diff --git a/CapMachine.Wpf/CanDrive/CanFD/ToomossCanFD.cs b/CapMachine.Wpf/CanDrive/CanFD/ToomossCanFD.cs
index fce2a20..184bd44 100644
--- a/CapMachine.Wpf/CanDrive/CanFD/ToomossCanFD.cs
+++ b/CapMachine.Wpf/CanDrive/CanFD/ToomossCanFD.cs
@@ -83,6 +83,16 @@ namespace CapMachine.Wpf.CanDrive
         /// </summary>
         USB2CANFD.CANFD_INIT_CONFIG CANConfig = new USB2CANFD.CANFD_INIT_CONFIG();
 
+        /// <summary>
+        /// 诊断信息
+        /// </summary>
+        public USB2CANFD.CANFD_DIAGNOSTIC CurCANFD_DIAGNOSTIC = new USB2CANFD.CANFD_DIAGNOSTIC();
+
+        /// <summary>
+        /// CANFD总线错误信息
+        /// </summary>
+        public USB2CANFD.CANFD_BUS_ERROR CurCANFD_BUS_ERROR = new USB2CANFD.CANFD_BUS_ERROR();
+
         /// <summary>
         /// DBC Handle
         /// </summary>
@@ -97,6 +107,7 @@ namespace CapMachine.Wpf.CanDrive
         /// 扫描设备Handle
         /// </summary>
         public Int32 DevHandle { get; set; } = 0;
+
         /// <summary>
         /// Write CAN Index
         /// </summary>
@@ -228,6 +239,7 @@ namespace CapMachine.Wpf.CanDrive
                 Console.WriteLine("    Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
                 Console.WriteLine("    Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
                 Console.WriteLine("    Functions:" + DevInfo.Functions.ToString("X8"));
+                Console.WriteLine("    SerialNumber:" + DevInfo.SerialNumber[0] + DevInfo.SerialNumber[1] + DevInfo.SerialNumber[2]);
                 Console.WriteLine("    Functions String:" + FuncStr);
                 StringBuilder DLLBuildDate = new StringBuilder(256);
                 USB_DEVICEByFD.DEV_GetDllBuildTime(DLLBuildDate);
@@ -264,7 +276,7 @@ namespace CapMachine.Wpf.CanDrive
         public void InitCAN()
         {
             //初始化CAN
-
+            CANConfig.ISOCRCEnable = 1;//使能ISOCRC
             ret = USB2CANFD.CANFD_Init(DevHandle, WriteCANIndex, ref CANConfig);
             if (ret != USB2CANFD.CANFD_SUCCESS)
             {
@@ -300,6 +312,7 @@ namespace CapMachine.Wpf.CanDrive
             if (DBCHandle == 0)
             {
                 Console.WriteLine("Parser DBC File error!");
+                DbcParserState = false;
                 return;
             }
             else
@@ -340,6 +353,9 @@ namespace CapMachine.Wpf.CanDrive
                 }
                 Console.WriteLine("");
             }
+
+            //Dbc解析成功
+            DbcParserState = true;
         }
 
         /// <summary>
@@ -424,6 +440,8 @@ namespace CapMachine.Wpf.CanDrive
 
         private static readonly Random _random = new Random();
 
+
+
         /// <summary>
         /// 精确周期发送CAN数据
         /// </summary>
@@ -533,11 +551,21 @@ namespace CapMachine.Wpf.CanDrive
                                 //释放申请的临时缓冲区
                                 Marshal.FreeHGlobal(msgPtSend);
 
