diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ded9cd0
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+*.tmp*
+PROJECT/Debug/
+PROJECT/Release/
+PROJECT/settings/
\ No newline at end of file
diff --git a/PROJECT/Debug/BrowseInfo/Appcfg_5039895705236898233.dir/app.pbi.dep b/PROJECT/Debug/BrowseInfo/Appcfg_5039895705236898233.dir/app.pbi.dep
index b3bec4c..bb29dfe 100644
--- a/PROJECT/Debug/BrowseInfo/Appcfg_5039895705236898233.dir/app.pbi.dep
+++ b/PROJECT/Debug/BrowseInfo/Appcfg_5039895705236898233.dir/app.pbi.dep
@@ -1,141 +1,133 @@
 C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\Debug\BrowseInfo\Appcfg_5039895705236898233.dir\app.pbi: \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\app.c \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\includes.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdio.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\ycheck.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\yvals.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Defaults.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Config_Normal.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Product.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\ysizet.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\string.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Product_string.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\ctype.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdlib.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Product_stdlib.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdarg.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\math.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_float_setup.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uCOS-II\Source\ucos_ii.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\app_cfg.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\os_cfg.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uCOS-II\Ports\ARM-Cortex-M4\os_cpu.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-CPU\ARM-Cortex-M4\cpu.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-CPU\cpu_def.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\cpu_cfg.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_def.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_ascii.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_math.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-CPU\cpu_core.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_mem.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\lib_cfg.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_str.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\bsp.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\OS\bsp_os.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\GD\GD32F4xx\Include\gd32f4xx.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\core_cm4.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdint.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\core_cmInstr.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\aarch32\cmsis_iar.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\aarch32\iccarm_builtin.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\core_cmFunc.h \
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-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\GD\GD32F4xx\Include\system_gd32f4xx.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\gd32f4xx_libopt.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_rcu.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_adc.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_can.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_crc.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_ctc.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dac.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dbg.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dci.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dma.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_exti.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_fmc.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_fwdgt.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_gpio.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_syscfg.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_i2c.h \
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-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_trng.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_usart.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_wwdgt.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_misc.h \
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-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_exmc.h \
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-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_tli.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_autoreturn.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\comm_types.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\Lib\sock_utils.h \
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-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\bsp_ser.h \
-  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stddef.h \
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-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Agent\agent_hyt.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\enet_to_udp\enet_to_udp.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\pdebug.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\bsp_ser.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\lan8720\Lan8720.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_adc_collect.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_areascan.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_presetbitscan.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_selfcheck.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_struct.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_type_select.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_error_count.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\SYSTICK\systick.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\timer\Timer.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\SYSTICK\gd32f4xx_it.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\full_bridge\full_bridge.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_speed\speed_to_step.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\beep\beep.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_header_file.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_step.