diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index d5d2891..ea1a8c0 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -103,7 +103,7 @@
         <bEvRecOn>1</bEvRecOn>
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
-        <nTsel>12</nTsel>
+        <nTsel>3</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -130,7 +130,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S9 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO18 -TC10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S9 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD1FFF8000 -FC1000 -FN2 -FF0HC32F460_512K.FLM -FS00 -FL080000 -FP0($$Device:HC32F460JETA$FlashARM\HC32F460_512K.FLM) -FF1HC32F460_otp.FLM -FS13000C00 -FL13FC -FP1($$Device:HC32F460JETA$FlashARM\HC32F460_otp.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -280,7 +280,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>0</periodic>
-        <aLwin>1</aLwin>
+        <aLwin>0</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
@@ -1210,7 +1210,7 @@
       <GroupNumber>5</GroupNumber>
       <FileNumber>54</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\source\Module\dc_motor\dc_motor.c</PathWithFileName>
diff --git a/Project/HC32F460/MDK/HC32F460.uvprojx b/Project/HC32F460/MDK/HC32F460.uvprojx
index 7f13d3e..a610f11 100644
--- a/Project/HC32F460/MDK/HC32F460.uvprojx
+++ b/Project/HC32F460/MDK/HC32F460.uvprojx
@@ -10,8 +10,8 @@
       <TargetName>Debug</TargetName>
       <ToolsetNumber>0x4</ToolsetNumber>
       <ToolsetName>ARM-ADS</ToolsetName>
-      <pArmCC>5060960::V5.06 update 7 (build 960)::ARMCC</pArmCC>
-      <pCCUsed>5060960::V5.06 update 7 (build 960)::ARMCC</pCCUsed>
+      <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
+      <pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
@@ -331,7 +331,7 @@
             <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>3</v6Lang>
-            <v6LangP>3</v6LangP>
+            <v6LangP>5</v6LangP>
             <vShortEn>1</vShortEn>
             <vShortWch>1</vShortWch>
             <v6Lto>0</v6Lto>
@@ -1368,8 +1368,8 @@
   <RTE>
     <apis/>
     <components>
-      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.0.1" condition="ARMv6_7_8-M Device">
-        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.0.1"/>
+      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.6.0" condition="ARMv6_7_8-M Device">
+        <package name="CMSIS" schemaVersion="1.7.7" url="http://www.keil.com/pack/" vendor="ARM" version="5.9.0"/>
         <targetInfos>
           <targetInfo name="Debug"/>
           <targetInfo name="Release"/>
@@ -1379,4 +1379,13 @@
     <files/>
   </RTE>
 
+  <LayerInfo>
+    <Layers>
+      <Layer>
+        <LayName>HC32F460</LayName>
+        <LayPrjMark>1</LayPrjMark>
+      </Layer>
+    </Layers>
+  </LayerInfo>
+
 </Project>
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index a5d6407..ad21363 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -228,10 +228,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					if((abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT)
 					&& (abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT))
 					{
-						BDC_UP();
-						App.UpFlag = true;
+						BDC_DOWN();
+						App.UpFlag = false;
 						App.StopFlag = false;
-						App.DownFlag = false;
+						App.DownFlag = true;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
 					}
 				}
@@ -251,10 +251,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					if((abs(Oll_diff1) > abs(Oru_diff1) + App.ADTrack.LeftLowShieldVPT)
 					&& (abs(Olu_diff1) > abs(Orl_diff1) + App.ADTrack.LeftUpShieldVPT))
 					{
-						BDC_DOWN();
-						App.DownFlag = true;
+						BDC_UP();
+						App.UpFlag = true;
+						App.DownFlag = false;
 						App.StopFlag = false;
-						App.UpFlag = false;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
 					}
 				}
@@ -278,10 +278,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					if((abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT)
 					&& (abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT))
 					{
-						BDC_UP();
-						App.UpFlag = true;
+						BDC_DOWN();
+						App.UpFlag = false;
 						App.StopFlag = false;
-						App.DownFlag = false;
+						App.DownFlag = true;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
 					}
 				}
@@ -302,17 +302,17 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 					if((abs(Oru_diff1) > abs(Oll_diff1) + App.ADTrack.RightUpShieldVPT)
 					&& (abs(Orl_diff1) > abs(Olu_diff1) + App.ADTrack.RightLowShieldVPT))
 					{
-						BDC_DOWN();		
-						App.DownFlag = true;
+						BDC_UP();		
+						App.DownFlag = false;
 						App.StopFlag = false;
-						App.UpFlag = false;
+						App.UpFlag = true;
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
 					}
 				}
 			}
 		}
 	}
-	else if(App.DownFlag == true)
+	else if(App.UpFlag == true)
 	{
 			if(App.LeftRunFalg == true)
 			{
@@ -359,7 +359,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				}
 			}
 		}
-	else if(App.UpFlag == true)
+	else if(App.DownFlag == true)
 	{
 		if(App.LeftRunFalg == true)
 		{