motor-debug/Welling_Motor_Debug_Tool/Form1.cs

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

namespace Welling_Motor_Debug_Tool
{
    public partial class Form1 : Form
    {
        #region 变量定义
        //串口实例
        Serial_Process mySerialProcess = new Serial_Process();
        //MC运行信息超时计数
        bool MC_RunInfo_Refresh = false;
        ushort MC_RunInfo_Refresh_Cnt = 0;
        //MC故障码超时计数
        bool MC_ErrorCode_Refresh = false;
        ushort MC_ErrorCode_Refresh_Cnt = 0;
        //配置参数实例
        Params myParams = new Params();
        //记录文件名称
        string SaveFilename = "";
        //BMS运行信息超时计数
        bool BMS_RunInfo_Refresh = false;
        ushort BMS_RunInfo_Refresh_Cnt = 0;
        #endregion

        public Form1()
        {
            InitializeComponent();
        }

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

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

        #region 串口数据解析线程

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

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

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

            while (buffer.Count >= 13)//当buffer中的数据的个数大于等于4个时，即每一帧的数据长度所在位（第4位）出现时
            {
                if (buffer[0] == 0x55 && buffer[1] == 0xAA)//判断帧头
                {
                    PackageID = (ushort)(buffer[2] * 256 + buffer[3]);
                    if ((PackageID == 0x0710) || (PackageID == 0x0715) || (PackageID == 0x07FF) || (PackageID == 0x0720) || (PackageID == 0x0713))
                    {
                        int CmdLen = buffer[5];
                        if (buffer.Count < CmdLen + 11) break;//如果接收到的数据没有达到一帧数据的指定长度， 则执行下次循环
                        buffer.RemoveRange(0, 6);//数据达到要求长度后删去帧头，ID，模式，和命令长度
                        while (CmdLen > 0) //读取命令段
                        {
                            Cmd = (ushort)(buffer[0] * 256 + buffer[1]);
                            DataNum = (byte)(buffer[1]);//命令字的第二个字节的表示数据位的长度
                            if (DataNum <= (CmdLen - 2))
                            {
                                for (int i = 0; i < DataNum; i++)
                                {
                                    Data[i] = buffer[i + 2];
                                }
                                DataCmdProcess(PackageID, Cmd, Data);//对于不同的命令段，做不同的处理
                                buffer.RemoveRange(0, DataNum);//移除处理过的数据段
                                CmdLen -= (DataNum + 2);
                                if (CmdLen < 2)
                                {
                                    buffer.RemoveRange(0, CmdLen + 2);
                                    return;
                                }
                            }
                            else
                            {
                                buffer.RemoveRange(0, CmdLen + 11);
                            }

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

        private void DataCmdProcess(ushort ID, ushort CmdTemp, byte[] Data)
        {
            int DataTemp;
            ushort uData16;
            unchecked
            {
                this.Invoke((EventHandler)(delegate { label_RecCount.Text = Convert.ToString(Convert.ToInt32(label_RecCount.Text) + 1); }));
            }
            #region 解析发送给CDL的指令
            if (ID == 0x7FF)
            {
                switch (CmdTemp)
                {
                    case 0x1100://
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //CDL连接成功
                                    mySerialProcess.CDL_Online_Flag = true;
                                    MessageBox.Show("连接成功！", "提示");
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
            #endregion

