From 35d47a2dc13a0ede44d16ca90473cf813594fe2b Mon Sep 17 00:00:00 2001
From: "GukSang.Jin" <guksang_chen@163.com>
Date: Fri, 30 Jan 2026 15:38:36 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=AF=BB=E6=95=B0?=
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---
 CSI-H238M/CSI-H238M/Services/ModbusService.cs | 38 ++++++++++++++++---
 1 file changed, 33 insertions(+), 5 deletions(-)

diff --git a/CSI-H238M/CSI-H238M/Services/ModbusService.cs b/CSI-H238M/CSI-H238M/Services/ModbusService.cs
index d067612..cc8b26f 100644
--- a/CSI-H238M/CSI-H238M/Services/ModbusService.cs
+++ b/CSI-H238M/CSI-H238M/Services/ModbusService.cs
@@ -745,6 +745,34 @@ namespace COFTester.Services
             return result;
         }
 
+        /// <summary>
+        /// 將兩個寄存器轉換為 Float (IEEE 754 Big-Endian)
+        /// Modbus 標準字節序：高字在前，每字內高字節在前
+        /// </summary>
+        protected float ConvertRegistersToFloatRead(ushort[] registers, int startIndex = 0)
+        {
+            if (registers.Length < startIndex + 2)
+                throw new ArgumentException("寄存器數組長度不足");
+
+            ushort highReg = registers[startIndex];
+            ushort lowReg = registers[startIndex + 1];
+
+            byte[] floatBytes = new byte[4];
+            // 高寄存器→高2字節，低寄存器→低2字節
+            floatBytes[0] = (byte)(highReg >> 8);
+            floatBytes[1] = (byte)highReg;
+            floatBytes[2] = (byte)(lowReg >> 8);
+            floatBytes[3] = (byte)lowReg;
+
+            // 處理小端序系統
+            if (BitConverter.IsLittleEndian)
+            {
+                Array.Reverse(floatBytes);
+            }
+
+            return BitConverter.ToSingle(floatBytes, 0);
+        }
+
         /// <summary>
         /// 將 32位浮點型轉換為兩個寄存器 (IEEE 754)
         /// 
@@ -1247,7 +1275,7 @@ namespace COFTester.Services
                 // D350 水平手動速度
                 var hSpeedRegs = await _modbusMaster.ReadHoldingRegistersAsync(
                     _config.SlaveId, _config.HorizontalManualSpeedRegister, 2);
-                parameters.HorizontalManualSpeed = ConvertRegistersToFloat(hSpeedRegs, 0);
+                parameters.HorizontalManualSpeed = ConvertRegistersToFloatRead(hSpeedRegs, 0);
                 
                 // D360 水平手動位移
                 var hDispRegs = await _modbusMaster.ReadHoldingRegistersAsync(
@@ -1257,22 +1285,22 @@ namespace COFTester.Services
                 // D310 升降手動速度
                 var vSpeedRegs = await _modbusMaster.ReadHoldingRegistersAsync(
                     _config.SlaveId, _config.VerticalManualSpeedRegister, 2);
-                parameters.VerticalManualSpeed = ConvertRegistersToFloat(vSpeedRegs, 0);
+                parameters.VerticalManualSpeed = ConvertRegistersToFloatRead(vSpeedRegs, 0);
                 
                 // D320 升降手動位移
                 var vDispRegs = await _modbusMaster.ReadHoldingRegistersAsync(
                     _config.SlaveId, _config.VerticalManualDisplacementRegister, 2);
-                parameters.VerticalManualDisplacement = ConvertRegistersToFloat(vDispRegs, 0);
+                parameters.VerticalManualDisplacement = ConvertRegistersToFloatRead(vDispRegs, 0);
                 
                 // D290 升降極限
                 var vLimitRegs = await _modbusMaster.ReadHoldingRegistersAsync(
                     _config.SlaveId, _config.VerticalLimitRegister, 2);
-                parameters.VerticalLimit = ConvertRegistersToFloat(vLimitRegs, 0);
+                parameters.VerticalLimit = ConvertRegistersToFloatRead(vLimitRegs, 0);
                 
                 // D292 水平極限
                 var hLimitRegs = await _modbusMaster.ReadHoldingRegistersAsync(
                     _config.SlaveId, _config.HorizontalLimitRegister, 2);
-                parameters.HorizontalLimit = ConvertRegistersToFloat(hLimitRegs, 0);
+                parameters.HorizontalLimit = ConvertRegistersToFloatRead(hLimitRegs, 0);
                 
                 // D1320 拉力系數
                 var forceCoefRegs = await _modbusMaster.ReadHoldingRegistersAsync(