diff --git a/Project/HC32F460/MDK/HC32F460.uvoptx b/Project/HC32F460/MDK/HC32F460.uvoptx
index 32825d9..d5d2891 100644
--- a/Project/HC32F460/MDK/HC32F460.uvoptx
+++ b/Project/HC32F460/MDK/HC32F460.uvoptx
@@ -101,7 +101,9 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
-        <nTsel>2</nTsel>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
+        <nTsel>12</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
         <sDlgDll></sDlgDll>
@@ -316,6 +318,7 @@
       <pMultCmdsp></pMultCmdsp>
       <DebugDescription>
         <Enable>1</Enable>
+        <EnableFlashSeq>0</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
         <DbgClock>5000000</DbgClock>
@@ -403,6 +406,8 @@
         <sRunDeb>0</sRunDeb>
         <sLrtime>0</sLrtime>
         <bEvRecOn>1</bEvRecOn>
+        <bSchkAxf>0</bSchkAxf>
+        <bTchkAxf>0</bTchkAxf>
         <nTsel>-1</nTsel>
         <sDll></sDll>
         <sDllPa></sDllPa>
diff --git a/Project/HC32F460/MDK/HC32F460.uvprojx b/Project/HC32F460/MDK/HC32F460.uvprojx
index 381d7a6..7f13d3e 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>5060528::V5.06 update 5 (build 528)::ARMCC</pArmCC>
-      <pCCUsed>5060528::V5.06 update 5 (build 528)::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>
@@ -185,6 +185,9 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>2</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>1</hadIROM2>
             <StupSel>8</StupSel>
@@ -325,6 +328,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>3</v6Lang>
             <v6LangP>3</v6LangP>
@@ -350,7 +354,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -859,6 +863,9 @@
             <hadXRAM>0</hadXRAM>
             <uocXRam>0</uocXRam>
             <RvdsVP>1</RvdsVP>
+            <RvdsMve>0</RvdsMve>
+            <RvdsCdeCp>0</RvdsCdeCp>
+            <nBranchProt>0</nBranchProt>
             <hadIRAM2>1</hadIRAM2>
             <hadIROM2>1</hadIROM2>
             <StupSel>8</StupSel>
@@ -999,6 +1006,7 @@
             <uThumb>0</uThumb>
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
+            <uGnu>0</uGnu>
             <useXO>0</useXO>
             <v6Lang>0</v6Lang>
             <v6LangP>0</v6LangP>
@@ -1024,7 +1032,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <uClangAs>0</uClangAs>
+            <ClangAsOpt>4</ClangAsOpt>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
diff --git a/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h b/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
index d0352e7..74af911 100644
--- a/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
+++ b/Project/HC32F460/MDK/RTE/_Debug/RTE_Components.h
@@ -1,6 +1,6 @@
 
 /*
- * Auto generated Run-Time-Environment Component Configuration File
+ * Auto generated Run-Time-Environment Configuration File
  *      *** Do not modify ! ***
  *
  * Project: 'HC32F460' 
@@ -17,4 +17,5 @@
 #define CMSIS_device_header "HC32F460JETA.h"
 
 
+
 #endif /* RTE_COMPONENTS_H */
diff --git a/Project/HC32F460/source/User/Inc/bsp.h b/Project/HC32F460/source/User/Inc/bsp.h
index 617d990..d7bddbc 100644
--- a/Project/HC32F460/source/User/Inc/bsp.h
+++ b/Project/HC32F460/source/User/Inc/bsp.h
@@ -167,6 +167,18 @@
 #define	CLR_RIGHTLOW_CS1237_SCLK()			PORT_ResetBits(RIGHTLOW_CS1237_SCLK_PORTx, RIGHTLOW_CS1237_SCLK_PINx)//拉低
 #endif
 
+//<		BIT0
+#define	TWIN_BIT0_PORTx						(PortB)
+#define	TWIN_BIT0_PINx							(Pin12)
+#define	SET_TWIN_BIT0()						PORT_SetBits(TWIN_BIT0_PORTx, TWIN_BIT0_PINx)//拉高
+#define	CLR_TWIN_BIT0()						PORT_ResetBits(TWIN_BIT0_PORTx, TWIN_BIT0_PINx)//拉低
+
+//<		BIT1
+#define	TWIN_BIT1_PORTx						(PortB)
+#define	TWIN_BIT1_PINx							(Pin13)
+#define	SET_TWIN_BIT1()						PORT_SetBits(TWIN_BIT1_PORTx, TWIN_BIT1_PINx)//拉高
+#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
diff --git a/Project/HC32F460/source/User/Inc/main.h b/Project/HC32F460/source/User/Inc/main.h
index 0ce5148..273ccc5 100644
--- a/Project/HC32F460/source/User/Inc/main.h
+++ b/Project/HC32F460/source/User/Inc/main.h
@@ -13,9 +13,9 @@
 #define 	STOP_TIME_MS		500
 #define 	RUN_TIME_MS			0
 
-#define	BDC_STOP()			Motor_Control(MOTOR_CMD_STOP)
-#define 	BDC_UP()				Motor_Control(MOTOR_CMD_FORWARD)
-#define	BDC_DOWN()			Motor_Control(MOTOR_CMD_REVERSE)
+#define	BDC_STOP()			(SET_TWIN_BIT0(),SET_TWIN_BIT1())
+#define 	BDC_UP()				(CLR_TWIN_BIT0(),SET_TWIN_BIT1())
+#define	BDC_DOWN()			(SET_TWIN_BIT0(),CLR_TWIN_BIT1())
 	