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

                                    //数据保存
                                    DataAutoSave();
                                }));
                            }
                            break;
                        }
                    case 0x1104://故障码
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MC_ErrorCode_Refresh = true;
                                    textBox_ErrorCode.Text =
                                        Convert.ToString(Data[3], 16).PadLeft(2, '0').ToUpper() +
                                        Convert.ToString(Data[2], 16).PadLeft(2, '0').ToUpper() +
                                        Convert.ToString(Data[1], 16).PadLeft(2, '0').ToUpper() +
                                        Convert.ToString(Data[0], 16).PadLeft(2, '0').ToUpper() +
                                        "H";
                                }));
                            }
                            break;
                        }
                    case 0xA903://反馈指令
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    timer_1s.Enabled = false;
                                    MessageBox.Show("OK", "反馈指令", MessageBoxButtons.OK, MessageBoxIcon.Information);
                                    timer_1s.Enabled = true;
                                }));
                            }
                            break;
                        }
                    case 0xB226://马达参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_MotorParam.Clear();
                                    for (int i = 0; i < myParams.MotorParma.Count; i++)
                                    {
                                        richTextBox_MotorParam.AppendText(myParams.MotorParma[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_MotorParam.Text = richTextBox_MotorParam.Text.Substring(0, richTextBox_MotorParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB31A://整车信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_BikeParam.Clear();
                                    for (int i = 0; i < myParams.BikeParma.Count; i++)
                                    {
                                        richTextBox_BikeParam.AppendText(myParams.BikeParma[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_BikeParam.Text = richTextBox_BikeParam.Text.Substring(0, richTextBox_BikeParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB420://控制器参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ControlParam.Clear();
                                    for (int i = 0; i < myParams.ControlParma.Count; i++)
                                    {
                                        richTextBox_ControlParam.AppendText(myParams.ControlParma[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_ControlParam.Text = richTextBox_ControlParam.Text.Substring(0, richTextBox_ControlParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB528://传感器参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_SensorParam.Clear();
                                    for (int i = 0; i < myParams.SensorParam.Count; i++)
                                    {
                                        richTextBox_SensorParam.AppendText(myParams.SensorParam[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_SensorParam.Text = richTextBox_SensorParam.Text.Substring(0, richTextBox_SensorParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB64C://助力参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_AssistParam.Clear();
                                    int index_1 = myParams.AssistParam.IndexOf("转矩曲线.a");
                                    int index_2 = myParams.AssistParam.IndexOf("踏频曲线.d");
                                    for (int i = 0; i < myParams.AssistParam.Count; i++)
                                    {
                                        if (i < index_1) //数据占用2bytes
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                        }
                                        else if (i <= index_2) //数据占用4bytes
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString((Data[4 * i - 5] << 24) + (Data[4 * i - 6] << 16) + (Data[4 * i - 7] << 8) + Data[4 * i - 8]) + ", ");
                                        }
                                        else //数据占用2bytes
                                        {
                                            richTextBox_AssistParam.AppendText(myParams.AssistParam[i] + "=" + Convert.ToString(Data[2 * i + 17] * 256 + Data[2 * i + 16]) + ", ");
                                        }

                                    }
                                    richTextBox_AssistParam.Text = richTextBox_AssistParam.Text.Substring(0, richTextBox_AssistParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB74C://历史记录
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_Record.Clear();
                                    for (int i = 0; i < myParams.Record.Count; i++)
                                    {
                                        richTextBox_Record.AppendText(myParams.Record[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_Record.Text = richTextBox_Record.Text.Substring(0, richTextBox_Record.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB83A://调试参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_DebugParam.Clear();
                                    for (int i = 0; i < myParams.DebugParam.Count; i++)
                                    {
                                        richTextBox_DebugParam.AppendText(myParams.DebugParam[i] + "=" + Convert.ToString(Data[2 * i + 1] * 256 + Data[2 * i]) + ", ");
                                    }
                                    richTextBox_DebugParam.Text = richTextBox_DebugParam.Text.Substring(0, richTextBox_DebugParam.Text.Length - 2);
                                }));
                            }
                            break;
                        }
                    case 0xB904://存储标志
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    ushort Flag = 0;
                                    Flag = (ushort)(Data[1] * 256 + Data[0]);//EEPROM存储标志
                                    if (Flag == 0)
                                    {
                                        radioButton_EE_SaveNo.Checked = true;
                                        radioButton_EE_SaveYes.Checked = false;
                                    }
                                    else
                                    {
                                        radioButton_EE_SaveNo.Checked = false;
                                        radioButton_EE_SaveYes.Checked = true;
                                    }
                                    Flag = (ushort)(Data[3] * 256 + Data[2]);//SIP偏移校准存储标志
                                    if (Flag == 0)
                                    {
                                        radioButton_SIP_SaveNo.Checked = true;
                                        radioButton_SIP_SaveYes.Checked = false;
                                    }
                                    else
                                    {
                                        radioButton_SIP_SaveNo.Checked = false;
                                        radioButton_SIP_SaveYes.Checked = true;
                                    }
                                }));
                            }
                            break;
                        }
                    case 0x1240://电机版本信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //电机型号
                                    textBox_Model.Text = "";
                                    textBox_OBC_ReadModel.Text = "";
                                    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();
                                    }
                                    Class_Motor_Ver.Mode = textBox_Model.Text;

