diff --git a/.vscode/settings.json b/.vscode/settings.json
index 731f4b4..690217e 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -37,6 +37,9 @@
         "gd32f4xx_it.h": "c",
         "usbd_transc.h": "c",
         "drv_usbd_int.h": "c",
-        "system_gd32f4xx.h": "c"
+        "system_gd32f4xx.h": "c",
+        "photosw.h": "c",
+        "photoelectric.h": "c",
+        "statusmonitor.h": "c"
     }
 }
\ No newline at end of file
diff --git a/EWARM/Project.ewp b/EWARM/Project.ewp
index 9b118c9..1559d4d 100644
--- a/EWARM/Project.ewp
+++ b/EWARM/Project.ewp
@@ -777,7 +777,7 @@
                 </option>
                 <option>
                     <name>IlinkIcfFile</name>
-                    <state>C:\Users\Administrator\Documents\newPtz\EWARM\iar\GD32F450xE.icf</state>
+                    <state>C:\Users\Administrator\Documents\newPtz\EWARM\iar\GD32F470xE.icf</state>
                 </option>
                 <option>
                     <name>IlinkIcfFileSlave</name>
@@ -2252,6 +2252,12 @@
         <file>
             <name>$PROJ_DIR$\..\drivers\drv_usart.h</name>
         </file>
+        <file>
+            <name>$PROJ_DIR$\..\drivers\photoelectric.c</name>
+        </file>
+        <file>
+            <name>$PROJ_DIR$\..\drivers\photoelectric.h</name>
+        </file>
     </group>
     <group>
         <name>GD32F4xx_Peripherals</name>
diff --git a/EWARM/Project.ewt b/EWARM/Project.ewt
index 48e3773..a4bb7a8 100644
--- a/EWARM/Project.ewt
+++ b/EWARM/Project.ewt
@@ -2922,6 +2922,12 @@
         <file>
             <name>$PROJ_DIR$\..\drivers\drv_usart.h</name>
         </file>
+        <file>
+            <name>$PROJ_DIR$\..\drivers\photoelectric.c</name>
+        </file>
+        <file>
+            <name>$PROJ_DIR$\..\drivers\photoelectric.h</name>
+        </file>
     </group>
     <group>
         <name>GD32F4xx_Peripherals</name>
diff --git a/GD32F4xx_Firmware_Library/CMSIS/GD/GD32F4xx/Source/system_gd32f4xx.c b/GD32F4xx_Firmware_Library/CMSIS/GD/GD32F4xx/Source/system_gd32f4xx.c
index 83c9b81..1968760 100644
--- a/GD32F4xx_Firmware_Library/CMSIS/GD/GD32F4xx/Source/system_gd32f4xx.c
+++ b/GD32F4xx_Firmware_Library/CMSIS/GD/GD32F4xx/Source/system_gd32f4xx.c
@@ -66,7 +66,8 @@
 // #define __SYSTEM_CLOCK_240M_PLL_25M_HXTAL        (uint32_t)(240000000)
 #endif
 
-#define __SYSTEM_CLOCK_200M_PLL_8M_HXTAL        (uint32_t)(200000000)
+// #define __SYSTEM_CLOCK_240M_PLL_IRC16M          (uint32_t)(240000000)
+#define __SYSTEM_CLOCK_240M_PLL_8M_HXTAL        (uint32_t)(240000000)
 
 /* The following is to prevent Vcore fluctuations caused by frequency switching. 
    It is strongly recommended to include it to avoid issues caused by self-removal. */
diff --git a/applications/main/main.c b/applications/main/main.c
index d2e6da4..7c3f085 100644
--- a/applications/main/main.c
+++ b/applications/main/main.c
@@ -34,7 +34,7 @@ OF SUCH DAMAGE.
 
 #include "gd32f4xx.h"
 #include <stdio.h>
-#include "rtthread.h"
+// #include "rtthread.h"
 #include "delay.h"
 #include "drv_adc.h"
 #include "drv_i2c.h"
@@ -70,16 +70,12 @@ int main(void)
 
     beep_enable();
     // rt_thread_mdelay(1000);
-    delay_ms(250);
+    delay_ms(500);
     beep_disable();
 
-
-    // gd32_usart_init();
     i2c_init();
     adc_init();
-    usart_init();
-
-
+    // usart_init();
 
