SaveYes.Checked == true) ? "已存储" : "未存储") + "\r\n";
                Params += "SIP: " + ((radioButton_SIP_SaveYes.Checked == true) ? "已存储" : "未存储") + "\r\n";
                Params += "\r\n";

            } while (false);

            //系统关机
            var Code = new byte[32];//发送的指令数据 
            Code[0] = 0xF0;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);

            //关闭串口
            //mySerialProcess.SerialClose(false);

            //路径设置
            string LocalSavePath = "";
            string ServerSavePath = "";
            if (OK_Flag)
            {
                LocalSavePath = localInfo.LocalDataPath + localInfo.CheckPathName + "OK\\";
                ServerSavePath = toolStripTextBox_ServerPath.Text + "/qcTest/OK/";
            }
            else
            {
                LocalSavePath = localInfo.LocalDataPath + localInfo.CheckPathName + "FAIL\\";
                ServerSavePath = toolStripTextBox_ServerPath.Text + "/qcTest/FAIL/";
            }
            if (Directory.Exists(LocalSavePath) == false)
            {
                Directory.CreateDirectory(LocalSavePath);
            }

            //保存和上传
            string LogSavePath = "";
            string LogSaveFileName = "";
            string ProductInfo = textBox_CheckModeScan.Text.Replace(" ", "_"); ;
            LogSavePath = LocalSavePath + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ProductInfo;
            if (Directory.Exists(LogSavePath) == false)
            {
                Directory.CreateDirectory(LogSavePath);
            }
            //测试页面
            Double scaleX = PrimaryScreen.ScaleX;
            Double scaleY = PrimaryScreen.ScaleY;
            Bitmap bit = new Bitmap((int)(this.Width * scaleX), (int)(this.Height * scaleY));//实例化一个和窗体一样大的bitmap
            Graphics g = Graphics.FromImage(bit);
            g.CopyFromScreen((int)(this.Left * scaleX), (int)(this.Top * scaleY), 0, 0, new Size((int)(this.Width * scaleX), (int)(this.Height * scaleY)));//保存整个窗体为图片
            LogSaveFileName = LogSavePath + "\\" + ProductInfo + "_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + "_测试页面" + ".png";
            bit.Save(LogSaveFileName);
            //上传测试页面到服务器
            if (myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (myFtp.DirectoryExist(ServerSavePath, DateNow) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow);
                }
                if (myFtp.DirectoryExist(ServerSavePath + DateNow, ProductInfo) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow + "/" + ProductInfo);
                }
                bool result = myFtp.UploadFile(LogSaveFileName, ServerSavePath + DateNow + "/" + ProductInfo);
                if (result == true)
                    richTextBox_CheckModeLog.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试页面上传服务器成功" + "\r\n";
            }
            //测试记录
            LogSaveFileName = LogSavePath + "\\" + ProductInfo + "_" + DateTime.Now.ToString("yyyyMMdd_HHmmss") + "_测试记录" + ".log";
            string file_str = "";
            file_str += "测试计算机：\r\n" + label_Computername.Text + "\r\n";
            file_str += "测试时间：\r\n" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "\r\n\r\n";
            file_str += "检验记录：\r\n" + richTextBox_CheckModeLog.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            file_str += "检验结果：\r\n" + label_CheckModeResult.Text + "\r\n\r\n";
            file_str += Local_HdInformation;
            file_str += "\r\n电机存储参数：\r\n" + Params + "\r\n";
            System.IO.File.WriteAllText(LogSaveFileName, file_str);
            //上传测试记录到服务器
            if (myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (myFtp.DirectoryExist(ServerSavePath, DateNow) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow);
                }
                if (myFtp.DirectoryExist(ServerSavePath + DateNow, ProductInfo) == false)
                {
                    myFtp.MakeDir(ServerSavePath + DateNow + "/" + ProductInfo);
                }
                bool result = myFtp.UploadFile(LogSaveFileName, ServerSavePath + DateNow + "/" + ProductInfo);
                if (result == true)
                    richTextBox_CheckModeLog.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试记录上传服务器成功" + "\r\n";
            }

            //扫码框清空
            textBox_CheckModeScan.Text = "";
        }

        /// <summary>
        /// 参数检验开始
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_CheckModeStart_Click(object sender, EventArgs e)
        {
            //测试项目关闭编辑
            pictureBox_ReadLock.Image = global::Welling_Motor_Debug_Tool.Properties.Resources.Lock;
            foreach (Control c in groupBox29.Controls)
            {
                if (c is CheckBox)
                    c.Enabled = false;
            }
            ReadLockStatus = true;
            
            //检查配置文件
            if (comboBox_CheckModeCfgFile.Text == "")
            {
                MessageBox.Show("请选择配置文件!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            //开始测试
            CheckTestStart();
        }

        /// <summary>
        /// 参数检验测试子函数
        /// </summary>
        private void CheckTestStart()
        {
            //初始化标签
            CheckModeLabelInit();
            richTextBox_CheckModeLog.Clear();

            //按钮禁止操作
            button_CheckModeStart.Enabled = false;

            //记录配置文件
            richTextBox_CheckModeLog.AppendText("配置文件：" + comboBox_CheckModeCfgDate.Text + " / " + comboBox_CheckModeCfgFile.Text + "\r\n");

            //检查打标信息
            label_CheckModeStatus.Text = "检查扫码信息";
            Delay_ms(500);
            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "检查扫码信息" + "\r\n");
            if (textBox_CheckModeScan.Text == string.Empty)
            {
                MessageBox.Show("请扫码!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                button__FacMode_Start.Enabled = false;
                return;
            }
            try
            {
                if (中置电机ToolStripMenuItem.Checked == true)
                {
                    if (textBox_CheckModeScan.Text.Split(' ').Length != 7)
                    {
                        label_CheckModeStatus.Text = "存在故障！";
                        label_CheckModeResult.BackColor = Color.Red;
                        label_CheckModeResult.Text = "标签格式错误";
                        button_CheckModeStart.Enabled = true;
                        return;
                    }
                }
                else if (轮毂电机ToolStripMenuItem.Checked == true)
                {
                    if (textBox_CheckModeScan.Text.Split(new string[] { "  " }, StringSplitOptions.None).Length != 3)
                    {
                        label_CheckModeStatus.Text = "存在故障！";
                        label_CheckModeResult.BackColor = Color.Red;
                        label_CheckModeResult.Text = "标签格式错误";
                        button_CheckModeStart.Enabled = true;
                        return;
                    }
                }
            }
            catch (System.Exception)
            {
                label_CheckModeStatus.Text = "存在故障！";
                label_CheckModeResult.BackColor = Color.Red;
                label_CheckModeResult.Text = "标签格式错误";
                button_CheckModeStart.Enabled = true;
                return;
            }

            //打开串口
            mySerialProcess.SerialOpen(toolStripComboBox_ComNum.Text, toolStripComboBox_Baudrate.Text, false, false);
            if (!mySerialProcess.mySerial.IsOpen)
            {
                MessageBox.Show("请检查串口连接！!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                button__FacMode_Start.Enabled = false;
                return;
            }

            //流水号计数
            int serial = Convert.ToInt32(label_CheckModeSerial.Text);
            serial += 1;
            label_CheckModeSerial.Text = serial.ToString();
            File.WriteAllText(localInfo.LocalPath + localInfo.SerialNumFileName2, serial.ToString());

            //创建线程，执行测试任务
            Thread th = new Thread(CheckModeTest_Task);
            th.Start();

        }

        /// <summary>
        /// 执行一次测试任务
        /// </summary>
        private void CheckModeTest_Task()
        {
            //开始测试
            richTextBox_CheckModeLog.AppendText("产品标签：" + textBox_CheckModeScan.Text + "\r\n");
            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开始测试" + "\r\n");

            //变量定义
            var Code = new byte[255];//发送的指令数据
            ushort DataTemp;
            short DataTemp_Int16;
            string ResultPathName = "";

            label_CheckModeStatus.Text = "开始测试";
            BootInfo = "";
            Delay_ms(500);
            label_CheckModeStatus.Text = "系统开机";

            //UART控制器发送复位指令把联动装置盒控制器接口波特率改为57600
            if (uARTToolStripMenuItem.Checked)
            {
                Code[0] = (byte)'R';
                Code[1] = (byte)'E';
                Code[2] = (byte)'S';
                Code[3] = (byte)'E';
                Code[4] = (byte)'T';
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
                Delay_ms(500);
            }

            //系统开机，确保测试前先关机，发送关机指令再发送开机指令
            //确保测试前先关机，发送关机指令再发送开机指令
            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送关机指令" + "\r\n");
            Code[0] = 0xF0;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
            Delay_ms(1500);
            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送开机指令" + "\r\n");
            Code[0] = 0xF1;
            mySerialProcess.SendCmd(0x7FF, 0x16, 0x2201, Code);
            ACK_WaitCnt = 0;
            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "等待控制器返回Boot信息……" + "\r\n");
            while (ACK_WaitCnt <= 20) ; //10s            