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

                                    //电机HW
                                    textBox_HW.Text = "";
                                    textBox_OBC_ReadHW.Text = "";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (Data[32 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_HW.Text += ((char)Data[32 + i]).ToString();
                                        textBox_OBC_ReadHW.Text += ((char)Data[32 + i]).ToString();
                                    }
                                    Class_Motor_Ver.HW = textBox_HW.Text;

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

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

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

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

                                    //品牌信息
                                    textBox_PP.Text = "";
                                    for (ushort i = 0; i < 8; i++)
                                    {
                                        if (Data[24 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        textBox_PP.Text += ((char)Data[24 + i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    case 0xA408://密钥
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    textBox_Key.Text = "";
                                    for (ushort i = 0; i < 8; i++)
                                    {
                                        textBox_Key.Text += ((char)Data[i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    case 0x1401://在线检测结果
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    textBox_Online.Text = Convert.ToString(Data[3], 16).PadLeft(2, '0').ToUpper() + "H";
                                }));
                            }
                            break;
                        }
                    case 0x1510://骑行历史信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    long DataTemp32;
                                    //ODO里程
                                    DataTemp32 = (long)((Data[3] << 24) + (Data[2] << 16) + (Data[1] << 8) + Data[0]);
                                    textBox_OBC_ODO_KM.Text = ((float)DataTemp32 / 10f).ToString("0.0") + " km";
                                    //ODO时间
                                    DataTemp32 = (long)((Data[7] << 24) + (Data[6] << 16) + (Data[5] << 8) + Data[4]);
                                    if (DataTemp32 >= 60 * 100000)
                                        textBox_OBC_ODO_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h";
                                    else
                                        textBox_OBC_ODO_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h " + Convert.ToString(DataTemp32 % 60) + " m";
                                    //TRIP里程
                                    DataTemp32 = (long)((Data[11] << 24) + (Data[10] << 16) + (Data[9] << 8) + Data[8]);
                                    textBox_OBC_TRIP_KM.Text = ((float)DataTemp32 / 10f).ToString("0.0") + " km";
                                    //TRIP时间
                                    DataTemp32 = (long)((Data[15] << 24) + (Data[14] << 16) + (Data[13] << 8) + Data[12]);
                                    if (DataTemp32 >= 60 * 100000)
                                        textBox_OBC_TRIP_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h";
                                    else
                                        textBox_OBC_TRIP_TIME.Text = Convert.ToString(DataTemp32 / 60) + " h " + Convert.ToString(DataTemp32 % 60) + " m";
                                }));
                            }
                            break;
                        }
                    default:
                        {
                            unchecked
                            {
                                if ((CmdTemp & 0xFF00) == 0xAB00) //返回指定地址存储器数据
                                { 
                                    this.Invoke((EventHandler)(delegate
                                    {
                                        long ByteNum = 0;
                                        ByteNum = ((Data[4] << 24) + (Data[5] << 16) + (Data[6] << 8) + Data[7]) - ((Data[0] << 24) + (Data[1] << 16) + (Data[2] << 8) + Data[3]) + 1;
                                        for (int i = 0; i < ByteNum; i++)
                                        {
                                            richTextBox_RamFlasgData.AppendText(Convert.ToString(Data[8 + i], 16).PadLeft(2, '0').ToUpper() + " ");
                                        }
                                    }));
                                }  
                            }
                            break;
                        }
                }
            }
            #endregion