 	//测试mb铁电读写
 	memset(&ttest, 0, sizeof(ttest));
@@ -99,8 +95,8 @@ int main(void)
     }
     /* 写ttest到MB85TEST_ADD地址 */
 	mb85rc64_write_read(MB85TEST_ADD, (unsigned char *)&ttest, sizeof(ttest), PAGE_WRITE);
-    uint8_t rx_data = 0;
-    uint8_t tx_data = 0x61;
+    // uint8_t rx_data = 0;
+    // uint8_t tx_data = 'a';
     // 进入主循环或启动其他任务
     while (1) 
     {
@@ -134,18 +130,18 @@ int main(void)
         //     beep_disable();
         // }
 
-        while(RESET == usart_flag_get(USART_PERIPH, USART_FLAG_TBE))
-        {
+        // while(RESET == usart_flag_get(USART_PERIPH, USART_FLAG_TBE))
+        // {
 
-        }
-        //写寄存器
-        usart_data_transmit(USART_PERIPH, tx_data);
-        //等待发送完成
-        while(RESET == usart_flag_get(USART_PERIPH, USART_FLAG_TC))
-        {
+        // }
+        // //写寄存器
+        // usart_data_transmit(USART_PERIPH, tx_data);
+        // //等待发送完成
+        // while(RESET == usart_flag_get(USART_PERIPH, USART_FLAG_TC))
+        // {
 
-        }
-        usart_flag_clear(USART_PERIPH, USART_FLAG_TC);
+        // }
+        // usart_flag_clear(USART_PERIPH, USART_FLAG_TC);//可以不写
 
 
        // memset(&ttest, 0, sizeof(ttest));
diff --git a/doc/串口寄存器说明.txt b/doc/串口寄存器说明.txt
new file mode 100644
index 0000000..427a598
--- /dev/null
+++ b/doc/串口寄存器说明.txt
@@ -0,0 +1,7 @@
+TBE		->	发送数据缓存区为空；	0：不空，	1：空
+TC		->	发送完成；			0：未完成，	1：完成
+RBNE	->	读数据缓存区非空；	0：空，		1：不空
+BAUD	->	30d4：19200；61a8：9600
+
+CH1：单片机接收，PC发送
+CH2：单片机发送，PC接收
\ No newline at end of file
diff --git a/doc/GD32F450xx Datasheet_Rev2.8.pdf b/doc/手册/GD32F450xx Datasheet_Rev2.8.pdf
similarity index 100%
rename from doc/GD32F450xx Datasheet_Rev2.8.pdf
rename to doc/手册/GD32F450xx Datasheet_Rev2.8.pdf
diff --git a/doc/手册/GD32F470xxDatasheet_Rev2.1.pdf b/doc/手册/GD32F470xxDatasheet_Rev2.1.pdf
new file mode 100644
index 0000000..c557809
Binary files /dev/null and b/doc/手册/GD32F470xxDatasheet_Rev2.1.pdf differ
diff --git a/doc/GD32F4xx_固件库使用指南_Rev1.2.pdf b/doc/手册/GD32F4xx_固件库使用指南_Rev1.2.pdf
similarity index 100%
rename from doc/GD32F4xx_固件库使用指南_Rev1.2.pdf
rename to doc/手册/GD32F4xx_固件库使用指南_Rev1.2.pdf
diff --git a/doc/GD32F4xx_用户手册_Rev3.3.pdf b/doc/手册/GD32F4xx_用户手册_Rev3.3.pdf
similarity index 100%
rename from doc/GD32F4xx_用户手册_Rev3.3.pdf
rename to doc/手册/GD32F4xx_用户手册_Rev3.3.pdf
diff --git a/doc/驱动芯片/INA240电流检测计算.url b/doc/驱动芯片/INA240电流检测计算.url
new file mode 100644
index 0000000..097bb3b
--- /dev/null
+++ b/doc/驱动芯片/INA240电流检测计算.url
@@ -0,0 +1,5 @@
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,11
+[InternetShortcut]
+IDList=
+URL=https://blog.csdn.net/qq_37120496/article/details/133471283
diff --git a/doc/驱动芯片/IP178GI.pdf b/doc/驱动芯片/IP178GI.pdf
new file mode 100644
index 0000000..fb2c6ac
Binary files /dev/null and b/doc/驱动芯片/IP178GI.pdf differ
diff --git a/doc/驱动芯片/SN74LVC14APW.url b/doc/驱动芯片/SN74LVC14APW.url
new file mode 100644
index 0000000..8378150
--- /dev/null
+++ b/doc/驱动芯片/SN74LVC14APW.url
@@ -0,0 +1,5 @@
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,11
+[InternetShortcut]
+IDList=
+URL=https://zhuanlan.zhihu.com/p/580512482
diff --git a/doc/驱动芯片/【Ethernet】以太网卡LAN8720A分析和使用.url b/doc/驱动芯片/【Ethernet】以太网卡LAN8720A分析和使用.url
new file mode 100644
index 0000000..7d7768d
--- /dev/null
+++ b/doc/驱动芯片/【Ethernet】以太网卡LAN8720A分析和使用.url
@@ -0,0 +1,5 @@
+[{000214A0-0000-0000-C000-000000000046}]
+Prop3=19,11
+[InternetShortcut]
+IDList=
+URL=https://blog.csdn.net/ZHONGCAI0901/article/details/118302801
diff --git a/drivers/drv_adc.c b/drivers/drv_adc.c
index 85a27d2..d0e7f33 100644
--- a/drivers/drv_adc.c
+++ b/drivers/drv_adc.c
@@ -233,7 +233,7 @@ float ptz_Voltage_collect_adc1_task()
     #endif
 