            //检查BOOT版本
            if (BootInfo != string.Empty)
            {
                label_CheckModeBoot.BackColor = Color.Green;
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开机成功，Boot版本：" + BootInfo + "\r\n");
                Delay_ms(500);
            }
            else
            {
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开机失败" + BootInfo + "\r\n");
                label_CheckModeStatus.Text = "存在故障！";
                label_CheckModeResult.BackColor = Color.Red;
                label_CheckModeResult.Text = "测试异常";
                Delay_ms(500);
                //存储异常并上传
                CheckMode_Stop(false);
                return;
            }

#if false
            if (uARTToolStripMenuItem.Checked)//UART控制器默认按照5S协议收发数据
            {
                Code[0] = 0x00;//5S协议
                Code[1] = 0x00;
                mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                Delay_ms(500);
                mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
                Delay_ms(500);
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令进入5S协议" + "\r\n");
            }
#endif

            //发送指令读取版本信息
            do
            {
                label_CheckModeStatus.Text = "读取版本信息";
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令读取版本信息" + "\r\n");
                //发送指令读取版本                
                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);
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (Class_Motor_Ver.Mode == "---")
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取版本信息，第1次重发" + "\r\n");                    
                    mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3900, null);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (Class_Motor_Ver.Mode == "---")
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取版本信息，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3900, null);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (Class_Motor_Ver.Mode == "---")
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "版本信息读取失败" + "\r\n");
                            label_CheckModeStatus.Text = "存在故障！";
                            label_CheckModeResult.BackColor = Color.Red;
                            label_CheckModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            CheckMode_Stop(false);
                            return;
                        }
                    }    
                }
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "版本信息读取成功" + "\r\n");
                Delay_ms(500);
            } while (false);

            //软件版本检查
            if (checkBox_CheckModeFWVer.Checked)
            {
                richTextBox_CheckModeLog.AppendText("型号: " + Class_Motor_Ver.Mode + "\r\n");
                richTextBox_CheckModeLog.AppendText("序列号: " + Class_Motor_Ver.SN + "\r\n");
                richTextBox_CheckModeLog.AppendText("硬件版本: " + Class_Motor_Ver.HW + "\r\n");
                richTextBox_CheckModeLog.AppendText("软件版本: " + Class_Motor_Ver.FW + "\r\n");
                richTextBox_CheckModeLog.AppendText("软件标识: " + Class_Motor_Ver.Special + "\r\n");
                //判断版本是否正确
                string VerCheck = comboBox_CheckModeCfgFile.Text.Split('_')[3] + "_" + comboBox_CheckModeCfgFile.Text.Split('_')[4];
                string VerRead = "";
                try
                {
                    VerRead = Class_Motor_Ver.FW.Split('_')[0] + Class_Motor_Ver.Special.Split('-')[2].Substring(0, 4).Replace('V', '.') + "_" + Class_Motor_Ver.FW.Split('_')[1];
                }
                catch (System.Exception)
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "软件版本信息不完整" + "\r\n");
                    label_CheckModeStatus.Text = "存在故障！";
                    label_CheckModeResult.BackColor = Color.Red;
                    label_CheckModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    CheckMode_Stop(false);
                    return;
                }
                if (string.Equals(VerCheck, VerRead) == false) //版本错误，直接结束
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "软件版本错误" + "\r\n");
                    label_CheckModeStatus.Text = "存在故障！";
                    label_CheckModeResult.BackColor = Color.Red;
                    label_CheckModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    CheckMode_Stop(false);
                    return;
                }
                label_CheckModeFWVer.BackColor = Color.Green;
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "软件版本正确" + "\r\n");
                Delay_ms(500);
            }
            else
            {
                label_CheckModeFWVer.BackColor = Color.Yellow;
                label_CheckModeStatus.Text = "跳过软件版本查询";
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过软件版本查询" + "\r\n");
                Delay_ms(500);
            }

            //打标信息核对
            if (checkBox_CheckModeSN.Checked)
            {
                label_CheckModeStatus.Text = "核对打标信息";
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "核对打标信息" + "\r\n");
                //根据扫码信息获取型号和SN
                string ScanInfo = textBox_CheckModeScan.Text;
                string regexInfo = "";
                string[] InfoList = { "" };
                try
                {
                    if (中置电机ToolStripMenuItem.Checked == true)
                    {
                        regexInfo = @"[0-9][0-9][V][0-9][0-9][0-9][W]";
                        InfoList = Regex.Split(ScanInfo.Replace(" ", ""), regexInfo, RegexOptions.IgnoreCase);
                    }
                    else if (轮毂电机ToolStripMenuItem.Checked == true)
                    {
                        InfoList = ScanInfo.Split(new string[] { "  " }, StringSplitOptions.None);
                        string Model = InfoList[0];
                        string Spec = InfoList[1];
                        string Sn = InfoList[2];
                        InfoList[0] = Model.Replace("-", "").Replace("Q12", "QA").Replace("Q15", "QB").Replace("Q18", "QC").Substring(2, 12) + Spec.Substring(Spec.Length - 4);
                        InfoList[1] = Sn;
                    }
                }
                catch
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "标签格式错误" + "\r\n");
                    label_FacModeStatus.Text = "存在故障！";
                    label_FacModeResult.BackColor = Color.Red;
                    label_FacModeResult.Text = "标签格式错误";
                    Delay_ms(500);
                    //存储异常并上传
                    CheckMode_Stop(false);
                    return;
                }
                //核对型号
                if (string.Equals(InfoList[0], Class_Motor_Ver.Mode) == false) //型号错误，直接结束
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "型号不一致" + "\r\n");
                    label_CheckModeStatus.Text = "存在故障！";
                    label_CheckModeResult.BackColor = Color.Red;
                    label_CheckModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    CheckMode_Stop(false);
                    return;
                }
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "型号一致" + "\r\n");
                Delay_ms(500);
                //核对SN
                if (string.Equals(InfoList[1], Class_Motor_Ver.SN) == false) //型号错误，直接结束
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "SN不一致" + "\r\n");
                    label_CheckModeStatus.Text = "存在故障！";
                    label_CheckModeResult.BackColor = Color.Red;
                    label_CheckModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    CheckMode_Stop(false);
                    return;
                }
                label_CheckModeSN.BackColor = Color.Green;
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "SN一致" + "\r\n");
                Delay_ms(500);
            }
            else
            {
                label_CheckModeSN.BackColor = Color.Yellow;
                label_CheckModeStatus.Text = "跳过打标信息确认";
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过打标信息确认" + "\r\n");
                Delay_ms(500);
            }

            //参数检验
            if (checkBox_CheckModeCfg.Checked)
            {
                //读取配置文件信息
                label_CheckModeStatus.Text = "参数检查";
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取配置文件" + "\r\n");
                //配置文件
                List<byte[]> CmdList = new List<byte[]>();
                Dictionary<string, string> ConfigCmd = new Dictionary<string, string>();//配置文件格式
                //从服务器下载文件
                if ((checkBox_OffLineFacMode.Checked == false) && (checkBox_OffLineCheckMode.Checked == false))
                {
                    string SelectFile = "";
                    SelectFile = comboBox_CheckModeCfgDate.SelectedItem.ToString() + "/" + comboBox_CheckModeCfgFile.SelectedItem.ToString();
                    if (File.Exists(localInfo.LocalPath + comboBox_CheckModeCfgFile.SelectedItem.ToString()))//本地存在选定文件，先删除本地
                    {
                        File.Delete(localInfo.LocalPath + comboBox_CheckModeCfgFile.SelectedItem.ToString());
                    }
                    myFtp.DownloadFile(toolStripTextBox_ServerPath.Text + "/" + localInfo.CfgPathName + SelectFile, localInfo.LocalPath);
                    //打开文件                    
                    StreamReader streamReader = new StreamReader(localInfo.LocalPath + comboBox_CheckModeCfgFile.SelectedItem.ToString());
                    ConfigCmd.Clear();
                    while (streamReader.Peek() != -1)
                    {
                        string fileLineInfo = streamReader.ReadLine(); //读指令名称
                        if (fileLineInfo.Contains("["))
                        {
                            if (fileLineInfo.Contains("助力参数"))
                            {
                                fileLineInfo = streamReader.ReadLine();
                            }
                            ConfigCmd.Add(fileLineInfo, streamReader.ReadLine()); //指令名称和指令内容加入字典
                        }
                    }
                    streamReader.Close();
                }
                //从本地加载文件
                else
                {
                    string SelectFile = "";
                    SelectFile = comboBox_CheckModeCfgDate.SelectedItem.ToString() + "\\" + comboBox_CheckModeCfgFile.SelectedItem.ToString();
                    //打开文件                    
                    StreamReader streamReader = new StreamReader(localInfo.LocalPath + "\\" + localInfo.CfgPathName + "\\" + SelectFile);
                    ConfigCmd.Clear();
                    while (streamReader.Peek() != -1)
                    {
                        string fileLineInfo = streamReader.ReadLine(); //读指令名称
                        if (fileLineInfo.Contains("["))
                        {
                            if (fileLineInfo.Contains("助力参数"))
                            {
                                fileLineInfo = streamReader.ReadLine();
                            }
                            ConfigCmd.Add(fileLineInfo, streamReader.ReadLine()); //指令名称和指令内容加入字典
                        }
                    }
                    streamReader.Close();
                }
                
