diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 44340c8..8cd6355 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -208,7 +208,27 @@
         <Ww>
           <count>11</count>
           <WinNumber>1</WinNumber>
-          <ItemText>DcMotorDispEn</ItemText>
+          <ItemText>App.EmergencyDelay1mSCnt,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>12</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>App.ADTrack.LeftLow_Org_AdZero,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>13</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Oll_diff1,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>14</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>Orl_diff1,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>-(App.ADTrack.Stop_VPT),0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
@@ -217,7 +237,7 @@
       <DebugFlag>
         <trace>0</trace>
         <periodic>1</periodic>
-        <aLwin>1</aLwin>
+        <aLwin>0</aLwin>
         <aCover>0</aCover>
         <aSer1>0</aSer1>
         <aSer2>0</aSer2>
@@ -1018,7 +1038,7 @@
 
   <Group>
     <GroupName>CS1237</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/Project/HC32F460/source/User/Inc/bsp.h b/Project/HC32F460/source/User/Inc/bsp.h
index 1b45351..4fa2a17 100644
--- a/Project/HC32F460/source/User/Inc/bsp.h
+++ b/Project/HC32F460/source/User/Inc/bsp.h
@@ -180,8 +180,8 @@
 #define	CLR_TWIN_BIT1()						PORT_ResetBits(TWIN_BIT1_PORTx, TWIN_BIT1_PINx)//拉低
 
 typedef struct {
-	uint32_t ControlLevel;//控制等级
-	uint32_t	DBGWaveOut;//调试波形输出
+	int32_t ControlLevel;//控制等级
+	int32_t	DBGWaveOut;//调试波形输出
 }__attribute__ ((packed))LayoutPara_t, *LayoutPara;//上位机下发的配置参数
 