     /* 间接测量，11倍分压/放大 */
-    adc1_v[adc1_v_num] = (float)value_V / 4095.0 * 3.3;
+    adc1_v[adc1_v_num] = (float)value_V / 4096.0 * 3.381;
 
     adc1_v_num++;
     if(adc1_v_num >= LB_V_TIMES)
@@ -283,7 +283,7 @@ float ptz_Current_collect_adc1_task()
     #endif
 
     /* 间接测量，11倍分压/放大 */
-    adc1_i[adc1_i_num] = (((float)value_I / 4095.0  * 3.3) - 3.3 / 2) / 0.132;
+    adc1_i[adc1_i_num] = ((float)value_I / 4096.0  * 3.381) * 10;
 
     adc1_i_num++;
     if(adc1_i_num >= LB_I_TIMES)
diff --git a/drivers/drv_adc.h b/drivers/drv_adc.h
index f867c06..198d48c 100644
--- a/drivers/drv_adc.h
+++ b/drivers/drv_adc.h
@@ -8,7 +8,7 @@
 #include "string.h"
 #include "gd32f4xx.h"
 #include "delay.h"
-#include "rtthread.h"
+// #include "rtthread.h"
 
 
 /* 自定义宏，方便修改通道和引脚 */
diff --git a/drivers/drv_usart.h b/drivers/drv_usart.h
index 7ac5c32..b95216e 100644
--- a/drivers/drv_usart.h
+++ b/drivers/drv_usart.h
@@ -8,14 +8,14 @@
 #define USART_PERIPH			USART0
 #define USART_PERIPH_CLK		RCU_USART0
 
-#define USART_TX_PIN     GPIO_PIN_9
-#define USART_RX_PIN     GPIO_PIN_10
+#define USART_TX_PIN     		GPIO_PIN_9
+#define USART_RX_PIN			GPIO_PIN_10
 
-#define USART_GPIO_AF    GPIO_AF_7
-#define USART_IRQn       USART0_IRQn
+#define USART_GPIO_AF			GPIO_AF_7
+// #define USART_IRQn       USART0_IRQn
 // #define USART_IRQHandler USART0_IRQHandler
 // #define USART_IRQHandler_NAME "USART0_IRQHandler"
-#define USART_BAUD_RATE  9600
+#define USART_BAUD_RATE  (9600U)
 
 void usart_init(void);
 void usart_colok_config(void);
diff --git a/drivers/photoelectric.c b/drivers/photoelectric.c
new file mode 100644
index 0000000..ce7bad4
--- /dev/null
+++ b/drivers/photoelectric.c
@@ -0,0 +1,20 @@
+// #include "photoelectric.h"
+
+// /// 初始化所有光电开关
+// /// @param  无 
+// /// @return 无
+// /// @par   修改日志
+// ///        杨鹏程于2017-09-14创建
+// ///        LH修改于2022-05-31
+// void ps_init()
+// {
+// 	//配置引脚时钟
+// 	rcu_periph_clock_enable(RCU_GPIOE);
+
+// 	//设置引脚为输入模式:PE7-J3，PE8-J4，PE9-J5
+// 	gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_7);
+// 	gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_8);
+// 	gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_NONE, GPIO_PIN_9);
+  
+
+// }
\ No newline at end of file
diff --git a/drivers/photoelectric.h b/drivers/photoelectric.h
new file mode 100644
index 0000000..92ea258
--- /dev/null
+++ b/drivers/photoelectric.h
@@ -0,0 +1,5 @@
+// #ifndef __PHOTOELECTRIC_H_
+// #define __PHOTOELECTRIC_H_  
+
+// #include "gd32f4xx.h"
+
diff --git a/drivers/readme.md b/drivers/readme.md
index e414db0..1f5a0eb 100644
--- a/drivers/readme.md
+++ b/drivers/readme.md
@@ -1,7 +1,5 @@
 ## ADC原理说明
 