 /*控制等级*/
 typedef enum {
diff --git a/Project/HC32F460/source/User/Src/bsp.c b/Project/HC32F460/source/User/Src/bsp.c
index 3673cbb..9ded62f 100644
--- a/Project/HC32F460/source/User/Src/bsp.c
+++ b/Project/HC32F460/source/User/Src/bsp.c
@@ -445,6 +445,9 @@ static void GPIO_Config(void)
 	PORT_Init(RIGHTUP_CS1237_SCLK_PORTx, RIGHTUP_CS1237_SCLK_PINx, &stcPortInit);
 	PORT_Init(RIGHTLOW_CS1237_SCLK_PORTx, RIGHTLOW_CS1237_SCLK_PINx, &stcPortInit);
 	
+	stcPortInit.enPullUp = Enable;//上拉
+	PORT_Init(TWIN_BIT0_PORTx, TWIN_BIT0_PINx, &stcPortInit);
+	PORT_Init(TWIN_BIT1_PORTx, TWIN_BIT1_PINx, &stcPortInit);
 }
 /*********************************左上传感器
  *******************************************************************************
diff --git a/Project/HC32F460/source/User/Src/main.c b/Project/HC32F460/source/User/Src/main.c
index 1669862..a5d6407 100644
--- a/Project/HC32F460/source/User/Src/main.c
+++ b/Project/HC32F460/source/User/Src/main.c
@@ -410,36 +410,36 @@ void SupportControlHandle(int32_t *lu_ad, int32_t *ll_ad, int32_t *ru_ad, int32_
 	
 	if (lu_K.peaks_positive 
 		&& lu_K.valleys_negative 
-		&& lu_diff[0] < App.ADTrack.Slope_VPT / 2 
-		&& lu_diff[0] > -App.ADTrack.Slope_VPT / 2
-		&& lu_diff[1] < App.ADTrack.Slope_VPT / 2 
-		&& lu_diff[1] > -App.ADTrack.Slope_VPT / 2
-		&& lu_diff[2] < App.ADTrack.Slope_VPT / 2 
-		&& lu_diff[2] > -App.ADTrack.Slope_VPT / 2
+		&& App.LeftUpCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2 
+		&& App.LeftUpCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
+		&& App.LeftUpCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2 
+		&& App.LeftUpCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
+		&& App.LeftUpCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2 
+		&& App.LeftUpCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2
 		&& ll_K.peaks_positive 
 		&& ll_K.valleys_negative 
-		&& ll_diff[0] < App.ADTrack.Slope_VPT / 2 
-		&& ll_diff[0] > -App.ADTrack.Slope_VPT / 2
-		&& ll_diff[1] < App.ADTrack.Slope_VPT / 2 
-		&& ll_diff[1] > -App.ADTrack.Slope_VPT / 2
-		&& ll_diff[2] < App.ADTrack.Slope_VPT / 2 
-		&& ll_diff[2] > -App.ADTrack.Slope_VPT / 2 
+		&& App.LeftLowCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2 
+		&& App.LeftLowCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
+		&& App.LeftLowCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2 
+		&& App.LeftLowCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
+		&& App.LeftLowCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2 
+		&& App.LeftLowCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2 
 		&& ru_K.peaks_positive 
 		&& ru_K.valleys_negative 
-		&& ru_diff[0] < App.ADTrack.Slope_VPT / 2 
-		&& ru_diff[0] > -App.ADTrack.Slope_VPT / 2
-		&& ru_diff[1] < App.ADTrack.Slope_VPT / 2 
-		&& ru_diff[1] > -App.ADTrack.Slope_VPT / 2
-		&& ru_diff[2] < App.ADTrack.Slope_VPT / 2 
-		&& ru_diff[2] > -App.ADTrack.Slope_VPT / 2 
+		&& App.RightUpCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2 
+		&& App.RightUpCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
+		&& App.RightUpCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2 
+		&& App.RightUpCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
+		&& App.RightUpCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2 
+		&& App.RightUpCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2 
 		&& rl_K.peaks_positive 
 		&& rl_K.valleys_negative 
-		&& rl_diff[0] < App.ADTrack.Slope_VPT / 2 
-		&& rl_diff[0] > -App.ADTrack.Slope_VPT / 2
-		&& rl_diff[1] < App.ADTrack.Slope_VPT / 2 
-		&& rl_diff[1] > -App.ADTrack.Slope_VPT / 2
-		&& rl_diff[2] < App.ADTrack.Slope_VPT / 2 
-		&& rl_diff[2] > -App.ADTrack.Slope_VPT / 2) 
+		&& App.RightLowCS1237_SlopeArray[0] < App.ADTrack.Slope_VPT / 2 
+		&& App.RightLowCS1237_SlopeArray[0] > -App.ADTrack.Slope_VPT / 2
+		&& App.RightLowCS1237_SlopeArray[1] < App.ADTrack.Slope_VPT / 2 
+		&& App.RightLowCS1237_SlopeArray[1] > -App.ADTrack.Slope_VPT / 2
+		&& App.RightLowCS1237_SlopeArray[2] < App.ADTrack.Slope_VPT / 2 
+		&& App.RightLowCS1237_SlopeArray[2] > -App.ADTrack.Slope_VPT / 2) 
 	{
 		if(App.StopFlag == true && App.StopCollDelay1mSCnt <= 0){
 			App.ADTrack.LeftUp_Org_AdZero = lu_ad[0];