            #region 解析BMS广播的命令
            else if (ID == 0x720)
            {
                switch (CmdTemp)
                {
                    case 0x1010://BMS运行信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    BMS_RunInfo_Refresh = true;
                                    richTextBox_OBC_BMS_RunInfo.Clear();
                                    //电压
                                    uData16 = (ushort)(Data[1] * 256 + Data[0]);
                                    richTextBox_OBC_BMS_RunInfo.AppendText("电压:" + Convert.ToString(uData16) + " mV" + "\r\n");
                                    //电流
                                    uData16 = (ushort)(Data[3] * 256 + Data[2]);
                                    richTextBox_OBC_BMS_RunInfo.AppendText("电流:" + Convert.ToString(uData16) + " mA" + "\r\n");
                                    //剩余容量
                                    uData16 = (ushort)(Data[5] * 256 + Data[4]);
                                    richTextBox_OBC_BMS_RunInfo.AppendText("剩余容量:" + Convert.ToString(uData16) + " mAh" + "\r\n");
                                    //满充容量
                                    uData16 = (ushort)(Data[7] * 256 + Data[6]);
                                    richTextBox_OBC_BMS_RunInfo.AppendText("满充容量:" + Convert.ToString(uData16) + " mV" + "\r\n");
                                    //电芯温度                                    
                                    richTextBox_OBC_BMS_RunInfo.AppendText("电芯温度:" + Convert.ToString((int)(Data[8] - 40) + " ℃" + "\r\n"));
                                    //剩余电量                                    
                                    richTextBox_OBC_BMS_RunInfo.AppendText("剩余电量:" + Convert.ToString(Data[9]) + " %" + "\r\n");
                                    //电池状态
                                    richTextBox_OBC_BMS_RunInfo.AppendText("电池状态:" + Convert.ToString(Data[10], 16).PadLeft(2, '0').ToUpper() + " H" + "\r\n");
                                    //SOH
                                    richTextBox_OBC_BMS_RunInfo.AppendText("电池寿命:" + Convert.ToString(Data[11]) + " %" + "\r\n");
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
            #endregion

            #region 解析电机发送OBC的命令
            else if (ID == 0x713)
            {
                switch (CmdTemp)
                {
                    case 0x5408://电机用户参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_OBC_ReadUserInfo.Clear();
                                    //默认周长
                                    richTextBox_OBC_ReadUserInfo.AppendText("默认周长:" + Convert.ToString((int)Data[0]) + " cm" + "\r\n");
                                    //启动模式
                                    richTextBox_OBC_ReadUserInfo.AppendText("启动模式:" + ((Data[1] == 0x01) ? "柔和" : (Data[1] == 0x02) ? "正常" : (Data[1] == 0x03) ? "强劲" : "无效") + "\r\n");
                                    comboBox_OBC_StartMode.SelectedIndex = Data[1] - 1;
                                    //限速
                                    richTextBox_OBC_ReadUserInfo.AppendText("限速:" + Convert.ToString(Data[2]) + " km/h" + "\r\n");
                                    //周长微调
                                    numericUpDown_OBC_WheelAdj.Value = (int)(Data[3] > 128 ? (Data[3] - 256) : Data[3]);
                                    richTextBox_OBC_ReadUserInfo.AppendText("周长微调:" + Convert.ToString(numericUpDown_OBC_WheelAdj.Value) + " cm" + "\r\n");
                                    //助力方案
                                    richTextBox_OBC_ReadUserInfo.AppendText("助力方案:" + Convert.ToString(Data[4]) + "\r\n");
                                    comboBox_OBC_AssistFunc.SelectedIndex = Data[4] - 1;
                                    //关机时间
                                    richTextBox_OBC_ReadUserInfo.AppendText("关机时间:" + Convert.ToString(Data[5]) + " min" + "\r\n");
                                    numericUpDown_OBC_OffTime.Value = (int)Data[5];
                                }));
                            }
                            break;
                        }
                    case 0x5303://电机应答反馈
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    timer_1s.Enabled = false;
                                    MessageBox.Show("OK", "反馈指令", MessageBoxButtons.OK, MessageBoxIcon.Information);
                                    timer_1s.Enabled = true;
                                }));
                            }
                            break;
                        }
                    
                    default: break;
                }
            }
            #endregion

        }
            #endregion

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

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

        /// <summary>
        /// 转速调节事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void numericUpDown_SpeedAdj_ValueChanged(object sender, EventArgs e)
        {
            var Data = new byte[1];
            Data[0] = (byte)numericUpDown_SpeedAdj.Value;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2C01, Data);
        }

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

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

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

            //BMS_RunInfo超时清除
            if (BMS_RunInfo_Refresh == false)
            {
                BMS_RunInfo_Refresh_Cnt++;
                if (BMS_RunInfo_Refresh_Cnt > 10)//5s
                {
                    richTextBox_OBC_BMS_RunInfo.Clear();
                    BMS_RunInfo_Refresh_Cnt = 0;
                }
            }
            else
            {
                BMS_RunInfo_Refresh_Cnt = 0;
            }
            BMS_RunInfo_Refresh = false;