-
-
 GD32F4系列搭载了高性能的12位逐次逼近型（SAR）ADC，提供了非常灵活和强大的数据采集功能。其采集方式可以从**操作模式**和**数据转移方式**两个维度来理解。
 
 ### 一、按操作模式划分
@@ -374,6 +372,17 @@ void adc_routine_channel_config(uint32_t adc_periph, uint8_t rank, uint8_t chann
 
 ---
 
+按键配置
+
+```c
+static void key_rst_init()
+{//使用PE4引脚，输入模式
+  gpio_mode_set(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_PULLUP, GPIO_PIN_4);
+}
+```
+
+---
+
 | 事件 |   断电保护   | 电压过高保护 | 过流保护 | 一般温度（10℃以下）故障 | 极限温度（10℃以上）故障 | 光电开关遮挡         |
 | :--: | :----------: | :----------: | :------: | :----------------------: | :----------------------: | -------------------- |
 | 响应 | 检测掉电存储 |     断电     | 电机停转 |     -（仅故障回传）     |         电机停转         | 同时累计遮挡电机停转 |
@@ -394,7 +403,7 @@ void adc_routine_channel_config(uint32_t adc_periph, uint8_t rank, uint8_t chann
 | ------------- | ------------------------------------ | -------------------------------------- |
 | P0 致命       | 严重电流过载、电压过高、温度过高     | 立即停机、断电、报警，并持久化故障状态 |
 | P1 高         | 光电挡板遮挡、电流持续过流、电压过低 | 停机、限流、恢复模式，报警上报         |
-| P2 中         | 温度接近限制、传感器异常             | 限速、报警上报                         |
+| P2 中         | 温度较高、（传感器异常）             | 限速、报警上报                         |
 | P3 低(可不用) | 通信错误、较小的传感器波动           | 记录日志，便于后续诊断                 |
 
 ## 关键设计原则
@@ -408,7 +417,12 @@ void adc_routine_channel_config(uint32_t adc_periph, uint8_t rank, uint8_t chann
 ### 电压监测
 
 - **硬件设计**：利用ADC模块（或者电压比较器）监测主电源电压。
-- **故障响应**：过电压和欠电压将触发报警，并在满足条件时进行电机断电、停机。
+- **故障响应**：过电压和欠电压将触发报警，并在满足条件时进行电机断电。
+
+### 掉电保护
+
+- **硬件设计**：通过监测电源电压下降，并使用电容保证在掉电瞬间写入系统状态。
+- **故障响应**：在掉电事件前保存关键状态数据。
 
 ### 电流监测
 
@@ -425,27 +439,21 @@ void adc_routine_channel_config(uint32_t adc_periph, uint8_t rank, uint8_t chann
 - **硬件设计**：使用光电传感器或光耦监测挡板状态。
 - **故障响应**：检测到遮挡时，立即停机，避免碰撞。
 
-### 掉电保护
-
-- **硬件设计**：通过监测电源电压下降，并使用电容保证在掉电瞬间写入系统状态。
-- **故障响应**：在掉电事件前保存关键状态数据。
-
 ## 故障上报
 
 错误代码使用统一格式进行上报，确保与上位机的兼容性。
 
 | 错误码     | 错误描述             | 优先级 | 模块       |
 | ---------- | -------------------- | ------ | ---------- |
-| 0x01010001 | 主电源过压           | P1     | 电源       |
-| 0x01010002 | 主电源欠压           | P1     | 电源       |
-| 0x02020001 | 电机A持续过流        | P0     | 电流       |
-| 0x02020002 | 电机B短路            | P0     | 电流       |
-| 0x03030001 | 驱动模块过温         | P1     | 温度       |
+| 0x01010001 | 主电源过压           | P0     | 电源       |
+| 0x01010002 | 主电源欠压           | P0     | 电源       |
+| 0x02020001 | 电机A持续过流        | P1     | 电流       |
+| 0x02020002 | 电机B短路            | P1     | 电流       |
 | 0x04040001 | 光电挡板左侧遮挡异常 | P1     | 限位传感器 |
-| 0x04040002 | 光电挡板右侧开路     | P2     | 限位传感器 |
+| 0x04040002 | 光电挡板右侧开路     | P1     | 限位传感器 |
+| 0x03030001 | 驱动模块过温         | P2     | 温度       |
 | 0x05050001 | 编码器错位           | P2     | 传感器     |
 