                int CmdNum = ConfigCmd.Count(); //指令个数
                Delay_ms(500);
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取完成，" + "共" + CmdNum.ToString() + "条指令，" + "\r\n");
                Delay_ms(500);
                //逐条读取比较
                try
                {
                    foreach (string key in ConfigCmd.Keys)
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送读" + key + "指令：" + "\r\n");
                        CmdRevStrTemp = "";
                        if (key.Contains("曲线"))
                        {
                            byte LineNum = 0;
                            var code = new byte[4];
                            LineNum = Convert.ToByte(key.Substring(3, key.Length - 4));
                            if (LineNum <= 5)
                            {
                                code[0] = (byte)(LineNum & 0xFF);
                                code[1] = (byte)((LineNum >> 8) & 0xFF);
                                code[2] = (byte)(LineNum & 0xFF);
                                code[3] = (byte)((LineNum >> 8) & 0xFF);
                            }
                            else 
                            {
                                code[0] = (byte)(LineNum & 0xFF);
                                code[1] = (byte)((LineNum >> 8) & 0xFF);
                                code[2] = (byte)(5 & 0xFF);
                                code[3] = (byte)((5 >> 8) & 0xFF);
                            }
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)myParams.ConfigCheckReadCmd["[助力参数]"], code);
                        }                           
                        else
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)myParams.ConfigCheckReadCmd[key], null);
                        Delay_ms(500);
                        if (CmdRevStrTemp == string.Empty)
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送读" + key + "指令，第1次重发" + "\r\n");
                            if (key.Contains("曲线"))
                            {
                                byte LineNum = 0;
                                var code = new byte[4];
                                LineNum = Convert.ToByte(key.Substring(3, key.Length - 4));
                                if (LineNum <= 5)
                                {
                                    code[0] = (byte)(LineNum & 0xFF);
                                    code[1] = (byte)((LineNum >> 8) & 0xFF);
                                    code[2] = (byte)(LineNum & 0xFF);
                                    code[3] = (byte)((LineNum >> 8) & 0xFF);
                                }
                                else
                                {
                                    code[0] = (byte)(LineNum & 0xFF);
                                    code[1] = (byte)((LineNum >> 8) & 0xFF);
                                    code[2] = (byte)(5 & 0xFF);
                                    code[3] = (byte)((5 >> 8) & 0xFF);
                                }
                                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)myParams.ConfigCheckReadCmd["[助力参数]"], code);
                            }
                            else
                                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)myParams.ConfigCheckReadCmd[key], null);
                            Delay_ms(500);
                            if (CmdRevStrTemp == string.Empty)
                            {
                                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送读" + key + "指令，第2次重发" + "\r\n");
                                if (key.Contains("曲线"))
                                {
                                    byte LineNum = 0;
                                    var code = new byte[4];
                                    LineNum = Convert.ToByte(key.Substring(3, key.Length - 4));
                                    if (LineNum <= 5)
                                    {
                                        code[0] = (byte)(LineNum & 0xFF);
                                        code[1] = (byte)((LineNum >> 8) & 0xFF);
                                        code[2] = (byte)(LineNum & 0xFF);
                                        code[3] = (byte)((LineNum >> 8) & 0xFF);
                                    }
                                    else
                                    {
                                        code[0] = (byte)(LineNum & 0xFF);
                                        code[1] = (byte)((LineNum >> 8) & 0xFF);
                                        code[2] = (byte)(5 & 0xFF);
                                        code[3] = (byte)((5 >> 8) & 0xFF);
                                    }
                                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)myParams.ConfigCheckReadCmd["[助力参数]"], code);
                                }
                                else
                                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)myParams.ConfigCheckReadCmd[key], null);
                                Delay_ms(500);
                                if (CmdRevStrTemp == string.Empty)
                                {
                                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + key + "指令读取失败" + "\r\n");
                                    label_CheckModeStatus.Text = "存在故障！";
                                    label_CheckModeResult.BackColor = Color.Red;
                                    label_CheckModeResult.Text = "测试异常";
                                    Delay_ms(500);
                                    //存储异常并上传
                                    CheckMode_Stop(false);
                                    return;
                                }
                            } 
                        }
                        //比较当前指令，读取的配置文件和返回数据比较
                        string ParamWrite = ConfigCmd[key].Substring(24, ConfigCmd[key].Length - 40).Trim();
                        string ParamRead = "";
                        ushort CmdGet = Convert.ToUInt16(CmdRevStrTemp.Substring(0, 6).Trim().Replace(" ", ""), 16);//接收到指令的命令字
                        ushort CmdRev = myParams.ConfigCheckRevCmd[key];//接收指令设计值
                        if (CmdGet != CmdRev)
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + key + "接收指令不正确" + "\r\n");
                            richTextBox_CheckModeLog.AppendText("接收指令：" + "0x" + CmdGet.ToString("X2") + "\r\n");
                            richTextBox_CheckModeLog.AppendText("正确指令应为：" + "0x" + CmdRev.ToString("X2") + "\r\n");
                            label_CheckModeStatus.Text = "存在故障！";
                            label_CheckModeResult.BackColor = Color.Red;
                            label_CheckModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            CheckMode_Stop(false);
                            return;
                        }
                        if (string.Compare(key, "[其它传感器参数]") == 0)
                            ParamRead = CmdRevStrTemp.Substring(90, CmdRevStrTemp.Length - 90).Trim(); //去掉命令字、力矩传感器标定参数
                        else if (string.Compare(key, "[控制参数]") == 0)
                            ParamRead = CmdRevStrTemp.Substring(18, CmdRevStrTemp.Length - 18).Trim(); //去掉命令字、位置零点
                        else
                            ParamRead = CmdRevStrTemp.Substring(6, CmdRevStrTemp.Length - 6).Trim(); //去掉命令字
                        if (ParamWrite.Contains(ParamRead))
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + key + "一致" + "\r\n");
                            continue;
                        }
                        else
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + key + "不一致" + "\r\n");
                            richTextBox_CheckModeLog.AppendText("写入参数：" + ParamWrite + "\r\n");
                            richTextBox_CheckModeLog.AppendText("读出参数：" + ParamRead + "\r\n");
                            label_CheckModeStatus.Text = "存在故障！";
                            label_CheckModeResult.BackColor = Color.Red;
                            label_CheckModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            CheckMode_Stop(false);
                            return;
                        }

                    }
                }
                catch (System.Exception)
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "参数检验失败" + "\r\n");
                    label_CheckModeStatus.Text = "存在故障！";
                    label_CheckModeResult.BackColor = Color.Red;
                    label_CheckModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    CheckMode_Stop(false);
                    return;
                }
                label_CheckModeCfg.BackColor = Color.Green;
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "参数检验正确" + "\r\n");
                Delay_ms(500);
            }
            else
            {
                label_CheckModeCfg.BackColor = Color.Yellow;
                label_CheckModeStatus.Text = "跳过参数检验";
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过参数检验" + "\r\n");
                Delay_ms(500);
            }
            
            //读取力矩传感器
            do
            {
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取力矩传感器标定数据" + "\r\n");
                //发送指令读取力矩传感器标定数据
                CmdRevStrTemp = "";
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, 0x4000, null);
                ACK_WaitCnt = 0;
                while (ACK_WaitCnt <= 2) ; //1s
                if (CmdRevStrTemp == string.Empty)
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取力矩传感器标定数据，第1次重发" + "\r\n");
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, 0x4000, null);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (CmdRevStrTemp == string.Empty)
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取力矩传感器标定数据，第2次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, 0x4000, null);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (CmdRevStrTemp == string.Empty)
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "力矩传感器读取失败" + "\r\n");
                            label_CheckModeStatus.Text = "存在故障！";
                            label_CheckModeResult.BackColor = Color.Red;
                            label_CheckModeResult.Text = "测试异常";
                            Delay_ms(500);
                            //存储异常并上传
                            CheckMode_Stop(false);
                            return;
                        }
                    }    
                }
                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "力矩传感器读取成功" + "\r\n");
                //取力矩传感器数据
                ushort ZeroInit, Zero1, Zero2, Zero3, ZeroNew;
                ushort MaxTorque;
                ushort K1_T, K1, K2_T, K2, K3_T, K3, K4_T, K4;
                byte[] DataArray = mySerialProcess.HexStringToBytes(CmdRevStrTemp, true);
                ushort Cmd = (ushort)((DataArray[0] << 8) + DataArray[1]);
                if (Cmd != 0xB528)
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "力矩传感器参数错误，CMD: 0x" + Convert.ToString(Cmd, 16).PadLeft(2, '0').ToUpper() + "\r\n");
                    label_CheckModeStatus.Text = "存在故障！";
                    label_CheckModeResult.BackColor = Color.Red;
                    label_CheckModeResult.Text = "测试异常";
                    Delay_ms(500);
                    //存储异常并上传
                    CheckMode_Stop(false);
                    return;
                }
                ZeroInit = (ushort)((DataArray[3] << 8) + DataArray[2]);
                Zero1 = (ushort)((DataArray[5] << 8) + DataArray[4]);
                Zero2 = (ushort)((DataArray[7] << 8) + DataArray[6]);
                Zero3 = (ushort)((DataArray[9] << 8) + DataArray[8]);
                ZeroNew = (ushort)((DataArray[11] << 8) + DataArray[10]);
                MaxTorque = (ushort)((DataArray[13] << 8) + DataArray[12]);
                K1_T = (ushort)((DataArray[15] << 8) + DataArray[14]);
                K1 = (ushort)((DataArray[17] << 8) + DataArray[16]);
                K2_T = (ushort)((DataArray[19] << 8) + DataArray[18]);
                K2 = (ushort)((DataArray[21] << 8) + DataArray[20]);
                K3_T = (ushort)((DataArray[23] << 8) + DataArray[22]);
                K3 = (ushort)((DataArray[25] << 8) + DataArray[24]);
                K4_T = (ushort)((DataArray[27] << 8) + DataArray[26]);
                K4 = (ushort)((DataArray[29] << 8) + DataArray[28]);