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

            //CDL连接超时
#if false
            if (mySerialProcess.CDL_Online_Flag == false)
            {
                mySerialProcess.CDL_OnlineCheck_Cnt++;
                if (mySerialProcess.CDL_OnlineCheck_Cnt > 3)//3s
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("连接失败！", "提示");
                    timer_1s.Enabled = true;
                    //关闭串口
                    mySerialProcess.SerialClose();
                    toolStripComboBox_ComNum.Enabled = true;
                    toolStripComboBox_Baudrate.Enabled = true;
                    刷新ToolStripMenuItem.Enabled = true;
                    连接ToolStripMenuItem.Text = "连接";
                    连接ToolStripMenuItem.Checked = false;
                    label_COM_Sta.Text = "连接状态：未连接";
                }
            }
#endif
            //OBC定时发送设置档位
            if (checkBox_OBC_StartSetGearSt.Checked == true)
            {
                var CtrlCode = new byte[2];
                if (comboBox_OBC_SetGearST.SelectedIndex == 5)//档位
                    CtrlCode[0] = 0x33;
                else if (comboBox_OBC_SetGearST.SelectedIndex == 6)//档位
                    CtrlCode[0] = 0x22;
                else
                    CtrlCode[0] = (byte)comboBox_OBC_SetGearST.SelectedIndex;
                if (comboBox_OBC_LightSw.SelectedIndex == 0)//车灯
                    CtrlCode[1] = 0xF1;
                else
                    CtrlCode[1] = 0xF0;
                if (!mySerialProcess.SendCmdWithoutNotice((ushort)0x731, (byte)0x0C, (ushort)0x3002, CtrlCode))
                {
                    checkBox_OBC_StartSetGearSt.Checked = false;
                }
            }

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

        }

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

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

        /// <summary>
        /// 写入马达参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_Write_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[40];
            for (int i = 0; i < 40; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            string[] strDataTemp = richTextBox_MotorParam.Text.Split(new string[] { ", "},StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3B28, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 读取整车信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadBikeParam_Click(object sender, EventArgs e)
        {
            richTextBox_BikeParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3C00, null);
        }

        /// <summary>
        /// 写入整车信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteBikeParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[28];
            for (int i = 0; i < 28; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            string[] strDataTemp = richTextBox_BikeParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3D1C, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 读取控制器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadControlParam_Click(object sender, EventArgs e)
        {
            richTextBox_ControlParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3E00, null);
        }

        /// <summary>
        /// 写入控制器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteControlParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[34];
            for (int i = 0; i < 34; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            string[] strDataTemp = richTextBox_ControlParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3F22, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 读取助力参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadAssistParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            int AssistNum = 0;
            try
            {
                AssistNum = Convert.ToInt32(comboBox_AssistTorque.Text);
                ConfigParam[0] = (byte)(AssistNum & 0xFF);
                ConfigParam[1] = (byte)(AssistNum >> 8);
                AssistNum = Convert.ToInt32(comboBox_AssistCadence.Text);
                ConfigParam[2] = (byte)(AssistNum & 0xFF);
                ConfigParam[3] = (byte)(AssistNum >> 8);
                richTextBox_AssistParam.Clear();
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4304, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请选择助力参数编号！","提示",MessageBoxButtons.OK,MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
            
        }

        /// <summary>
        /// 写入助力参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteAssistParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[80];
            for (int i = 0; i < 80; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ulong ulDataTemp = 0;
            string[] strDataTemp = richTextBox_AssistParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            int index_1 = 0, index_2 = 0;
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "转矩曲线.a")
                    {
                        index_1 = i;
                        break;
                    }                       
                }
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "踏频曲线.d")
                    {
                        index_2 = i;
                        break;
                    }                    
                }
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    ulDataTemp = Convert.ToUInt32(strDataTemp[i].Split('=')[1]);
                    if (i < index_1)
                    {
                        ConfigParam[2 * i + 4] = (byte)ulDataTemp;
                        ConfigParam[2 * i + 5] = (byte)(ulDataTemp >> 8);
                    }
                    else if (i <= index_2)
                    {
                        ConfigParam[4 * i - 4] = (byte)ulDataTemp;
                        ConfigParam[4 * i - 3] = (byte)(ulDataTemp >> 8);
                        ConfigParam[4 * i - 2] = (byte)(ulDataTemp >> 16);
                        ConfigParam[4 * i - 1] = (byte)(ulDataTemp >> 24);
                    }
                    else
                    {
                        ConfigParam[2 * i + 20] = (byte)ulDataTemp;
                        ConfigParam[2 * i + 21] = (byte)(ulDataTemp >> 8);
                    }  
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4450, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 读取调试参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadDebugParam_Click(object sender, EventArgs e)
        {
            richTextBox_DebugParam.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4500, null);
        }