-
 ## 测试与验收
 
 ### 单元测试
@@ -461,77 +469,6 @@ void adc_routine_channel_config(uint32_t adc_periph, uint8_t rank, uint8_t chann
 
 ### 验收标准
 
-* 掉电保护成功率：99.9%（断电前成功写入状态）
-* 电流/电压/温度监测反应时间：≤5ms
-* 故障上报与记录符合协议，信息完整且准确。
-
-**示例上报报文格式** ：
-
-```json
-{
-  "error_code": "0x01020005",
-  "severity": "P1",
-  "timestamp": "2025-09-30T11:32:14Z",
-  "voltage_v": 28.3,
-  "current_a": 1.3,
-  "temp_c": 52.4,
-  "encoder_deg": 12.345,
-  "message": "motor B continuous overcurrent",
-  //"firmware": "v1.2.3",
-  "cmd_id": "PT-001"
-  "mac": "PT-001"
-}
-
-```
-
-## C示例代码
-
-```c
-// 电流监测中断处理示例
-void OVERCURRENT_IRQHandler(void) {
-    // 立即切断驱动使能
-    Motor_DisableDriver(MOTOR_B);
-
-    // 读取电流并记录
-    float current = adc_read(CURRENT_B);
-    log_error(ERROR_CODE_OVERCURRENT(MOTOR_B), "Overcurrent detected", current);
-
-    // 上报错误至上位机
-    ReportErrorToHost(ERROR_CODE_OVERCURRENT(MOTOR_B));
-
-    // 进入等待人工复位模式
-    EnterSafeLoop();
-}
-
-// 掉电ISR 保存最小状态
-volatile bool power_failing = false;
-
-void POWER_FALL_IRQHandler(void) {
-    if (power_failing) return;
-    power_failing = true;
-
-    // 禁止新动作，立即切断PWM
-    Motor_StopAllPWMImmediate();
-
-    // 采集快照
-    Snapshot_t snap;
-    snap.magic = SNAP_MAGIC;
-    snap.timestamp = rtc_get_time();
-    snap.voltage = adc_read(VOLTAGE_CHANNEL);
-    snap.current = adc_read(CURRENT_CHANNEL);
-    snap.temp = adc_read(TEMP_CHANNEL);
-    snap.encoder_pos = encoder_get_position();
-    snap.error_flags = global_error_flags;
-
-    // 计算CRC并保存
-    snap.crc = crc32((uint8_t*)&snap, sizeof(snap) - sizeof(snap.crc));
-    FRAM_Write(SNAPSHOT_ADDR, (uint8_t*)&snap, sizeof(snap));
-
-    // 启动刹车机制
-    Hardware_EnableBrake();
-
-    // 进入安全循环
-    EnterSafeLoop();
-}
-
-```
+* 掉电保护成功率：99.9%（断电前成功写入状态）：
+* 电流/电压/温度监测反应时间：≤5ms：
+* 故障上报与记录符合协议，信息完整且准确：
diff --git a/drivers/statusmonitor.c b/drivers/statusmonitor.c
new file mode 100644
index 0000000..123681b
--- /dev/null
+++ b/drivers/statusmonitor.c
@@ -0,0 +1,34 @@
+#include "statusmonitor.h"
+
+PowerOffData power_off_data;
+
+char ptz_power_off_data_save(unsigned short int add)
+{
+	PowerOffData power_off_data_b;
+
+	int i;
+
+	memcpy(&power_off_data.hori_as5047d, &g_ptz.hori_as5047d, sizeof(g_ptz.hori_as5047d));
+	memcpy(&power_off_data.vert_as5047d, &g_ptz.vert_as5047d, sizeof(g_ptz.vert_as5047d));
+
+	power_off_data.vert_angle = g_ptz.vert_angle_actual;
+	power_off_data.hori_angle = g_ptz.hori_angle_actual;
+
+
+	for(i = 0; i < PTZ_POWER_OFF_DATA_SAVE_NUM; i++)
+	{
+		memset(&power_off_data_b, 0, sizeof(power_off_data_b));
+        mb85rc64_write_read(add, (unsigned char *)&power_off_data, sizeof(power_off_data), PAGE_WRITE);
+        mb85rc64_write_read(add, (unsigned char *)&power_off_data_b, sizeof(power_off_data_b), ADDR_READ);