                richTextBox_CheckModeLog.AppendText("力矩传感器零点: " + ZeroInit.ToString() + "," + Zero1.ToString() + "," +
                                                    Zero2.ToString() + "," + Zero3.ToString() + "," + ZeroNew.ToString() + "\r\n");
                richTextBox_CheckModeLog.AppendText("最大力矩: " + MaxTorque.ToString() + "\r\n");
                richTextBox_CheckModeLog.AppendText("力矩传感器标定: " + "[" + K1_T.ToString() + "," + K1.ToString() + "]" + "," +
                                                    "[" + K2_T.ToString() + "," + K2.ToString() + "]" + "," + "[" + K3_T.ToString() + "," + K3.ToString() + "]" + "," +
                                                    "[" + K4_T.ToString() + "," + K4.ToString() + "]" + "\r\n");

                //传感器标定检验
                if (checkBox_CheckModeTorque.Checked)
                {
                    richTextBox_CheckModeLog.AppendText("力矩零点范围: " + TorqueParamsForm.Zero.Min.ToString() + " - " + TorqueParamsForm.Zero.Max.ToString() + "\r\n");
                    richTextBox_CheckModeLog.AppendText("K1范围: " + TorqueParamsForm.K1.T.ToString() + "," + TorqueParamsForm.K1.Min.ToString() + " - " + TorqueParamsForm.K1.Max.ToString() + "\r\n");
                    richTextBox_CheckModeLog.AppendText("K2范围: " + TorqueParamsForm.K2.T.ToString() + "," + TorqueParamsForm.K2.Min.ToString() + " - " + TorqueParamsForm.K2.Max.ToString() + "\r\n");
                    richTextBox_CheckModeLog.AppendText("K3范围: " + TorqueParamsForm.K3.T.ToString() + "," + TorqueParamsForm.K3.Min.ToString() + " - " + TorqueParamsForm.K3.Max.ToString() + "\r\n");
                    richTextBox_CheckModeLog.AppendText("K4范围: " + TorqueParamsForm.K4.T.ToString() + "," + TorqueParamsForm.K4.Min.ToString() + " - " + TorqueParamsForm.K4.Max.ToString() + "\r\n");
                    //与设置值比较
                    if ((ZeroInit <= TorqueParamsForm.Zero.Max) && (ZeroInit >= TorqueParamsForm.Zero.Min)
                        && (K1_T == TorqueParamsForm.K1.T) && (K1 <= TorqueParamsForm.K1.Max) && (K1 >= TorqueParamsForm.K1.Min)
                        && (K2_T == TorqueParamsForm.K2.T) && (K2 <= TorqueParamsForm.K2.Max) && (K2 >= TorqueParamsForm.K2.Min)
                        && (K3_T == TorqueParamsForm.K3.T) && (K3 <= TorqueParamsForm.K3.Max) && (K3 >= TorqueParamsForm.K3.Min)
                        && (K4_T == TorqueParamsForm.K4.T) && (K4 <= TorqueParamsForm.K4.Max) && (K4 >= TorqueParamsForm.K4.Min)
                        )
                    {
                        label_CheckModeTorque.BackColor = Color.Green;
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "力矩传感器标定正常" + "\r\n");
                        Delay_ms(500);
                    }
                    else
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "力矩传感器标定超范围" + "\r\n");
                        label_CheckModeStatus.Text = "存在故障！";
                        label_CheckModeResult.BackColor = Color.Red;
                        label_CheckModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        CheckMode_Stop(false);
                        return;
                    }

                }
                else
                {
                    label_CheckModeTorque.BackColor = Color.Yellow;
                    label_CheckModeStatus.Text = "跳过传感器标定检验";
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过传感器标定检验" + "\r\n");
                    Delay_ms(500);
                }
            } while (false);

            //读取MOS内阻校准参数
            do
            {
                if (checkBox_CheckModeMos.Checked)
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准数据" + "\r\n");
                    //读取显示校准返回数据
                    foreach (Control c in groupBox21.Controls)
                    {
                        if (c is TextBox)
                            c.Text = "";
                    }
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if ((textBox_MOS_R1.Text == string.Empty) || (textBox_MOS_R2.Text == string.Empty) || (textBox_MOS_R3.Text == string.Empty))
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准数据，第1次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if ((textBox_MOS_R1.Text == string.Empty) || (textBox_MOS_R2.Text == string.Empty) || (textBox_MOS_R3.Text == string.Empty))
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准数据，第2次重发" + "\r\n");
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if ((textBox_MOS_R1.Text == string.Empty) || (textBox_MOS_R2.Text == string.Empty) || (textBox_MOS_R3.Text == string.Empty))
                            {
                                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取MOS内阻校准结果异常" + "\r\n");
                                label_CheckModeStatus.Text = "存在故障！";
                                label_CheckModeResult.BackColor = Color.Red;
                                label_CheckModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                CheckMode_Stop(false);
                                return;
                            }
                        }   
                    }
                    else
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻：" + textBox_MOS_R1.Text + " " + textBox_MOS_R2.Text + " " + textBox_MOS_R3.Text + "\r\n");
                    }
                    //与校准返回数据对比
                    string[] MOS_R1_Th = toolStripTextBox_MOS1.Text.Split(',');
                    string[] MOS_R2_Th = toolStripTextBox_MOS2.Text.Split(',');
                    string[] MOS_R3_Th = toolStripTextBox_MOS3.Text.Split(',');
                    if ((Convert.ToUInt16(textBox_MOS_R1.Text) >= Convert.ToUInt16(MOS_R1_Th[0])) && (Convert.ToUInt16(textBox_MOS_R1.Text) <= Convert.ToUInt16(MOS_R1_Th[1])) &&
                        (Convert.ToUInt16(textBox_MOS_R2.Text) >= Convert.ToUInt16(MOS_R2_Th[0])) && (Convert.ToUInt16(textBox_MOS_R2.Text) <= Convert.ToUInt16(MOS_R2_Th[1])) &&
                        (Convert.ToUInt16(textBox_MOS_R3.Text) >= Convert.ToUInt16(MOS_R3_Th[0])) && (Convert.ToUInt16(textBox_MOS_R3.Text) <= Convert.ToUInt16(MOS_R3_Th[1]))
                        )
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准合格" + "\r\n");
                        label_CheckModeMos.BackColor = Color.Green;
                    }
                    else
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "MOS内阻校准超范围" + "\r\n");
                        label_CheckModeStatus.Text = "存在故障！";
                        label_CheckModeResult.BackColor = Color.Red;
                        label_CheckModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        CheckMode_Stop(false);
                        return;
                    }
                }
                else
                {
                    label_CheckModeMos.BackColor = Color.Yellow;
                    label_CheckModeStatus.Text = "跳过MOS内阻校准检验";
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过MOS内阻校准检验" + "\r\n");
                    Delay_ms(500);
                }
            } while (false);