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\as5047d\as5047d.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_cmdpreprocess.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_relay.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_plan.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_angle\angle_zerooffset.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_global_variable.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Restore\ factory\ settings\Restore_factory_set.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\comm_cfginfo.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_wdog.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_angle\angle_poweroffsave.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_bldc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_photoelectricswitch.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_speed\speed_to_bldc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_angle\get_angle.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_dac_out.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\l6235d\l6235d.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_interrupt.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\w25q128\w25q128.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_update.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_default_value.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\common.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\ringqueue\ring_queue.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\usart\Usart.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_statusmonitor.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_electricstable.h \
   C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\tmc2160\tmc2160.h \
   C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_type_select.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_electricstable.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_statusmonitor.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\usart\Usart.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\ringqueue\ring_queue.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\common.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\comm_types.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_default_value.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_update.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\w25q128\w25q128.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_interrupt.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\l6235d\l6235d.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_dac_out.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_angle\get_angle.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_speed\speed_to_bldc.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_photoelectricswitch.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_bldc.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_angle\angle_poweroffsave.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_wdog.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\comm_cfginfo.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Restore\ factory\ settings\Restore_factory_set.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_global_variable.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_header_file.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\comm_cfginfo.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_default_value.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_global_variable.h \
   C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_struct.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_angle\angle_zerooffset.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_plan.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_relay.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_cmdpreprocess.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\as5047d\as5047d.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_rotate\rotate_step.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\ptz_header_file.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\beep\beep.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\Device_speed\speed_to_step.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\full_bridge\full_bridge.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\SYSTICK\gd32f4xx_it.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\timer\Timer.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\SYSTICK\systick.h \
-  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_error_count.h
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_selfcheck.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_presetbitscan.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_areascan.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Device\device_Other\device_adc_collect.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\lan8720\Lan8720.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\pdebug.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\Driver\enet_to_udp\enet_to_udp.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Agent\agent_hyt.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\lwip-1.4.1\include\ipv4\lwip\inet.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\lwip-1.4.1\include\lwip\def.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\lwip-1.4.1\include\ipv4\lwip\ip_addr.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\ycheck.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stddef.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\lwip-1.4.1\include\lwip\opt.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\bsp_ser.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\arch\cpu.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\arch\cc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\lwip-1.4.1\include\lwip\arch.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\lwip-1.4.1\include\lwip\debug.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\arch\lwipopts.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\lwip-1.4.1\include\lwip\sockets.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\LWIP\Lib\sock_utils.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\comm_types.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Service\service_autoreturn.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\GD\GD32F4xx\Include\gd32f4xx.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_tli.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_ipa.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_exmc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_enet.