        /// <summary>
        /// 写入调试参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteDebugParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[60];
            for (int i = 0; i < 60; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            string[] strDataTemp = richTextBox_DebugParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x463C, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 读取历史
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadRecord_Click(object sender, EventArgs e)
        {
            richTextBox_Record.Clear();
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null);
        }

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

        /// <summary>
        /// 写入力矩传感器标定值
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_Write_Cal_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[4];
            for (int i = 0; i < 4; i++)
                ConfigParam[i] = 0;
            ushort uwDataTemp = 0;
            try
            {
                uwDataTemp = Convert.ToUInt16(comboBox_TorqueSet.Text);//负载序号
                ConfigParam[0] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[1] = (byte)(uwDataTemp >> 8);
                uwDataTemp = (ushort)(decimal.Parse(textBox_Load.Text) * 10); ;//负载值0.1Nm
                ConfigParam[2] = (byte)(uwDataTemp & 0xFF);
                ConfigParam[3] = (byte)(uwDataTemp >> 8);
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4104, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 写入传感器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteSensorParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[14];
            for (int i = 0; i < 14; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            //力矩传感器参数只写入前面14项与力矩传感器相关的参数
            string[] strDataTemp = richTextBox_SensorParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            int index = 0;
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "踏频传感器一圈脉冲数")
                    {
                        index = i;
                        break;
                    }
                }
                for (int i = 0; i < (strDataTemp.Length - index); i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i + index].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x420E, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 写入型号
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteModel_Click(object sender, EventArgs e)
        {
            string Mode = textBox_Model.Text;
            var ModeArray = new byte[16];

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

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

        /// <summary>
        /// 写入SN
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteSN_Click(object sender, EventArgs e)
        {
            string SN = textBox_SN.Text;
            var SNArray = new byte[16];

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

            timer_1s.Enabled = false;
            if (MessageBox.Show("系统清除后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    if (MessageBox.Show("请最后确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                        MessageBox.Show("系统已关机，请重启！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    }
                }
            }
            timer_1s.Enabled = true;
        }

        /// <summary>
        /// 参数还原
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_Recovery_Click(object sender, EventArgs e)
        {
            var Code = new byte[8];

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

            timer_1s.Enabled = false;
            if (MessageBox.Show("参数还原后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认还原?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    if (MessageBox.Show("请最后确认", "确认还原?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2708, Code);
                        MessageBox.Show("系统已关机，请重启！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    }
                }
            }
            timer_1s.Enabled = true;
        }

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

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

            timer_1s.Enabled = false;
            if (MessageBox.Show("系统将关机", "确认关机?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2505, Code);
            }
            timer_1s.Enabled = true;
        }

        /// <summary>
        /// 记录清除
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ClearLog_Click(object sender, EventArgs e)
        {
            var Code = new byte[9];

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

            timer_1s.Enabled = false;
            if (MessageBox.Show("历史记录信息清除后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    if (MessageBox.Show("请最后确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                    {
                        mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3909, Code);
                        MessageBox.Show("系统已关机，请重启！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                    }
                }
            }
            timer_1s.Enabled = true;
        }

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

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

        /// <summary>
        /// 鼠标滑过故障码显示具体内容
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void textBox_ErrorCode_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