            //读取位置校准参数
            do
            {
                if (checkBox_CheckModeAngle.Checked)
                {
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取位置校准数据" + "\r\n");
                    //发送指令读取位置
                    CmdRevStrTemp = "";
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3E00, null);
                    ACK_WaitCnt = 0;
                    while (ACK_WaitCnt <= 2) ; //1s
                    if (CmdRevStrTemp == string.Empty)
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取位置校准数据，第1次重发" + "\r\n");
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, 0x3E00, null);
                        ACK_WaitCnt = 0;
                        while (ACK_WaitCnt <= 2) ; //1s
                        if (CmdRevStrTemp == string.Empty)
                        {
                            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取位置校准数据，第2次重发" + "\r\n");
                            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, 0x3E00, null);
                            ACK_WaitCnt = 0;
                            while (ACK_WaitCnt <= 2) ; //1s
                            if (CmdRevStrTemp == string.Empty)
                            {
                                richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置校准数据读取失败" + "\r\n");
                                label_CheckModeStatus.Text = "存在故障！";
                                label_CheckModeResult.BackColor = Color.Red;
                                label_CheckModeResult.Text = "测试异常";
                                Delay_ms(500);
                                //存储异常并上传
                                CheckMode_Stop(false);
                                return;
                            }
                        }
                    }
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置校准数据读取成功" + "\r\n");
                    //取零点数据
                    UInt16 AngleZero_Init = 0, AngleZero_Cur = 0;
                    byte[] DataArray = mySerialProcess.HexStringToBytes(CmdRevStrTemp, true);
                    ushort Cmd = (ushort)((DataArray[0] << 8) + DataArray[1]);
                    if (Cmd != 0xB420)
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置传感器参数错误，CMD: 0x" + Convert.ToString(Cmd, 16).PadLeft(2, '0').ToUpper() + "\r\n");
                        label_CheckModeStatus.Text = "存在故障！";
                        label_CheckModeResult.BackColor = Color.Red;
                        label_CheckModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        CheckMode_Stop(false);
                        return;
                    }
                    AngleZero_Init = (ushort)((DataArray[3] << 8) + DataArray[2]);
                    AngleZero_Cur = (ushort)((DataArray[5] << 8) + DataArray[4]);
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置出厂零点: " + AngleZero_Init.ToString() + "，位置当前零点: " + AngleZero_Cur.ToString() + "\r\n");                    
                    int AngleZeroDiff = Math.Abs(AngleZero_Cur - AngleZero_Init);
                    int AngleZeroTH = Convert.ToInt32(textBox_AngleZeroTh.Text);
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置零点校准值: " + AngleZeroDiff.ToString() + "，判断阈值: " + AngleZeroTH.ToString() + "\r\n");
                    //判断
                    if (AngleZeroDiff <= AngleZeroTH)
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置传感器校准合格" + "\r\n");
                        label_CheckModeAngle.BackColor = Color.Green;
                    }
                    else
                    {
                        richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "位置传感器校准超范围" + "\r\n");
                        label_CheckModeStatus.Text = "存在故障！";
                        label_CheckModeResult.BackColor = Color.Red;
                        label_CheckModeResult.Text = "测试异常";
                        Delay_ms(500);
                        //存储异常并上传
                        CheckMode_Stop(false);
                        return;
                    }
                }
                else
                {
                    label_CheckModeAngle.BackColor = Color.Yellow;
                    label_CheckModeStatus.Text = "跳过位置传感器校准检验";
                    richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过位置传感器校准检验" + "\r\n");
                    Delay_ms(500);                    
                }
            } while (false);

            //测试合格
            richTextBox_CheckModeLog.AppendText(DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试结束" + "\r\n");
            label_CheckModeStatus.Text = "测试结束！";
            label_CheckModeResult.BackColor = Color.Green;
            label_CheckModeResult.Text = "测试合格";
            Delay_ms(500);
            //存储并上传
            CheckMode_Stop(true);
            return;
        }

        private void CheckModeLabelInit()
        {
            //测试状态标签
            label_CheckModeResult.BackColor = Color.Yellow;
            label_CheckModeResult.Text = "测试中";
            //测试过程标签
            label_CheckModeStatus.Text = "测试就绪";
            //测试结果标签
            foreach (Control c in groupBox31.Controls)
            {
                if (c is Label)
                {
                    if (c.Text == string.Empty)
                        c.BackColor = Color.Red;
                }
            }
        }

        private void 调试记录数据ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            System.Diagnostics.Process.Start("explorer.exe", Directory.GetCurrentDirectory());
        }

        private void 生产记录数据ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            System.Diagnostics.Process.Start("explorer.exe", localInfo.LocalDataPath);
        }

        private void 累计运行时间ToolStripMenuItem_MouseHover(object sender, EventArgs e)
        {
            UInt32 Time = (UInt32)stopwatch.ElapsedMilliseconds / 1000;
            UInt32 hour = Time / 3600;
            UInt32 min = (Time % 3600) / 60;
            UInt32 s = (Time % 60);
            toolStripMenuItem_RunTime.Text = hour.ToString() + ":" + min.ToString("00") + ":" + s.ToString("00");
        }

        private void richTextBox_CheckModeLog_TextChanged(object sender, EventArgs e)
        {
            richTextBox_CheckModeLog.SelectionStart = richTextBox_CheckModeLog.Text.Length;
            richTextBox_CheckModeLog.ScrollToCaret();
        }

        private void 力矩传感器检验ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            TorqueParamsForm.ShowDialog();            
        }

        private void textBox_CheckModeScan_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
                CheckTestStart();
        }

        private void textBox_FacModeScan_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
                TestStart();
        }

        private void button_SpeedDec10_Click(object sender, EventArgs e)
        {
            short Percent = Convert.ToInt16(textBox_MotorSpeedPercent.Text);
            if (Percent <= 10)
                Percent = 0;
            else
                Percent -= 10;
            //生产模式转速设置值更新
            textBox_MotorSpeedPercent.Text = Percent.ToString();
            //设置转速百分比
            var Data = new byte[1];
            Data[0] = (byte)Percent;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }

        private void button_SpeedAdd10_Click(object sender, EventArgs e)
        {
            short Percent = Convert.ToInt16(textBox_MotorSpeedPercent.Text);
            if (Percent >= 90)
                Percent = 100;
            else
                Percent += 10;
            //生产模式转速设置值更新
            textBox_MotorSpeedPercent.Text = Percent.ToString();
            //设置转速百分比
            var Data = new byte[1];
            Data[0] = (byte)Percent;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }

        private void button_SpeedDec1_Click(object sender, EventArgs e)
        {
            short Percent = Convert.ToInt16(textBox_MotorSpeedPercent.Text);
            if (Percent <= 1)
                Percent = 0;
            else
                Percent -= 1;
            //生产模式转速设置值更新
            textBox_MotorSpeedPercent.Text = Percent.ToString();
            //设置转速百分比
            var Data = new byte[1];
            Data[0] = (byte)Percent;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }

        private void button_SpeedAdd1_Click(object sender, EventArgs e)
        {
            short Percent = Convert.ToInt16(textBox_MotorSpeedPercent.Text);
            if (Percent >= 99)
                Percent = 100;
            else
                Percent += 1;
            //生产模式转速设置值更新
            textBox_MotorSpeedPercent.Text = Percent.ToString();
            //设置转速百分比
            var Data = new byte[1];
            Data[0] = (byte)Percent;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }


        bool WriteLockStatus = true;
        private void pictureBox_WriteLock_Click(object sender, EventArgs e)
        {
            if (WriteLockStatus == true)
            {
                EnterForm1.ShowDialog();
                try
                {
                    if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                    {
                        if (EnterForm1.comboBox_User.Text == "工程参数配置")
                        {
                            pictureBox_WriteLock.Image = global::Welling_Motor_Debug_Tool.Properties.Resources.Unlock;
                            foreach (Control c in groupBox2.Controls)
                            {
                                if (c is CheckBox)
                                    c.Enabled = true;
                            }
                            WriteLockStatus = !WriteLockStatus;                                                            
                        }
                        else
                        {
                            MessageBox.Show("权限不支持", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        }
                    }
                    else
                    {
                        MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
                catch (Exception)
                {
                    MessageBox.Show("用户不存在或密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            else
            {
                pictureBox_WriteLock.Image = global::Welling_Motor_Debug_Tool.Properties.Resources.Lock;
                foreach (Control c in groupBox2.Controls)
                {
                    if (c is CheckBox)
                        c.Enabled = false;
                }

                WriteLockStatus = !WriteLockStatus;
            }
            
        }

        bool ReadLockStatus = true;
        private void pictureBox_ReadLock_Click(object sender, EventArgs e)
        {
            if (ReadLockStatus == true)
            {
                EnterForm1.ShowDialog();
                try
                {
                    if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                    {
                        if (EnterForm1.comboBox_User.Text == "工程参数配置")
                        {                            
                            pictureBox_ReadLock.Image = global::Welling_Motor_Debug_Tool.Properties.Resources.Unlock;
                            foreach (Control c in groupBox29.Controls)
                            {
                                if (c is CheckBox)
                                    c.Enabled = true;
                            }
                            ReadLockStatus = !ReadLockStatus;                            
                        }
                        else
                        {
                            MessageBox.Show("权限不支持", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                        }
                    }
                    else
                    {
                        MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
                catch (Exception)
                {
                    MessageBox.Show("用户不存在或密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            else
            {
                pictureBox_ReadLock.Image = global::Welling_Motor_Debug_Tool.Properties.Resources.Lock;
                foreach (Control c in groupBox29.Controls)
                {
                    if (c is CheckBox)
                        c.Enabled = false;
                }
                ReadLockStatus = !ReadLockStatus;
            }