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_misc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_wwdgt.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_usart.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_trng.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_timer.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_spi.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_sdio.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_rtc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_pmu.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_iref.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_i2c.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_syscfg.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_gpio.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_fwdgt.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_fmc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_exti.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dma.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dci.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dbg.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_dac.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_ctc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_crc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_can.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_adc.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\GD32F4xx_standard_peripheral\Include\gd32f4xx_rcu.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\gd32f4xx_libopt.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\GD\GD32F4xx\Include\system_gd32f4xx.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\core_cm4_simd.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\core_cmFunc.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\aarch32\iccarm_builtin.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\aarch32\cmsis_iar.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\core_cmInstr.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdint.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\GD32F4xx_Firmware_Library\CMSIS\core_cm4.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\OS\bsp_os.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\BSP\bsp.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_str.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\lib_cfg.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_mem.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-CPU\cpu_core.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_math.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_ascii.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-LIB\lib_def.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\cpu_cfg.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-CPU\cpu_def.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uC-CPU\ARM-Cortex-M4\cpu.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uCOS-II\Ports\ARM-Cortex-M4\os_cpu.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\os_cfg.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\app_cfg.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\OS2\uCOS-II\Source\ucos_ii.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_float_setup.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\math.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdarg.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Product_stdlib.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdlib.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\ctype.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Product_string.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\string.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\ysizet.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Product.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Config_Normal.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\DLib_Defaults.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\yvals.h \
+  C:\Program\ Files\IAR\ Systems\Embedded\ Workbench\ 9.2\arm\inc\c\stdio.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\PROJECT\..\APP\Common\includes.h \
+  C:\Users\Administrator\Documents\001project\002Hyt2\003\ MW22-01A\Hyt2\APP\Appcfg\app.c
diff --git a/PROJECT/settings/OS2.dbgdt b/PROJECT/settings/OS2.dbgdt
index c9667d3..9168b63 100644
--- a/PROJECT/settings/OS2.dbgdt
+++ b/PROJECT/settings/OS2.dbgdt
@@ -667,12 +667,9 @@
             </IarPane-34064>
             <IarPane-34104>
                 <expressions>
-                    <item>g_ptz.Voltage</item>
                     <item>system_info.complete_self_check</item>
-                    <item>H_ADC_Collect</item>
                     <item>hori_angle_a</item>
                     <item>g_ptz.vert_pid.PidUT_float</item>
-                    <item>V_ADC_Collect</item>
                     <item>g_ptz.vert_pid.hall_h123_count</item>
                     <item>g_ptz.vert_pid.hall_h1_count</item>
                     <item>g_ptz.vert_pid.hall_h2_count</item>
@@ -690,6 +687,8 @@
                     <item>workStatus</item>
                     <item>g_ptz.hori_angle_control</item>
                     <item>g_ptz.hori_speed_control</item>
+                    <item>g_ptz.Voltage</item>
+                    <item>g_ptz.electric_current</item>
                     <item></item>
                 </expressions>
                 <col-names>
@@ -699,16 +698,16 @@
                     <item>Value</item>
                 </col-names>
                 <col-widths>
-                    <item>287</item>
+                    <item>238</item>
                     <item>150</item>
                     <item>100</item>
-                    <item>188</item>
+                    <item>143</item>
                 </col-widths>
                 <right_justify>0</right_justify>
             </IarPane-34104>
             <ControlBarVersion>
                 <Major>14</Major>
-                <Minor>38</Minor>
+                <Minor>42</Minor>
             </ControlBarVersion>
             <MFCToolBarParameters>
                 <Tooltips>1</Tooltips>
@@ -718,11 +717,11 @@
                 <RecentlyUsedMenus>1</RecentlyUsedMenus>
                 <MenuShadows>1</MenuShadows>
                 <ShowAllMenusAfterDelay>1</ShowAllMenusAfterDelay>