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

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

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

        /// <summary>
        /// 数据记录
        /// </summary>
        private void DataAutoSave()
        {
            if (记录数据ToolStripMenuItem.Checked == true)
            {
                if (SaveFilename == string.Empty)
                {
                    return;
                }
                string SaveData = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace(" ", "_") + " ";
                foreach (Control c in groupBox3.Controls)
                {
                    if (c is TextBox)
                    {
                        SaveData += c.Text + " , ";
                    }
                }
                SaveData += "\r\n";
                System.IO.File.AppendAllText(SaveFilename, SaveData);//sb.ToString());
            }
        }

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

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

        }

        /// <summary>
        /// 仪表启动控制档位开关事件
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void checkBox_OBC_StartSetGearSt_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox_OBC_StartSetGearSt.Checked == true)
            {
                //检查串口是否打开
                if (!mySerialProcess.mySerial.IsOpen)
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("串口未连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_1s.Enabled = true;
                    checkBox_OBC_StartSetGearSt.Checked = false;
                    return;
                }
                //检查是否选择档位和打开车灯
                if ((comboBox_OBC_SetGearST.SelectedIndex == -1) || (comboBox_OBC_LightSw.SelectedIndex == -1))
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("请检查档位设置和大灯开关!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_1s.Enabled = true;
                    checkBox_OBC_StartSetGearSt.Checked = false;
                    return;
                }
            }
        }

        /// <summary>
        /// OBC查询电机用户参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ReadUserInfo_Click(object sender, EventArgs e)
        {
            richTextBox_OBC_ReadUserInfo.Clear();
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3300, null);
        }

        /// <summary>
        /// OBC设置电机用户参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_WriteUserInfo_Click(object sender, EventArgs e)
        {
            var UserInfoCode = new byte[8];
            for (int i = 0; i < UserInfoCode.Length; i++)
                UserInfoCode[i] = 0;
            if (comboBox_OBC_StartMode.SelectedIndex == -1)//检查数据有效性
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请选择启动模式！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
                return;
            }
            if (comboBox_OBC_AssistFunc.SelectedIndex == -1)//检查数据有效性
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请选择助力方案！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
                return;
            }
            UserInfoCode[0] = (byte)(int)numericUpDown_OBC_WheelAdj.Value;
            UserInfoCode[1] = (byte)(comboBox_OBC_StartMode.SelectedIndex + 1);
            UserInfoCode[2] = (byte)(comboBox_OBC_AssistFunc.SelectedIndex + 1);
            UserInfoCode[3] = (byte)(uint)numericUpDown_OBC_OffTime.Value;
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x16, (ushort)0x3408, UserInfoCode);
        }
        
        /// <summary>
        /// OBC查询电机版本信息
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ReadVerInfo_Click(object sender, EventArgs e)
        {
            textBox_Model.Text = "---";
            textBox_SN.Text = "---";
            textBox_HW.Text = "---";
            textBox_FW.Text = "---";
            textBox_OBC_ReadModel.Text = "---";
            textBox_OBC_ReadSN.Text = "---";
            textBox_OBC_ReadHW.Text = "---";
            textBox_OBC_ReadFW.Text = "---";
            Class_Motor_Ver.Mode = "---";
            Class_Motor_Ver.SN = "---";
            Class_Motor_Ver.HW = "---";
            Class_Motor_Ver.FW = "---";
            Class_Motor_Ver.Special = "---";
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3900, null);
        }

        /// <summary>
        /// OBC读取骑行历史
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ReadRideInfo_Click(object sender, EventArgs e)
        {
            textBox_OBC_TRIP_KM.Text = "";
            textBox_OBC_TRIP_TIME.Text = "";
            textBox_OBC_ODO_KM.Text = "";
            textBox_OBC_ODO_TIME.Text = "";
            mySerialProcess.SendCmd((ushort)0x731, (byte)0x11, (ushort)0x3500, null);
        }

        /// <summary>
        /// OBC清除TRIP里程
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_OBC_ClearTrip_Click(object sender, EventArgs e)
        {
            var Code = new byte[5];

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

            timer_1s.Enabled = false;
            if (MessageBox.Show("TRIP清除后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                mySerialProcess.SendCmd((ushort)0x731, (byte)0x16, (ushort)0x3605, Code);
            timer_1s.Enabled = true;
        }

        private void checkBox_OBC_StartReadBMS_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox_OBC_StartReadBMS.Checked == true)
            {
                //检查串口是否打开
                if (!mySerialProcess.mySerial.IsOpen)
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("串口未连接!", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_1s.Enabled = true;
                    checkBox_OBC_StartReadBMS.Checked = false;
                    return;
                }
            }
        }