 typedef struct {
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index a7b6021..87e0757 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -36,6 +36,10 @@ static void show(uint8_t ch,int32_t ad)
 }
 void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD)
 {
+	if(abs(AD - App.LeftUpCS1237_TrendArray[0]) > 2000000)
+	{
+		AD = App.LeftUpCS1237_TrendArray[0];
+	}
 	show(1,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -46,6 +50,11 @@ void LEFTUP_CS1237AinADataProcessCallBack(int32_t AD)
 }
 void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 {
+	
+	if(abs(AD - App.LeftLowCS1237_TrendArray[0]) > 2000000)
+	{
+		AD = App.LeftLowCS1237_TrendArray[0];
+	}
 	show(2,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -56,6 +65,10 @@ void LEFTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 }
 void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD)
 {
+	if(abs(AD - App.RightUpCS1237_TrendArray[0]) > 2000000)
+	{
+		AD = App.RightUpCS1237_TrendArray[0];
+	}
 	show(3,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -66,6 +79,10 @@ void RIGHTUP_CS1237AinADataProcessCallBack(int32_t AD)
 }
 void RIGHTLOW_CS1237AinADataProcessCallBack(int32_t AD)
 {
+	if(abs(AD - App.RightLowCS1237_TrendArray[0]) > 2000000)
+	{
+		AD = App.RightLowCS1237_TrendArray[0];
+	}
 	show(4,AD);
 	for(int i = OSC_CNT-1; i > 0; i--)
 	{
@@ -250,7 +267,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.LeftRunFalg = true;
 //				if((App.LeftLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
 //				{
-					if((Oll_diff1+Orl_diff1) < -App.ADTrack.LeftLowVPT/3)
+					if((Oll_diff1+Orl_diff1) < -(App.ADTrack.LeftLowVPT/(App.Para.Layout.ControlLevel+1)))
 					{
 						BDC_UP();
 						App.UpFlag = true;
@@ -263,7 +280,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 //				}
 //				else if((App.LeftLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
 //				{
-					if((Oll_diff1+Orl_diff1) > App.ADTrack.LeftLowVPT/3)
+					if((Oll_diff1+Orl_diff1) > App.ADTrack.LeftLowVPT/(App.Para.Layout.ControlLevel+1))
 					{
 						BDC_DOWN();
 						App.UpFlag = false;
@@ -278,9 +295,9 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 			else if(abs(Oll_diff1) < abs(Orl_diff1))
 			{
 				App.RightRunFalg = true;
-				if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
-				{
-					if((Oll_diff1+Orl_diff1) < -App.ADTrack.RightLowVPT/3)
+//				if((App.RightLowCS1237_SlopeArray[0] > App.ADTrack.Slope_VPT/3))
+//				{
+					if((Oll_diff1+Orl_diff1) < -(App.ADTrack.RightLowVPT/(App.Para.Layout.ControlLevel+1)))
 					{
 						BDC_UP();
 						App.UpFlag = true;
@@ -290,10 +307,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
 						//App.EmergencyDelay1mSCnt = EME_START_MS;
 					}
-				}
-				else if((App.RightLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
-				{
-					if((Oll_diff1+Orl_diff1) > App.ADTrack.RightLowVPT/3)
+//				}
+//				else if((App.RightLowCS1237_SlopeArray[0] < -App.ADTrack.Slope_VPT/3))
+//				{
+					if((Oll_diff1+Orl_diff1) > App.ADTrack.RightLowVPT/(App.Para.Layout.ControlLevel+1))
 					{
 						BDC_DOWN();
 						App.UpFlag = false;
@@ -303,7 +320,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 						App.RunCollDelay1mSCnt = RUN_TIME_MS;
 						//App.EmergencyDelay1mSCnt = EME_START_MS;
 					}
-				}
+//				}
 			}
 		}
 		else if((LeftSlopeSum > RightSlopeSum && LeftDiffSum > RightDiffSum))
@@ -448,7 +465,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+			else if((abs(Oll_diff1) + EME_STOP_VPT) < abs(Orl_diff1) 
+					&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2) 
+					&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3) 
+				  && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;
@@ -469,7 +489,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(((App.CentreRunFalg == false ) && (Orl_diff1 < App.ADTrack.Stop_VPT))
-				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (-App.ADTrack.Stop_VPT))))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) < (App.ADTrack.Stop_VPT))))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -479,7 +499,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+			else if(abs(Oll_diff1) > (abs(Orl_diff1) + EME_STOP_VPT) 
+					&& abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT) 
+					&& abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT) 
+				  && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;
@@ -492,7 +515,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 		if(App.LeftRunFalg == true)
 		{
 			if(((App.CentreRunFalg == false ) && (ll_slope < -App.ADTrack.Slope_VPT))
-			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > -App.ADTrack.Slope_VPT))
+			|| ((App.CentreRunFalg == true ) && (App.LeftUpCS1237_SlopeArray[0] + App.RightUpCS1237_SlopeArray[0]) > App.ADTrack.Slope_VPT))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -503,7 +526,7 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
 			else if(((App.CentreRunFalg == false ) && (Oll_diff1 > -App.ADTrack.Stop_VPT))
-				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) > -(App.ADTrack.Stop_VPT))))
+				|| ((App.CentreRunFalg == true) && ((Oll_diff1 + Orl_diff1) > -App.ADTrack.Stop_VPT)))
 			{
 				BDC_STOP();
 				App.StopFlag = true;
@@ -513,7 +536,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if((LeftLowDiff + EME_STOP_VPT) < RightLowDiff && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+			else if((abs(Oll_diff1) + EME_STOP_VPT) < abs(Orl_diff1) 
+					&& (abs(Oll_diff2) + EME_STOP_VPT) < abs(Orl_diff2) 
+					&& (abs(Oll_diff3) + EME_STOP_VPT) < abs(Orl_diff3) 
+				  && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;
@@ -544,7 +570,10 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 				App.StopCollDelay1mSCnt = STOP_TIME_MS;
 				App.EmergencyDelay1mSCnt = EME_START_MS;
 			}
-			else if(LeftLowDiff > (RightLowDiff + EME_STOP_VPT) && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
+			else if(abs(Oll_diff1) > (abs(Orl_diff1) + EME_STOP_VPT) 
+				   && abs(Oll_diff2) > (abs(Orl_diff2) + EME_STOP_VPT) 
+				   && abs(Oll_diff3) > (abs(Orl_diff3) + EME_STOP_VPT) 
+				   && App.EmergencyDelay1mSCnt <= 0 && App.CentreRunFalg == false)
 			{
 				BDC_STOP();
 				App.EmeFlag = true;