        }

        private void 屏幕键盘ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            System.Diagnostics.Process.Start("osk.exe");
        }

        private void checkBox_OffLineCheckMode_CheckedChanged(object sender, EventArgs e)
        {
            comboBox_CheckModeCfgDate.SelectedIndex = -1;
            comboBox_CheckModeCfgFile.SelectedIndex = -1;
            checkBox_OffLineFacMode.Checked = checkBox_OffLineCheckMode.Checked;
        }

        private void checkBox_OffLineFacMode_CheckedChanged(object sender, EventArgs e)
        {
            comboBox_FacModeCfgDate.SelectedIndex = -1;
            comboBox_FacModeCfgFile.SelectedIndex = -1;
            checkBox_OffLineCheckMode.Checked = checkBox_OffLineFacMode.Checked;
        }

        private void 版本ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            VersionForm.ShowDialog();
        }

        private void button_MOS_Cal_Click(object sender, EventArgs e)
        {
            textBox_MOS_R1.Text = "";
            textBox_MOS_R2.Text = "";
            textBox_MOS_R3.Text = "";
            try
            {
                var Code = new byte[18];
                for (int i = 0; i < 18; i++)
                    Code[i] = 0;                
                Code[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
                ushort uwDataTemp = 0;
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K1.Text);
                Code[2] = (byte)(uwDataTemp & 0xFF);
                Code[3] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K2.Text);
                Code[4] = (byte)(uwDataTemp & 0xFF);
                Code[5] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K3.Text);
                Code[6] = (byte)(uwDataTemp & 0xFF);
                Code[7] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K4.Text);
                Code[8] = (byte)(uwDataTemp & 0xFF);
                Code[9] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K5.Text);
                Code[10] = (byte)(uwDataTemp & 0xFF);
                Code[11] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4A12, Code);
            }
            catch (Exception)
            {
                MessageBox.Show("系数填写不完整！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }

        }

        private void button_MOS_Read_Click(object sender, EventArgs e)
        {
            foreach (Control c in groupBox21.Controls)
            {
                if (c is TextBox)
                    c.Text = "";
            }
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4B00, null);
        }

        private void button_MOS_Write_Click(object sender, EventArgs e)
        {
            try
            {
                var Code = new byte[34];
                for (int i = 0; i < 34; i++)
                    Code[i] = 0;
                Code[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
                ushort uwDataTemp = 0;
                uwDataTemp = Convert.ToUInt16(textBox_MOS_R1.Text);
                Code[2] = (byte)(uwDataTemp & 0xFF);
                Code[3] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_R2.Text);
                Code[4] = (byte)(uwDataTemp & 0xFF);
                Code[5] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_R3.Text);
                Code[6] = (byte)(uwDataTemp & 0xFF);
                Code[7] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K1.Text);
                Code[8] = (byte)(uwDataTemp & 0xFF);
                Code[9] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K2.Text);
                Code[10] = (byte)(uwDataTemp & 0xFF);
                Code[11] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K3.Text);
                Code[12] = (byte)(uwDataTemp & 0xFF);
                Code[13] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K4.Text);
                Code[14] = (byte)(uwDataTemp & 0xFF);
                Code[15] = (byte)(uwDataTemp >> 8);
                uwDataTemp = Convert.ToUInt16(textBox_MOS_K5.Text);
                Code[16] = (byte)(uwDataTemp & 0xFF);
                Code[17] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4C22, Code);
            }
            catch (Exception)
            {
                MessageBox.Show("数据填写不完整！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        /// <summary>
        /// 测试模式点击文本框自动全选
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void textBox_FacModeScan_MouseClick(object sender, MouseEventArgs e)
        {
            textBox_FacModeScan.SelectAll();
        }

        /// <summary>
        /// 检验模式点击文本框自动全选
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void textBox_CheckModeScan_MouseClick(object sender, MouseEventArgs e)
        {
            textBox_CheckModeScan.SelectAll();
        }

        /// <summary>
        /// 鼠标放置显示连接服务器信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void label_ServerStatus_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            
           
            if (myFtp.IsNetConnected)
            {
                toolTip1.SetToolTip(this.label_ServerStatus, "IP: " + ServerIP);//设置故障内容显示
            }
            else
            {
                toolTip1.SetToolTip(this.label_ServerStatus, "网络断开");//设置故障内容显示
            }
        }

        /// <summary>
        /// UART协议类型修改
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 协议类型ToolStripMenuItem_SelectedIndexChanged(object sender, EventArgs e)
        {
            var Code = new byte[2];
            Code[0] = (byte)协议类型ToolStripMenuItem.SelectedIndex;
            Code[1] = 0x00;
            mySerialProcess.SendCmd((ushort)0x7FF, (byte)0x16, (ushort)0x7702, Code);
        }

        /// <summary>
        /// 显示本机信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 本机信息ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            MessageBox.Show(Local_HdInformation, "Info", MessageBoxButtons.OK, MessageBoxIcon.Information);
        }

        /// <summary>
        /// 量产模式删除当前选中文件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void label112_DoubleClick(object sender, EventArgs e)
        {
            if (MessageBox.Show("确认删除？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                EnterForm1.ShowDialog();
                try
                {
                    if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                    {
                        if (EnterForm1.comboBox_User.Text.Contains("工程"))
                        {
                            try
                            {
                                myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + comboBox_FacModeCfgDate.Text + "\\" + comboBox_FacModeCfgFile.Text);
                                myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + comboBox_FacModeCfgDate.Text + "\\" + Path.GetFileNameWithoutExtension(comboBox_FacModeCfgFile.Text) + ".src");
                                myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + comboBox_FacModeCfgDate.Text + "\\" + Path.GetFileNameWithoutExtension(comboBox_FacModeCfgFile.Text) + ".png");
                                MessageBoxTimeOut.Show("删除成功", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Information);
                            }
                            catch (Exception)
                            {
                                MessageBoxTimeOut.Show("删除异常", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                            }
                        }
                        else
                        {
                            MessageBoxTimeOut.Show("权限不支持！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                        }
                    }
                }
                catch (Exception)
                {
                    MessageBoxTimeOut.Show("用户不存在或密码错误！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
        }

        /// <summary>
        /// 检验模式删除当前选中文件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void label138_DoubleClick(object sender, EventArgs e)
        {
            if (MessageBox.Show("确认删除？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                EnterForm1.ShowDialog();
                try
                {
                    if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                    {
                        if (EnterForm1.comboBox_User.Text.Contains("工程"))
                        {
                            try
                            {
                                myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + comboBox_CheckModeCfgDate.Text + "\\" + comboBox_CheckModeCfgFile.Text);
                                myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + comboBox_CheckModeCfgDate.Text + "\\" + Path.GetFileNameWithoutExtension(comboBox_CheckModeCfgFile.Text) + ".src");
                                myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + comboBox_CheckModeCfgDate.Text + "\\" + Path.GetFileNameWithoutExtension(comboBox_CheckModeCfgFile.Text) + ".png");
                                MessageBoxTimeOut.Show("删除成功", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Information);
                            }
                            catch (Exception)
                            {
                                MessageBoxTimeOut.Show("删除异常", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                            }
                        }
                        else
                        {
                            MessageBoxTimeOut.Show("权限不支持！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                        }
                    }
                }
                catch (Exception)
                {
                    MessageBoxTimeOut.Show("用户不存在或密码错误！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
        }

        /// <summary>
        /// 读取整车信息2
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadBikeParam2_Click(object sender, EventArgs e)
        {
            richTextBox_BikeParam2.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4C00, null);
        }

        /// <summary>
        /// 写入整车信息2
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteBikeParam2_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);

            string[] strDataTemp = richTextBox_BikeParam2.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    short wDataTemp = 0;                    
                    wDataTemp = Convert.ToInt16(strDataTemp[i].Split('=')[1]);
                    wDataTemp = Convert.ToInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)wDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(wDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4D22, ConfigParam);
            }
            catch (Exception)
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
            }
        }

        /// <summary>
        /// 读取用户骑行参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadUsrRideParam_Click(object sender, EventArgs e)
        {
            richTextBox_UsrRidesParam.Clear();
            if (checkBox_UserRideParam_OBC.Checked)
                mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x4300, null);
            else
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4A00, null);
        }

        /// <summary>
        /// 写入用户骑行参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteUsrRidetParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[34];
            for (int i = 0; i < 34; i++)
                ConfigParam[i] = 0;

            if (checkBox_UserRideParam_OBC.Checked)
            {
                ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);

                string[] strDataTemp = richTextBox_UsrRidesParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
                try
                {
                    for (int i = 0; i < strDataTemp.Length; i++)
                    {
                        ConfigParam[i + 2] = Convert.ToByte(strDataTemp[i].Split('=')[1]);
                    }
                    mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4B22, ConfigParam);
                }
                catch (Exception)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_500ms.Enabled = true;
                }
            }
            else
            {
                string[] strDataTemp = richTextBox_UsrRidesParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
                try
                {
                    for (int i = 0; i < strDataTemp.Length; i++)
                    {
                        ConfigParam[i] = Convert.ToByte(strDataTemp[i].Split('=')[1]);
                    }
                    mySerialProcess.SendCmd((ushort)0x731, (byte)0x16, (ushort)0x4420, ConfigParam);
                }
                catch (Exception)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    timer_500ms.Enabled = true;
                }
            }
            
        }

        /// <summary>
        /// 读取产品标签
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadTag_Click(object sender, EventArgs e)
        {
            textBox_TagInfo.Text = "---";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4E00, null);
        }

        /// <summary>
        /// 写入产品标签
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteTag_Click(object sender, EventArgs e)
        {
            string User = textBox_TagInfo.Text;
            var UserArray = new byte[32];

            for (ushort i = 0; i < User.Length; i++)
            {
                UserArray[i] = (byte)User[i];
            }