        /// <summary>
        /// 写入力矩传感器参数
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteTqSensorParam_Click(object sender, EventArgs e)
        {
            var ConfigParam = new byte[46];
            for (int i = 0; i < 14; i++)
                ConfigParam[i] = 0;
            ConfigParam[0] = (byte)((写入存储ToolStripMenuItem.Checked) ? 0x01 : 0x00);
            ushort uwDataTemp = 0;
            //力矩传感器参数只写入前面14项与力矩传感器相关的参数
            string[] strDataTemp = richTextBox_SensorParam.Text.Split(new string[] { ", " }, StringSplitOptions.None);
            int index = 0;
            try
            {
                for (int i = 0; i < strDataTemp.Length; i++)
                {
                    if (strDataTemp[i].Split('=')[0] == "第四阶段转矩点采集值")
                    {
                        index = i;
                        break;
                    }
                }
                for (int i = 0; i < (index + 1); i++)
                {
                    uwDataTemp = Convert.ToUInt16(strDataTemp[i].Split('=')[1]);
                    ConfigParam[2 * i + 2] = (byte)uwDataTemp;
                    ConfigParam[2 * i + 3] = (byte)(uwDataTemp >> 8);
                }
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x472E, ConfigParam);
            }
            catch (Exception)
            {
                timer_1s.Enabled = false;
                MessageBox.Show("数据格式不正确", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
            }
        }

        /// <summary>
        /// 查询存储标志
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_ReadSaveFlag_Click(object sender, EventArgs e)
        {
            radioButton_EE_SaveYes.Checked = false;
            radioButton_EE_SaveNo.Checked = false;
            radioButton_SIP_SaveYes.Checked = false;
            radioButton_SIP_SaveNo.Checked = false;
            mySerialProcess.SendCmd((ushort)0x751, (byte)0x11, (ushort)0x4800, null);
        }

        /// <summary>
        /// 写入存储标志
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button_WriteSaveFlag_Click(object sender, EventArgs e)
        {
            var SaveFlag = new byte[6];
            for (int i = 0; i < 6; i++)
                SaveFlag[i] = 0;
            if ((radioButton_EE_SaveYes.Checked == false) && (radioButton_EE_SaveNo.Checked == false))
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请选择EEPROM存储标志", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
                return;
            }
            if ((radioButton_SIP_SaveYes.Checked == false) && (radioButton_SIP_SaveNo.Checked == false))
            {
                timer_1s.Enabled = false;
                MessageBox.Show("请选择SIP校验存储标志", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                timer_1s.Enabled = true;
                return;
            }

            SaveFlag[0] = (byte)((checkBox_SaveYes.Checked) ? 0x01 : 0x00);

            SaveFlag[2] = (byte)(radioButton_EE_SaveYes.Checked ? 0x01 : 0x00);
            SaveFlag[3] = 0;
            SaveFlag[4] = (byte)(radioButton_SIP_SaveYes.Checked ? 0x01 : 0x00);
            SaveFlag[5] = 0;

            timer_1s.Enabled = false;
            if (MessageBox.Show("确认修改存储标志？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                mySerialProcess.SendCmd((ushort)0x751, (byte)0x16, (ushort)0x4906, SaveFlag);
            }
            timer_1s.Enabled = true;    
        }

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

            richTextBox_RamFlasgData.Clear();

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

                if (Addres_End < Address_Begin)
                {
                    timer_1s.Enabled = false;
                    MessageBox.Show("结束地址必须大于或等于起始地址！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    timer_1s.Enabled = true;
                    return;
                }
                else
                {
                    var SendByte = new byte[8];
                    SendByte[0] = (byte)(Address_Begin >> 24);
                    SendByte[1] = (byte)(Address_Begin >> 16);
                    SendByte[2] = (byte)(Address_Begin >> 8);
                    SendByte[3] = (byte)(Address_Begin);
                    SendByte[4] = (byte)(Addres_End >> 24);
                    SendByte[5] = (byte)(Addres_End >> 16);
                    SendByte[6] = (byte)(Addres_End >> 8);
                    SendByte[7] = (byte)(Addres_End);

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

        }

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

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

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