private void Port_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
byte[] readBuffer = new byte[12];
byte[] dataBuffer = new byte[12];
int dataLength = 0;
ushort crcData;
crcClass crcValue = new crcClass(); //校验
int bytes = serialPort1.BytesToRead; //查看缓冲区内的字符数
while ((bytes + dataLength) >= 12)
{ //数据量大于12，开始处理数据
serialPort1.Read(readBuffer, 0, 12 - dataLength); //从串口读取数据，放到readBuffer里
for (int i = dataLength; i < 12; i++)
{
dataBuffer[i] = readBuffer[i - dataLength];
}
if (dataBuffer[0] == 0x55 && dataBuffer[11] == 0xaa)
{ //头码和尾码正确，则继续
crcData = (ushort)(dataBuffer[9] * 256 + dataBuffer[10]); //求得校验码
for (int i = 0; i < 11; i++)
{
dataBuffer[i] = dataBuffer[i + 1];//去掉dateBuffer[12]中的第1位(头码)，只取后11位，得到dateBuffer[11]
}
if (crcValue.usMBCRC16(dataBuffer, 8) == crcData)
{//CRC校验成功，进行数据处理 头码移除了，dataBuffer【0】为命令
Thread.Sleep(1000);
dataLength = 0;//移除所有数据
}
else
{//CRC校验没有成功，移除第一个数据
dataLength = 11;
}
}
else
{//头码和尾码不正确，移除第一个数据
for (int i = 0; i < 11; i++)
{
dataBuffer[i] = dataBuffer[i + 1];
dataLength = 11;
}
}
bytes = serialPort1.BytesToRead; //查看缓冲区内的字符数
}
}
//点击发送按钮，如果串口打开，发送数据
private void SendClick_Click(object sender, EventArgs e)
{
byte[] crcData = new byte[8]; //有效命令为8位数组
byte[] sendData = new byte[12]; //发送12个字节的数组
ushort temp;
crcClass crcValue = new crcClass();
sendData[0] = 0x55; //头码，第1位
sendData[11] = 0xaa; //尾码，第12位
//发送数据第2位决定转向
if (Direction.Text == "收缩")
{
crcData[0] = sendData[1] = 0X01;//顺时针发送0X01，收缩
}
else if (Direction.Text == "拉伸")
{
crcData[0] = sendData[1] = 0X02;//逆时针发送0X02，拉伸
}
else
{
crcData[0] = sendData[1] = 0X03;//逆时针发送0X03,往复模式
}
//发送数据第3位决定速度
if (Speed.Text == "10.0")
{
crcData[1] = sendData[2] = 0x00;//转化为16进制整数，速度为1cm/s
}
else
{
crcData[1] = sendData[2] = 0x01;//转化为16进制整数，速度为1.18cm/s
}
//发送数据第4到8位决定步数
double x = Convert.ToDouble(StepNum.Text) * 770; //移动距离转化为步数
uint stepnum = Convert.ToUInt32(x); //将步数转化为整数类型
string message = Convert.ToString(stepnum);
MessageBox.Show("电机" + Direction.Text + message + "步。", "提示");//显示步数转化的结果
//步数从0到99999
crcData[2] = sendData[3] = Convert.ToByte(stepnum % 10);
crcData[3] = sendData[4] = Convert.ToByte((stepnum % 100 - stepnum % 10) / 10);
crcData[4] = sendData[5] = Convert.ToByte((stepnum % 1000 - stepnum % 100) / 100);
crcData[5] = sendData[6] = Convert.ToByte((stepnum % 10000 - stepnum % 1000) / 1000);
crcData[6] = sendData[7] = Convert.ToByte((stepnum % 100000 - stepnum % 10000) / 10000);
//发送数据第9位决定往复次数
uint cyclenum = Convert.ToUInt32(CycleNum.Text);//将往复次数转化为整数类型
crcData[7] = sendData[8] = Convert.ToByte(cyclenum);
//发送数据第10、11位是crc检验位
temp = crcValue.usMBCRC16(crcData, 8);
sendData[10] = (byte)temp;
temp >>= 8;
sendData[9] = (byte)temp;
//发送数据
if (serialPort1.IsOpen)
{
try
{
ReceiveDate.Text += "电机" + Direction.Text + "，" + "距离为" + StepNum.Text + "毫米。" + "\r\n";
serialPort1.Write(sendData, 0, 12);//写入数据
}
catch
{
MessageBox.Show("串口数据写入错误", "错误");
serialPort1.Close();
OpenCom.Enabled = true;
CloseCom.Enabled = false;//关闭串口后只能点击打开串口
}
}
}