            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3D20, UserArray);
        }

        /// <summary>
        /// 上位机读取骑行历史
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadRideLog_Click(object sender, EventArgs e)
        {
            textBox_ODO_KM.Text = "---";
            textBox_ODO_TIME.Text = "---";
            textBox_TRIP_KM.Text = "---";
            textBox_TRIP_TIME.Text = "---";
            textBox_OBC_TRIP_KM.Text = "";
            textBox_OBC_TRIP_TIME.Text = "";
            textBox_OBC_ODO_KM.Text = "";
            textBox_OBC_ODO_TIME.Text = "";
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2E00, null);
        }

        /// <summary>
        /// 上位机写入骑行历史
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteRideLog_Click(object sender, EventArgs e)
        {
            UInt32 Data;
            var UserArray = new byte[16];

            try
            {
                Data = Convert.ToUInt32(textBox_ODO_KM.Text);
                UserArray[0] = (byte)(Data & 0xFF);
                UserArray[1] = (byte)(Data >> 8);
                UserArray[2] = (byte)(Data >> 16);
                UserArray[3] = (byte)(Data >> 24);
                Data = Convert.ToUInt32(textBox_ODO_TIME.Text);
                UserArray[4] = (byte)(Data & 0xFF);
                UserArray[5] = (byte)(Data >> 8);
                UserArray[6] = (byte)(Data >> 16);
                UserArray[7] = (byte)(Data >> 24);
                Data = Convert.ToUInt32(textBox_TRIP_KM.Text);
                UserArray[8] = (byte)(Data & 0xFF);
                UserArray[9] = (byte)(Data >> 8);
                UserArray[10] = (byte)(Data >> 16);
                UserArray[11] = (byte)(Data >> 24);
                Data = Convert.ToUInt32(textBox_TRIP_TIME.Text);
                UserArray[12] = (byte)(Data & 0xFF);
                UserArray[13] = (byte)(Data >> 8);
                UserArray[14] = (byte)(Data >> 16);
                UserArray[15] = (byte)(Data >> 24);

                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3B10, UserArray);
            }
            catch (Exception ex)
            {
                MessageBox.Show("数据格式错误！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        /// <summary>
        /// 获取删除配置文件日期列表
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripTextBox_DelCfgFile_Click(object sender, EventArgs e)
        {
            string[] DateList = { "" };

            //网络断开时直接退出
            if (!myFtp.IsNetConnected)
                return;

            //从服务器更新日期列表
            DateList = myFtp.GetDirectoryList(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName);

            toolStripTextBox_DelCfgFile.Items.Clear();

            //日期列表加载，显示最近30条
            if (DateList.Length > 30)
            {
                toolStripTextBox_DelCfgFile.Items.Add("支持最近30条");                
                toolStripTextBox_DelCfgFile.Items.Add("-----");                
            }
            for (int i = (DateList.Length > 30) ? (DateList.Length - 30) : 0; i < DateList.Length; i++)//显示最近30个日期
            {
                toolStripTextBox_DelCfgFile.Items.Add(DateList[i].Substring(DateList[i].LastIndexOf("\\") + 1));                
            }
        }

        /// <summary>
        /// 删除指定配置文件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripTextBox_DelCfgFile_SelectedIndexChanged(object sender, EventArgs e)
        {
            //提示输入文件名
            Scan scan_form = new Scan();
            scan_form.ShowDialog();
            do
            {
                if (scan_form.textBox_Scan.Text == string.Empty)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("无内容!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                    break;
                }
                string DelFile = scan_form.textBox_Scan.Text;

                if (MessageBox.Show("确认删除？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    EnterForm1.ShowDialog();
                    try
                    {
                        if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                        {
                            if (EnterForm1.comboBox_User.Text.Contains("工程"))
                            {
                                try
                                {
                                    if (DelFile.Contains("."))
                                        DelFile = Path.GetFileNameWithoutExtension(DelFile);
                                    myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + toolStripTextBox_DelCfgFile.Text + "\\" + DelFile + ".ttcfg");
                                    myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + toolStripTextBox_DelCfgFile.Text + "\\" + DelFile + ".src");
                                    myFtp.DeleteFile(toolStripTextBox_ServerPath.Text + "\\" + localInfo.CfgPathName + "\\" + toolStripTextBox_DelCfgFile.Text + "\\" + DelFile + ".png");
                                    MessageBoxTimeOut.Show("删除成功", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Information);
                                }
                                catch (Exception)
                                {
                                    MessageBoxTimeOut.Show("删除异常", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                                }
                            }
                            else
                            {
                                MessageBoxTimeOut.Show("权限不支持！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                            }
                        }
                    }
                    catch (Exception)
                    {
                        MessageBoxTimeOut.Show("用户不存在或密码错误！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
            } while (false);
        }

        /// <summary>
        /// 获取删除样机测试记录日期列表
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripTextBox_DelLogFile_Click(object sender, EventArgs e)
        {
            string[] DateList = { "" };

            //网络断开时直接退出
            if (!myFtp.IsNetConnected)
                return;

            //从服务器更新日期列表
            DateList = myFtp.GetDirectoryList(toolStripTextBox_ServerPath.Text + "\\" + localInfo.SampleFileName);

            toolStripTextBox_DelLogFile.Items.Clear();

            //日期列表加载，显示最近30天
            if (DateList.Length > 30)
            {
                toolStripTextBox_DelLogFile.Items.Add("支持最近30条");
                toolStripTextBox_DelLogFile.Items.Add("-----");
            }
            for (int i = (DateList.Length > 30) ? (DateList.Length - 30) : 0; i < DateList.Length; i++)//显示最近30个日期
            {
                toolStripTextBox_DelLogFile.Items.Add(DateList[i].Substring(DateList[i].LastIndexOf("\\") + 1));
            }
        }

        /// <summary>
        /// 删除指定的样机测试记录
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripTextBox_DelLogFile_SelectedIndexChanged(object sender, EventArgs e)
        {
            //提示输入文件名
            Scan scan_form = new Scan();
            scan_form.ShowDialog();
            do
            {
                if (scan_form.textBox_Scan.Text == string.Empty)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("无内容!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                    break;
                }
                string DelFile = scan_form.textBox_Scan.Text;

                if (MessageBox.Show("确认删除？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    EnterForm1.ShowDialog();
                    try
                    {
                        if (EnterForm1.textBox_Passwd.Text == EnterForm1.UserAccount[EnterForm1.comboBox_User.Text])//检验模式所有用户支持
                        {
                            if (EnterForm1.comboBox_User.Text.Contains("工程"))
                            {
                                try
                                {
                                    //删除指定目录下面所有文件和文件夹
                                    myFtp.DelDirectoryWithAll(toolStripTextBox_ServerPath.Text + "\\" + localInfo.SampleFileName + "\\" + toolStripTextBox_DelLogFile.Text + "\\" + DelFile);
                                    myFtp.RemoveDirectory(toolStripTextBox_ServerPath.Text + "\\" + localInfo.SampleFileName + "\\" + toolStripTextBox_DelLogFile.Text + "\\" + DelFile);
                                    MessageBoxTimeOut.Show("删除成功", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Information);
                                }
                                catch (Exception)
                                {
                                    MessageBoxTimeOut.Show("删除异常", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                                }
                            }
                            else
                            {
                                MessageBoxTimeOut.Show("权限不支持！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                            }
                        }
                    }
                    catch (Exception)
                    {
                        MessageBoxTimeOut.Show("用户不存在或密码错误！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Error);
                    }
                }
            } while (false);
        }

        /// <summary>
        /// CAN协议选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void cANToolStripMenuItem_Click(object sender, EventArgs e)
        {
            cANToolStripMenuItem.Checked= true;
            uARTToolStripMenuItem.Checked = false;
            UART协议ToolStripMenuItem.Visible = false;
            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
        }

        /// <summary>
        /// UART协议选择
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void uARTToolStripMenuItem_Click(object sender, EventArgs e)
        {
            cANToolStripMenuItem.Checked = false;
            uARTToolStripMenuItem.Checked = true;
            UART协议ToolStripMenuItem.Visible = true;
            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
        }

        /// <summary>
        /// 清除流水号
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void label131_DoubleClick(object sender, EventArgs e)
        {
            if (MessageBox.Show("确认清零流水号？", "确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                label_FacModeSerial.Text = "0";
                File.WriteAllText(localInfo.LocalPath + localInfo.SerialNumFileName1, label_FacModeSerial.Text);
            }
        }

        /// <summary>
        /// 清除流水号
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void label135_DoubleClick(object sender, EventArgs e)
        {
            if (MessageBox.Show("确认清零流水号？", "确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                label_CheckModeSerial.Text = "0";
                File.WriteAllText(localInfo.LocalPath + localInfo.SerialNumFileName2, label_CheckModeSerial.Text);
            }
        }

        /// <summary>
        /// 打开自动更新
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 打开ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            打开ToolStripMenuItem.Checked = true;
            关闭ToolStripMenuItem.Checked = false;
            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
        }

        /// <summary>
        /// 关闭自动更新
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 关闭ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            打开ToolStripMenuItem.Checked = false;
            关闭ToolStripMenuItem.Checked = true;
            ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
        }