+                                //var CanMsg1 = GetCanMsg(CanMsg,0);
+                                //var CanMsg2 = GetCanMsg(CanMsg,1);
+                                CanMsg[0].Flags = 5;
+
+                                //CanMsg1[0].Flags = 5;
+                                //CanMsg2[0].Flags = 5;
                                 //发送CAN数据
                                 int SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, CanMsg, (Int32)CanMsg.Length);
+                                //Thread.Sleep(20);
+                                //int SendedNum2 = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, CanMsg2, (Int32)CanMsg2.Length);
                                 if (SendedNum >= 0)
                                 {
                                     //Console.WriteLine("Success send frames:{0}", SendedNum);
+
+
                                     IsSendOk = true;
                                 }
                                 else
@@ -579,6 +607,31 @@ namespace CapMachine.Wpf.CanDrive
             }, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
         }
 
+        /// <summary>
+        /// 获取CAN消息数组中指定位置的数据
+        /// </summary>
+        /// <param name="sourceCanMsg">源CAN消息数组</param>
+        /// <param name="index">要获取的数据索引位置</param>
+        /// <returns>返回指定位置数据的新数组</returns>
+        private USB2CANFD.CANFD_MSG[] GetCanMsg(USB2CANFD.CANFD_MSG[] sourceCanMsg, int index)
+        {
+            // 参数检查
+            if (sourceCanMsg == null || sourceCanMsg.Length == 0 || index < 0 || index >= sourceCanMsg.Length)
+            {
+                return new USB2CANFD.CANFD_MSG[0];
+            }
+
+            // 创建单个元素的新数组
+            USB2CANFD.CANFD_MSG[] targetMsg = new USB2CANFD.CANFD_MSG[1];
+            targetMsg[0] = sourceCanMsg[index];
+
+            // 由于CANFD_MSG包含数组字段,需要手动初始化数据数组
+            targetMsg[0].Data = new byte[64];
+            // 复制数据
+            Array.Copy(sourceCanMsg[index].Data, targetMsg[0].Data, sourceCanMsg[index].Data.Length);
+
+            return targetMsg;
+        }
 
         /// <summary>
         /// 修改停止发送的方法
@@ -616,12 +669,12 @@ namespace CapMachine.Wpf.CanDrive
         /// <summary>
         /// 循环发送数据
         /// </summary>
-        public ushort SendCycle { get; set; } = 100;
+        public ushort SendCycle { get; set; } = 200;
 
         /// <summary>
         /// 循环接受数据
         /// </summary>
-        public ushort ReviceCycle { get; set; } = 500;
+        public ushort ReviceCycle { get; set; } = 200;
 
 
         /// <summary>
@@ -666,21 +719,22 @@ namespace CapMachine.Wpf.CanDrive
         {
             CycleReviceTask = Task.Run(async () =>
             {
+                //var ret = USB2CANFD.CANFD_StartGetMsg(DevHandle, ReadCANIndex);
                 while (IsCycleRevice)
                 {
-                    await Task.Delay(1000);
+                    await Task.Delay(ReviceCycle);
                     try
                     {
                         //另外一个CAN通道读取数据
-                        USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[10];
-                        msgPt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
-                        int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPt, CanMsgBuffer.Length);
+                        USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[128];
+                        IntPtr msgPtRead = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);
+                        int CanNum = USB2CANFD.CANFD_GetMsg(DevHandle, ReadCANIndex, msgPtRead, CanMsgBuffer.Length);
                         if (CanNum > 0)
                         {
                             Console.WriteLine("Read CanMsgNum = {0}", CanNum);
                             for (int i = 0; i < CanNum; i++)
                             {
-                                CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPt + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
+                                CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)(msgPtRead + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
                                 Console.WriteLine("CanMsg[{0}].ID = 0x{1}", i, CanMsgBuffer[i].ID.ToString("X8"));
                                 //Console.WriteLine("CanMsg[{0}].TimeStamp = {1}",i,CanMsgBuffer[i].TimeStamp);
                                 Console.Write("CanMsg[{0}].Data = ", i);
@@ -689,6 +743,14 @@ namespace CapMachine.Wpf.CanDrive
                                     Console.Write("{0} ", CanMsgBuffer[i].Data[j].ToString("X2"));
                                 }
                                 Console.WriteLine("");
+                                //报文给高速记录的服务
+                                HighSpeedDataService.AppendOrUpdateMsg(new Models.HighSpeed.CommMsg()
+                                {
+                                    Category = "CANFD",
+                                    MsgInfo = "0x" + CanMsgBuffer[i].ID.ToString("X8"),
+                                    MsgData = BitConverter.ToString(CanMsgBuffer[i].Data),
+                                    Time = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff")
+                                });
                             }
                         }
                         else if (CanNum == 0)
@@ -702,13 +764,33 @@ namespace CapMachine.Wpf.CanDrive
                         Console.WriteLine("");
 
