diff --git a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c
index 913f112..b5482cc 100644
--- a/APP/Device/Device_speed/speed_to_bldc.c
+++ b/APP/Device/Device_speed/speed_to_bldc.c
@@ -121,7 +121,7 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
 //新调速方式
 static void ptz_hori_pid_task()
 {
-  unsigned int time = 0;
+//   unsigned int time = 0;
   char i = 0;
   while(1)
   {
@@ -550,14 +550,25 @@ static void ptz_hori_pid_task()
                                        g_ptz.hori_pid.hall_h2_count +
                                        g_ptz.hori_pid.hall_h3_count;
       
+        // static uint32_t timeH, lastTimeH, horiTime;
+        // timeH = OSTimeGet();
+        // horiTime = timeH - lastTimeH;
+        // if (horiTime < 0) {
+        //     continue;
+        // }
+        // lastTimeH = timeH;
+
       if(g_ptz.hori_pid.hall_h123_count >= 2)
       {
         g_ptz.hori_pid.hall_h123_motor_speed = 
           60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / 
-            (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
+            (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;        
+        // g_ptz.hori_pid.hall_h123_motor_speed = 
+        //   60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / 
+        //     (float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
           
       }
-      
+
       g_ptz.hori_motor_speed_hall_actual = g_ptz.hori_pid.hall_h123_motor_speed;
       
       /* ********************************** */
@@ -767,7 +778,7 @@ static float ptz_vert_pid_calculate(float SampSpeed)
 //新调速方式
 static void ptz_vert_pid_task()
 {
-  unsigned int time = 0;
+//   unsigned int time = 0;
   char i = 0;
   while(1)
   {
@@ -1191,11 +1202,23 @@ static void ptz_vert_pid_task()
                                        g_ptz.vert_pid.hall_h2_count +
                                        g_ptz.vert_pid.hall_h3_count;
       
+        // static uint32_t timeV, lastTimeV, vertTime;
+        // timeV = OSTimeGet();
+        // vertTime = timeV - lastTimeV;
+        // if (vertTime < 0) {
+        //     continue;
+        // }
+        // lastTimeV = timeV;
+
       if(g_ptz.vert_pid.hall_h123_count >= 2)
       {
         g_ptz.vert_pid.hall_h123_motor_speed = 
           60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / 
             (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
+
+        // g_ptz.vert_pid.hall_h123_motor_speed = 
+        //   60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / 
+        //     (float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
           
       }
       
diff --git a/APP/Device/Device_speed/speed_to_bldc.c.rej b/APP/Device/Device_speed/speed_to_bldc.c.rej
new file mode 100644
index 0000000..3204638
--- /dev/null
+++ b/APP/Device/Device_speed/speed_to_bldc.c.rej
@@ -0,0 +1,10 @@
+diff a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c	(rejected hunks)
+@@ -121,7 +121,7 @@
+ //锟铰碉拷锟劫凤拷式
+ static void ptz_hori_pid_task()
+ {
+-  unsigned int time = 0;
++//   unsigned int time = 0;
+   char i = 0;
+   while(1)
+   {
diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp
index 1498948..0ee287b 100644
--- a/PROJECT/OS2.ewp
+++ b/PROJECT/OS2.ewp
@@ -74,7 +74,7 @@
                 </option>
                 <option>
                     <name>OGChipSelectEditMenu</name>
-                    <state>GD32F450xE	GD GD32F450xE</state>
+                    <state>GD32F470xE	GigaDevice GD32F470xE</state>
                 </option>
                 <option>
                     <name>GenLowLevelInterface</name>
@@ -120,17 +120,17 @@
                 </option>
                 <option>
                     <name>GFPUDeviceSlave</name>
-                    <state>GD32F450xE	GD GD32F450xE</state>
+                    <state>GD32F470xE	GigaDevice GD32F470xE</state>
                 </option>
                 <option>
                     <name>FPU2</name>
                     <version>0</version>
-                    <state>0</state>
+                    <state>4</state>
                 </option>
                 <option>
                     <name>NrRegs</name>
                     <version>0</version>
-                    <state>0</state>
+                    <state>1</state>
                 </option>
                 <option>
                     <name>NEON</name>
@@ -825,7 +825,7 @@
                 </option>
                 <option>
                     <name>IlinkIcfFile</name>
-                    <state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE_APP.icf</state>
+                    <state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE.icf</state>
                 </option>
                 <option>
                     <name>IlinkIcfFileSlave</name>