        /// <summary>
        /// 显示完整配置文件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox_FacModeCfgFile_MouseHover_1(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 3000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.comboBox_FacModeCfgFile, comboBox_FacModeCfgFile.Text);//设置故障内容显示
        }

        /// <summary>
        /// 显示完整配置文件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox_CheckModeCfgFile_MouseHover_1(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 3000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            toolTip1.SetToolTip(this.comboBox_CheckModeCfgFile, comboBox_CheckModeCfgFile.Text);//设置故障内容显示
        }

        /// <summary>
        /// 手动发送指令
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 发送指令ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //提示            
            Scan scan_form = new Scan();
            scan_form.label1.Text = "按照16进制填写，相邻字节用空格隔开，依次填写ID、Mode、Cmd、Data\r\n例如：07 31 16 22 05 01 02 03 04 05";
            scan_form.ShowDialog();
                        
            //发送写入的指令，填写ID、类型、命令字、数据
            do
            {
                if (scan_form.textBox_Scan.Text == string.Empty)
                {
                    timer_500ms.Enabled = false;
                    MessageBox.Show("无内容!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_500ms.Enabled = true;
                    break;
                }

                //输入文本转换为字节流
                var InputData = new byte[256];
                InputData = mySerialProcess.HexStringToBytes(scan_form.textBox_Scan.Text, true);
                //ID
                ushort ID;
                ID = (ushort)((InputData[0] << 8) + InputData[1]);
                //Mode
                byte Mode;
                Mode = InputData[2];
                //Cmd
                ushort Cmd;
                Cmd = (ushort)((InputData[3] << 8) + InputData[4]);
                //Data
                var Data = new byte[Cmd & 0x00FF];
                for (int i = 0; i < (Cmd & 0x00FF); i++)
                    Data[i] = InputData[5 + i];
                //发送数据
                mySerialProcess.SendCmdWithoutNotice(ID, Mode, Cmd, Data);
            } while (false);
        }

        /// <summary>
        /// 启动位置传感器校准
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_AngleCalStart_Click(object sender, EventArgs e)
        {
            for (int i = 0; i < 7; i++)
                for (int j = 0; j < 6; j++)
                {
                    dataGridView_AngleCal.Rows[i].Cells[j + 1].Value = "";
                }
            foreach (Control cr in tabPage_AngleCal.Controls)
            {
                if (cr is TextBox)
                {
                    if ((cr != textBox_AngleDiffTh) && (cr != textBox_AngleZeroTh))
                        cr.Text = "";
                }
            }
            var Data = new byte[2];
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x0C, (ushort)0x5002, Data);
        }

        /// <summary>
        /// 导出位置传感器校准数据
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_AngleExportData_Click(object sender, EventArgs e)
        {
            //读出产品信息
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            Delay_ms(200);

            SaveFileDialog sfd = new SaveFileDialog
            {
                FileName = textBox_FacModeName.Text + "_" + textBox_FacModeNum.Text + "_" + "位置传感器角度数据_" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".txt",
                Filter = "文本文档(*.txt)|*.txt",
                Title = "Save"
            };

            if (sfd.ShowDialog() != DialogResult.OK)
            {
                return;
            }

            string filepath = sfd.FileName;

            FileStream fs = new FileStream(filepath, FileMode.OpenOrCreate);

            using (StreamWriter sw = new StreamWriter(fs))
            {
                sw.Write("标准值  ");
                sw.Write("60.00 ");
                sw.Write("120.00 ");
                sw.Write("180.00 ");
                sw.Write("240.00 ");
                sw.Write("300.00 ");
                sw.Write("360.00 ");
                for (int i = 0; i < 42; i++)
                {
                    if ((i % 6 == 0))
                    {
                        sw.Write("\r\n" + "采集值" + (i / 6 + 1).ToString() + " ");
                    }
                    sw.Write(AngledataRecord[i] + " ");
                }
                sw.Write("\r\n" + "历史零点位置 " + textBox_AngleZeroInit.Text);
                sw.Write("\r\n" + "当前零点位置 " + textBox_AngleZeroCur.Text);
                sw.Write("\r\n" + "零点误差 " + textBox_AngleZeroDiff.Text);
                sw.Write("\r\n" + "最小偏差值 " + textBox_AngleDiffMin.Text);
                sw.Write("\r\n" + "最大偏差值  " + textBox_AngleDiffMax.Text);
                sw.Write("\r\n" + "平均偏差值  " + textBox_AngleDiffAvg.Text);

                sw.Flush();

            }
            fs.Close();
        }

        /// <summary>
        /// 写入校准数据
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_AngleWrite_Click(object sender, EventArgs e)
        {
            if ((textBox_AngleDiffAvg.Text == "") || (textBox_AngleZeroInit.Text == ""))
            {
                timer_500ms.Enabled = false;
                MessageBox.Show("请先启动校准，以确认校准数据!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_500ms.Enabled = true;
                return;
            }

            timer_500ms.Enabled = false;
            string str1 = "确认校准数据，历史零点: " + textBox_AngleZeroInit.Text + ", 偏差平均值: " + textBox_AngleDiffAvg.Text;
            if (MessageBox.Show(str1, "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                var SaveFlag = new byte[4];
                for (int i = 0; i < 4; i++)
                    SaveFlag[i] = 0;
                SaveFlag[0] = (byte)(1);

                double data1 = Convert.ToDouble(textBox_AngleZeroInit.Text) - Convert.ToDouble(textBox_AngleDiffAvg.Text);
                if (data1 > 360)
                {
                    data1 -= 360;
                }
                else if (data1 < -360)
                {
                    data1 += 360;
                }
                Int16 data2 = (Int16)(data1 * 32768 / 360);
                SaveFlag[2] = (byte)(data2);
                SaveFlag[3] = (byte)(data2 >> 8);

                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x5104, SaveFlag);
                timer_500ms.Enabled = true;
            }
            else
            {
                timer_500ms.Enabled = true;
                MessageBoxTimeOut.Show("写入取消", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Information);
            }
        }

        /// <summary>
        /// 存储允许偏差
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void textBox_AngleDiffTh_KeyDown(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                MessageBox.Show("数据已保存！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
            }
        }

        /// <summary>
        /// 存储零点允许偏差
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void textBox_AngleZeroTh_KeyDown(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
            {
                ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                MessageBox.Show("数据已保存！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
            }
        }

        /// <summary>
        /// 删除服务器配置文件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 重置ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (MessageBox.Show("重置后软件自动关闭，确认重置？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if(File.Exists(localInfo.LocalPath + localInfo.ServerCfgFileName))
                    File.Delete(localInfo.LocalPath + localInfo.ServerCfgFileName);
                if(File.Exists(localInfo.LocalPath + localInfo.ConfigFileName))
                    File.Delete(localInfo.LocalPath + localInfo.ConfigFileName);
                System.Environment.Exit(0);
            }            
        }

        /// <summary>
        /// 按下Enter保存数据
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripTextBox_AngleAvgMax_KeyDown(object sender, KeyEventArgs e)
        {
            textBox_AngleDiffTh.Text = toolStripTextBox_AngleAvgMax.Text;
            if (e.KeyCode == Keys.Enter)
            {
                ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                MessageBox.Show("数据已保存！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
            }
        }

        /// <summary>
        /// 按下Enter保存数据
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void toolStripTextBox_AngleZeroMax_KeyDown(object sender, KeyEventArgs e)
        {
            textBox_AngleZeroTh.Text = toolStripTextBox_AngleZeroMax.Text;
            if (e.KeyCode == Keys.Enter)
            {
                ConfigFileSave(true, localInfo.LocalPath + localInfo.ConfigFileName);
                MessageBox.Show("数据已保存！", "提示", MessageBoxButtons.OK, MessageBoxIcon.None);
            }
        }

        private void 帮助ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //检查本地文件
            if (!File.Exists(localInfo.LocalPath + localInfo.HelpFilename))
            {
                if (!OfflineFlag)
                    myFtp.DownloadFile("/Tools/Welling_Motor_Debug_Tool/help/" + localInfo.HelpFilename, localInfo.LocalPath);
                else
                {
                    MessageBoxTimeOut.Show("未找到帮助文件！", "提示", 1000, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    return;
                }
            }
            //调用本地浏览器打开帮助文件
            System.Diagnostics.Process.Start("explorer", localInfo.LocalPath + localInfo.HelpFilename);
        }

        /// <summary>
        /// 打开或关闭指令窗口
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void 指令调试ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (指令调试ToolStripMenuItem.Checked == false)
            {
                if (DebugForm.debug1 == null || DebugForm.debug1.IsDisposed)
                {
                    DebugForm.debug1 = new DebugForm();
                    DebugForm.debug1.Show();
                    this.DebugWindowIsOpen = true;
                }
                else
                {
                    DebugForm.debug1.Activate();
                    this.DebugWindowIsOpen = true;
                }
                指令调试ToolStripMenuItem.Checked = true;
            }
            else
            {
                if (this.DebugWindowIsOpen == true)
                {
                    DebugForm.debug1.Close();
                    this.DebugWindowIsOpen = false;
                    this.DebugDataDisplayEnable = false;
                }
                指令调试ToolStripMenuItem.Checked = false;
            }
        }
    }
}