+        
+		// mb85rc64_page_write(add, (unsigned char *)&power_off_data, sizeof(power_off_data));
+        // mb85rc64_add_read(add, (unsigned char *)&power_off_data_b, sizeof(power_off_data_b));
+		if(memcmp(&power_off_data_b, &power_off_data, sizeof(power_off_data)) == 0)//判断擦除数据是否正确
+		{
+			BSP_OS_SemPost(&ptz_power_off_mutex);
+			return 1;
+		}
+	}
+	BSP_OS_SemPost(&ptz_power_off_mutex);
+	return 0;
+}
diff --git a/drivers/statusmonitor.h b/drivers/statusmonitor.h
new file mode 100644
index 0000000..359c0d4
--- /dev/null
+++ b/drivers/statusmonitor.h
@@ -0,0 +1,94 @@
+#ifndef _STATUSMONITOR_H_
+#define _STATUSMONITOR_H_
+
+#include "gd32f4xx.h"
+#include "drv_adc.h"
+#include "mb85rc64.h"
+
+
+typedef struct _PtzAs5047D_ 
+{
+  ///as5047d云台基准位置初始角度值
+  float as5047d_ptz_init_angle;
+  
+  ///as5047d角度相对于云台角度最大值
+  float as5047d_ptz_angle_max;
+  
+  ///磁编码器角度换算成云台角度对应的一次函数斜率K
+  float as5047d_ptz_angle_K;
+  
+  ///as5047d相对于云台的角度的滤波角度当前值
+  float as5047d_ptz_angle_wf_actual;
+  
+  ///as5047d相对于云台的角度的滤波角度上一次的值
+  float as5047d_ptz_angle_wf_last;
+  
+  ///as5047d相对于云台的角度当前实际值
+  float as5047d_ptz_angle_actual;
+  
+  ///as5047d相对于云台的角度上一次值
+  float as5047d_ptz_angle_last;
+  
+  ///云台转动范围对应的磁编码应当转动的总角度：
+  ///as5047d_ptz_angle_max = as5047d_cycle_num * 360 + as5047d_remain_angle
+  ///as5047d除开转动的整圈数外，多出的不满足整圈的度数
+  float as5047d_remain_angle;
+  
+  ///as5047d转动的整圈数的数值
+  int as5047d_cycle_num;
+  
+  ///as5047d转动的整圈数计数，转动一圈加减1
+  int as5047d_cycle_count;
+  int as5047d_cycle_count_last;
+  //int as5047d_cycle_count_last_last;
+  ///as5047d采集到的实时角度值
+  float as5047d_angle_actual;
+  
+  ///as5047d的转向
+  char as5047d_dir;
+  
+  ///as5047d的数据读错次数
+  //unsigned int as5047d_read_error_count;
+  
+  ///as5047d采集到的上一次实时角度值
+  float as5047d_angle_last;
+  
+  ///as5047d采集到的实时角度值与上一次实时角度值的差值
+  float as5047d_angle_difference;
+  
+  ///as5047d的状态,0处于自检初始化，1 数据能够正常使用， 0xff故障
+  char as5047d_state;
+  
+  ///as5047d的数据是否全部清除,0 不需要清除， 1清除数据
+  char as5047d_data_reset;
+  
+  
+  ///磁编码器测转速
+  ///as5047d磁编码器转速
+  float as5047d_speed_actual;
+  ///测试as5047d磁编码器转速起始角度a
+  float as5047d_speed_angle_a;
+  ///测试as5047d磁编码器转速结束角度b
+  float as5047d_speed_angle_b;
+  ///测试as5047d磁编码器转速起始角度a、结束角度b之间的差值
+  float as5047d_speed_angle_c;
+  ///测试as5047d磁编码器转速起始角度a、结束角度b之间的上一次差值
+  float as5047d_speed_angle_c_last;
+  
+  
+  unsigned int time_now;
+  unsigned int time_end;
+  unsigned int time;
+}PtzAs5047D;
+
+typedef struct _PowerOffData_ 
+{
+  PtzAs5047D hori_as5047d;
+  PtzAs5047D vert_as5047d;
+  float hori_angle;
+  float vert_angle;
+  float power_down_offset_anle;
+  unsigned short int num;//编号，数字越大，表示存储的数据越新，主要用于判断最后一次保存的数据
+  float crc;
+}PowerOffData;
+