-                <CommandsUsage>610A00002F00B2800000010000002CE100000100000010860000690700000481000001000000AC80000002000000208100000D0000000A970000090000000C84000001000000A9800000080000000F81000001000000878000000D00000000900000010000005F8600000100000001E10000010000000C810000040000001D8100009C0000001781000002000000A0800000010000002881000001000000118400000100000014810000010000002BE10000010000009A80000001000000AB80000001000000008100002A00000033920000010000001F810000910000000E8100000100000003E100000100000028DE000001000000A5800000030000000B8100000F00000000E100000200000014860000240000000284000001000000058100000D0000001186000055000000AD800000030000009C80000001000000108400000B0000004681000044010000AA8000000300000024E100000200000002E10000010000001E810000090000005D8600000C0000000D81000002000000</CommandsUsage>
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             </DockingManager-256>
             <MFCToolBar-34048>
                 <Name>CMSIS-Pack</Name>
-                <Buttons>00200000010000000100FFFF01001100434D4643546F6F6C426172427574746F6ED18400000200000079250000FFFEFF00000000000000000000000000010000000100000000000000FFFEFF0A43004D005300490053002D005000610063006B0018000000</Buttons>
+                <Buttons>00200000010000000100FFFF01001100434D4643546F6F6C426172427574746F6ED18400000200000059050000FFFEFF00000000000000000000000000010000000100000000000000FFFEFF0A43004D005300490053002D005000610063006B0018000000</Buttons>
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             <Pane-34048>
                 <ID>34048</ID>
                 <RectRecentFloat>0A0000000A0000006E0000006E000000</RectRecentFloat>
-                <RectRecentDocked>7A04000000000000A80400001A000000</RectRecentDocked>
+                <RectRecentDocked>7B04000000000000A90400001A000000</RectRecentDocked>
                 <RecentFrameAlignment>8192</RecentFrameAlignment>
                 <RecentRowIndex>0</RecentRowIndex>
                 <IsFloating>0</IsFloating>
@@ -1763,7 +1762,7 @@
             </BasePane-34048>
             <MFCToolBar-34049>
                 <Name>Debug</Name>
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             </MFCToolBar-34049>
             <Pane-34049>
                 <ID>34049</ID>
@@ -1780,12 +1779,12 @@
             </BasePane-34049>
             <MFCToolBar-34050>
                 <Name>Trace</Name>
-                <Buttons>00200000010000000200FFFF01001100434D4643546F6F6C426172427574746F6E5392000000000000FB250000FFFEFF03450054004D00010000000000000001000000000000000100000001805492000000000000FC250000FFFEFF03530057004F00010000000000000001000000000000000100000000000000FFFEFF055400720061006300650024000000</Buttons>
+                <Buttons>00200000010000000200FFFF01001100434D4643546F6F6C426172427574746F6E5392000000000000DB050000FFFEFF03450054004D00010000000000000001000000000000000100000001805492000000000000DC050000FFFEFF03530057004F00010000000000000001000000000000000100000000000000FFFEFF055400720061006300650024000000</Buttons>
             </MFCToolBar-34050>
             <Pane-34050>
                 <ID>34050</ID>
                 <RectRecentFloat>0A0000000A0000006E0000006E000000</RectRecentFloat>
-                <RectRecentDocked>2D040000000000007A0400001A000000</RectRecentDocked>
+                <RectRecentDocked>2D040000000000007B0400001A000000</RectRecentDocked>
                 <RecentFrameAlignment>8192</RecentFrameAlignment>
                 <RecentRowIndex>0</RecentRowIndex>
                 <IsFloating>0</IsFloating>
@@ -1797,7 +1796,7 @@
             </BasePane-34050>
             <MFCToolBar-34051>
                 <Name>Main</Name>
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diff --git a/PROJECT/settings/OS2.dnx b/PROJECT/settings/OS2.dnx
index 70e40f5..e7ac17c 100644
--- a/PROJECT/settings/OS2.dnx
+++ b/PROJECT/settings/OS2.dnx
@@ -95,8 +95,8 @@
         <ShowSource>1</ShowSource>
     </Trace1>
     <ArmDriver>
-        <EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
         <EnableCache>0</EnableCache>
+        <EnforceMemoryConfiguration>1</EnforceMemoryConfiguration>
     </ArmDriver>
     <CallStackLog>
         <Enabled>0</Enabled>
@@ -177,24 +177,6 @@
         <ShowTimeSum>1</ShowTimeSum>
         <SumSortOrder>0</SumSortOrder>
     </EventLog>
-    <DisassembleMode>
-        <mode>0</mode>
-    </DisassembleMode>
-    <Breakpoints2>
-        <Bp0>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\APP\ptz\ptz_rotate_control.c}.3353.7" 0 0 1 "" 0 "" 0</Bp0>
-        <Bp1>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\APP\ptz\ptz_rotate_control.c}.3306.11" 0 0 1 "" 0 "" 0</Bp1>
-        <Bp2>_ 0 "EMUL_DATA" "BSP_IntVectSet" 0 0 0 0 4294967295</Bp2>
-        <Bp3>_ 1 "EMUL_CODE" "{$PROJ_DIR$\..\GD32F4xx_Firmware_Library\SYSTICK\gd32f4xx_it.c}.64.5" 0 0 1 "" 0 "" 0</Bp3>
-        <Count>4</Count>
-    </Breakpoints2>
-    <TermIOLog>
-        <LoggingEnabled>_ 0</LoggingEnabled>
-        <LogFile>_ ""</LogFile>
-    </TermIOLog>
-    <Aliases>
-        <Count>0</Count>
-        <SuppressDialog>0</SuppressDialog>
-    </Aliases>
     <DriverProfiling>
         <Enabled>0</Enabled>
         <Mode>1</Mode>
@@ -206,4 +188,22 @@
         <Probe0>I0</Probe0>
         <ProbeSetup0>2 1 1 2 0 0</ProbeSetup0>
     </PowerProbe>
+    <TermIOLog>
+        <LoggingEnabled>_ 0</LoggingEnabled>
+        <LogFile>_ ""</LogFile>
+    </TermIOLog>
+    <DisassembleMode>
+        <mode>0</mode>
+    </DisassembleMode>
+    <Breakpoints2>
+        <Bp0>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\APP\ptz\ptz_rotate_control.c}.3353.7" 0 0 1 "" 0 "" 0</Bp0>
+        <Bp1>_ 0 "EMUL_CODE" "{$PROJ_DIR$\..\APP\ptz\ptz_rotate_control.c}.3306.11" 0 0 1 "" 0 "" 0</Bp1>
+        <Bp2>_ 0 "EMUL_DATA" "BSP_IntVectSet" 0 0 0 0 4294967295</Bp2>
+        <Bp3>_ 1 "EMUL_CODE" "{$PROJ_DIR$\..\GD32F4xx_Firmware_Library\SYSTICK\gd32f4xx_it.c}.64.5" 0 0 1 "" 0 "" 0</Bp3>
+        <Count>4</Count>
+    </Breakpoints2>
+    <Aliases>
+        <Count>0</Count>
+        <SuppressDialog>0</SuppressDialog>
+    </Aliases>
 </settings>
diff --git a/PROJECT/settings/OS2.wsdt b/PROJECT/settings/OS2.wsdt
index 8d6ee04..9a1bc46 100644
--- a/PROJECT/settings/OS2.wsdt
+++ b/PROJECT/settings/OS2.wsdt
@@ -415,7 +415,7 @@
                     <item>_I0</item>
                 </col-names>
                 <col-widths>
-                    <item>1604</item>
+                    <item>1878</item>
                     <item>20</item>
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                 <DebugLogLevel>2</DebugLogLevel>
@@ -458,7 +458,7 @@
                     <item>33054</item>
                     <item>0</item>
                     <item>33035</item>
-                    <item>33037</item>
+                    <item>33036</item>
                     <item>34399</item>
                     <item>0</item>
                     <item>33038</item>
@@ -495,7 +495,7 @@
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