                         //将CAN消息数据填充到信号里面
-                        DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPt, CanNum);
-                        //获取信号值并打印出来
-                        StringBuilder ValueStr = new StringBuilder(32);
-                        DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
-                        Console.WriteLine("COM_current_Power = {0}", ValueStr);
-                        DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
-                        Console.WriteLine("COM_Curr_dc = {0}", ValueStr);
+                        DBCParserByFD.DBC_SyncCANFDMsgToValue(DBCHandle, msgPtRead, CanNum);
+
+                        //循环获取消息的数据
+                        foreach (var item in ListCanFdDbcModel)
+                        {
+                            //有配置的名称的，认为是有用的，则需要读取数据
+                            //if (!string.IsNullOrEmpty(item.Name))
+                            //{
+                            //CAN_DBCParser.DBC_GetSignalValueStr(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueSb);
+                            //double[] ValueDouble;
+                            DBCParserByFD.DBC_GetSignalValue(DBCHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ValueDouble);
+                            //item.SignalRtValueSb = ValueSb;
+                            item.SignalRtValue = ValueDouble[0].ToString();
+                            //Console.Write(ValueSb.ToString());
+                            //}
+                        }
+
+                        //释放数据缓冲区，必须释放，否则程序运行一段时间后会报内存不足
+                        Marshal.FreeHGlobal(msgPtRead);
+                        Thread.Sleep(10);
+
+                        ////获取信号值并打印出来
+                        //StringBuilder ValueStr = new StringBuilder(32);
+                        //DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_current_Power"), ValueStr);
+                        //Console.WriteLine("COM_current_Power = {0}", ValueStr);
+                        //DBCParserByFD.DBC_GetSignalValueStr(DBCHandle, new StringBuilder("TX1"), new StringBuilder("COM_Curr_dc"), ValueStr);
+                        //Console.WriteLine("COM_Curr_dc = {0}", ValueStr);
                     }
                     catch (Exception ex)
                     {
diff --git a/CapMachine.Wpf/CanDrive/ToomossCan.cs b/CapMachine.Wpf/CanDrive/ToomossCan.cs
index e4c8dbe..153e1f2 100644
--- a/CapMachine.Wpf/CanDrive/ToomossCan.cs
+++ b/CapMachine.Wpf/CanDrive/ToomossCan.cs
@@ -123,6 +123,7 @@ namespace CapMachine.Wpf.CanDrive
         ///BufferSize 存储CAN消息缓冲区大小。
         ///返回值：
         //大于等于0表示从CAN适配器内部成功读取到的CAN消息帧数，若返回值小于0则说明调用该函数失败。
+        /// 目前是WriteCANIndex和ReadCANIndex需要相同
         /// </summary>
         public Byte WriteCANIndex { get; set; } = 0;
 
diff --git a/CapMachine.Wpf/Models/ComEnum.cs b/CapMachine.Wpf/Models/ComEnum.cs
index 8f7b3e9..b02b82e 100644
--- a/CapMachine.Wpf/Models/ComEnum.cs
+++ b/CapMachine.Wpf/Models/ComEnum.cs
@@ -79,6 +79,11 @@ namespace CapMachine.Wpf.Models
             /// Lin
             /// </summary>
             Lin = 2,
+
+            /// <summary>
+            /// CAN FD
+            /// </summary>
+            CANFD = 3,
         }
     }
 }
diff --git a/CapMachine.Wpf/ViewModels/CANFDConfigViewModel.cs b/CapMachine.Wpf/ViewModels/CANFDConfigViewModel.cs
index 7294059..cba1a0c 100644
--- a/CapMachine.Wpf/ViewModels/CANFDConfigViewModel.cs
+++ b/CapMachine.Wpf/ViewModels/CANFDConfigViewModel.cs
@@ -840,7 +840,7 @@ namespace CapMachine.Wpf.ViewModels
                         if (CanFdDriveService.ToomossCanFDDrive.OpenState)
                         {
                             //系统使用了CAN
-                            ConfigService.CanLinRunStateModel.CurSysSelectedCanLin = CanLinEnum.Can;
+                            ConfigService.CanLinRunStateModel.CurSysSelectedCanLin = CanLinEnum.CANFD;
                         }
 
                         //CAN DBC配置 有DBC配置的话，则直接加载DBC信息
diff --git a/CapMachine.Wpf/Views/CANFDConfigView.xaml b/CapMachine.Wpf/Views/CANFDConfigView.xaml
index f9f7e02..cc7168d 100644
--- a/CapMachine.Wpf/Views/CANFDConfigView.xaml
+++ b/CapMachine.Wpf/Views/CANFDConfigView.xaml
@@ -466,10 +466,10 @@
                                     <Border.Style>
                                         <Style TargetType="Border">
                                             <Style.Triggers>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.OpenState}" Value="True">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.OpenState}" Value="True">
                                                     <Setter Property="Background" Value="LimeGreen" />
                                                 </DataTrigger>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.OpenState}" Value="False">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.OpenState}" Value="False">
                                                     <Setter Property="Background" Value="Gray" />
                                                 </DataTrigger>
                                             </Style.Triggers>
@@ -490,10 +490,10 @@
                                     <Border.Style>
                                         <Style TargetType="Border">
                                             <Style.Triggers>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.DbcParserState}" Value="True">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.DbcParserState}" Value="True">
                                                     <Setter Property="Background" Value="LimeGreen" />
                                                 </DataTrigger>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.DbcParserState}" Value="False">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.DbcParserState}" Value="False">
                                                     <Setter Property="Background" Value="Gray" />
                                                 </DataTrigger>
                                             </Style.Triggers>
@@ -513,11 +513,11 @@
                                     <Button.Style>
                                         <Style BasedOn="{StaticResource MaterialDesignFlatDarkBgButton}" TargetType="Button">
                                             <Style.Triggers>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.IsCycleSend}" Value="true">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.IsCycleSend}" Value="true">
                                                     <Setter Property="Background" Value="LimeGreen" />
                                                     <Setter Property="Foreground" Value="White" />
                                                 </DataTrigger>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.IsCycleSend}" Value="false">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.IsCycleSend}" Value="false">
                                                     <Setter Property="Background" Value="Gray" />
                                                     <Setter Property="Foreground" Value="White" />
                                                 </DataTrigger>
@@ -545,11 +545,11 @@
                                     <Button.Style>
                                         <Style BasedOn="{StaticResource MaterialDesignFlatDarkBgButton}" TargetType="Button">
                                             <Style.Triggers>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.IsCycleRevice}" Value="true">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.IsCycleRevice}" Value="true">
                                                     <Setter Property="Background" Value="LimeGreen" />
                                                     <Setter Property="Foreground" Value="White" />
                                                 </DataTrigger>
-                                                <DataTrigger Binding="{Binding CanDriveService.ToomossCanDrive.IsCycleRevice}" Value="false">
+                                                <DataTrigger Binding="{Binding CanFdDriveService.ToomossCanFDDrive.IsCycleRevice}" Value="false">
                                                     <Setter Property="Background" Value="Gray" />
                                                     <Setter Property="Foreground" Value="White" />
                                                 </DataTrigger>