diff --git a/MDK-ARM/controller/controller.axf b/MDK-ARM/controller/controller.axf
new file mode 100644
index 0000000..01bca1e
Binary files /dev/null and b/MDK-ARM/controller/controller.axf differ
diff --git a/User/application/mode/mode_pwmp_hd.c b/User/application/mode/mode_pwmp_hd.c
index d4b20a6..f4641c0 100644
--- a/User/application/mode/mode_pwmp_hd.c
+++ b/User/application/mode/mode_pwmp_hd.c
@@ -52,11 +52,11 @@ static void _adjust_stop(void)
 
 static uint8_t _adjust_result(void)
 {
-    if (mode_pwmp_hd->pwmp_save->storage.tuned_flag == TUNED_ONGOING)
+    if (mode_pwmp_hd->pwmp_save->tuned_flag == TUNED_ONGOING)
     {
         udevice.tuned_flag = TUNED_ONGOING;
     }
-    else if (mode_pwmp_hd->pwmp_save->storage.tuned_flag == TUNED_SUCCESS)
+    else if (mode_pwmp_hd->pwmp_save->tuned_flag == TUNED_SUCCESS)
     {
         udevice.tuned_flag = TUNED_SUCCESS;
     }
@@ -80,17 +80,17 @@ static uint8_t _adjust_step_current(void)
 
 static void _adjust_data(mode_adjust_data_t *data)
 {
-    data->pos0 = mode_pwmp_hd->pwmp_save->storage.trip_0;               ///< 位置0 ad
-    data->pos100 = mode_pwmp_hd->pwmp_save->storage.trip_100;           ///< 位置100 ad
-    data->pot0 = mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;      ///< 位置0 输出
-    data->pot100 = mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin;    ///< 位置100 输出
-    data->current0 = mode_pwmp_hd->pwmp_save->storage.current0;         ///< 位置0 电流(毫安，放大100倍, 0.01ma=1)
-    data->current100 = mode_pwmp_hd->pwmp_save->storage.current100;     ///< 位置100 电流(毫安,放大100倍，0.01ma=1)
-    data->open_time = mode_pwmp_hd->pwmp_save->storage.all_open_time;   ///< 全开时间(秒)
-    data->close_time = mode_pwmp_hd->pwmp_save->storage.all_close_time; ///< 全关时间(秒)
-    data->kp = mode_pwmp_hd->pwmp_save->storage.kp;                     ///< pid 比例系数
-    data->ki = mode_pwmp_hd->pwmp_save->storage.ki;                     ///< pid 积分系数
-    data->kd = mode_pwmp_hd->pwmp_save->storage.kd;                     ///< pid 微分系数
+    data->pos0 = mode_pwmp_hd->pwmp_save->trip_0;               ///< 位置0 ad
+    data->pos100 = mode_pwmp_hd->pwmp_save->trip_100;           ///< 位置100 ad
+    data->pot0 = mode_pwmp_hd->pwmp_save->pwmp_min_origin;      ///< 位置0 输出
+    data->pot100 = mode_pwmp_hd->pwmp_save->pwmp_max_origin;    ///< 位置100 输出
+    data->current0 = mode_pwmp_hd->pwmp_save->current0;         ///< 位置0 电流(毫安，放大100倍, 0.01ma=1)
+    data->current100 = mode_pwmp_hd->pwmp_save->current100;     ///< 位置100 电流(毫安,放大100倍，0.01ma=1)
+    data->open_time = mode_pwmp_hd->pwmp_save->all_open_time;   ///< 全开时间(秒)
+    data->close_time = mode_pwmp_hd->pwmp_save->all_close_time; ///< 全关时间(秒)
+    data->kp = mode_pwmp_hd->pwmp_save->kp;                     ///< pid 比例系数
+    data->ki = mode_pwmp_hd->pwmp_save->ki;                     ///< pid 积分系数
+    data->kd = mode_pwmp_hd->pwmp_save->kd;                     ///< pid 微分系数
 }
 
 static BOOL _control_idle(void)
@@ -187,39 +187,39 @@ static void pwmp_control_update(filter_e type)
 /*PID参数获取*/
 static float32 get_pwmp_hd_control_kp(void)
 {
-    if (mode_pwmp_hd->pwmp_save->storage.kp < 2)
+    if (mode_pwmp_hd->pwmp_save->kp < 2)
     {
-        // return mode_pwmp_hd->pwmp_save->storage.kp * 6;
-        return mode_pwmp_hd->pwmp_save->storage.kp * 15;
+        // return mode_pwmp_hd->pwmp_save->kp * 6;
+        return mode_pwmp_hd->pwmp_save->kp * 15;
     }
     else
     {
-        return mode_pwmp_hd->pwmp_save->storage.kp * 4;
+        return mode_pwmp_hd->pwmp_save->kp * 4;
     }
 }
 
 static float32 get_pwmp_hd_control_ki(void)
 {
-    return mode_pwmp_hd->pwmp_save->storage.ki < 0.001 ? mode_pwmp_hd->pwmp_save->storage.ki * 20 : 0.02;
+    return mode_pwmp_hd->pwmp_save->ki < 0.001 ? mode_pwmp_hd->pwmp_save->ki * 20 : 0.02;
 }
 
 static float32 get_pwmp_hd_control_kd(void)
 {
-    // return mode_pwmp_hd->pwmp_save->storage.kd < 0.01 ? mode_pwmp_hd->pwmp_save->storage.kd : 0.001;
+    // return mode_pwmp_hd->pwmp_save->kd < 0.01 ? mode_pwmp_hd->pwmp_save->kd : 0.001;
     if (udevice.act_style.bits.value_travel_type == TRAVEL_TYPE_STRAIGHT)
     {
-        return mode_pwmp_hd->pwmp_save->storage.kd = 0;
+        return mode_pwmp_hd->pwmp_save->kd = 0;
     }
     else
     {
 
-        if (mode_pwmp_hd->pwmp_save->storage.kd <= 20)
+        if (mode_pwmp_hd->pwmp_save->kd <= 20)
         {
-            return mode_pwmp_hd->pwmp_save->storage.kd;
+            return mode_pwmp_hd->pwmp_save->kd;
         }
         else
         {
-            return mode_pwmp_hd->pwmp_save->storage.kd = 20;
+            return mode_pwmp_hd->pwmp_save->kd = 20;
         }
     }
 }
@@ -227,14 +227,14 @@ static float32 get_pwmp_hd_control_kd(void)
 /*将自己结构体变量中的参数保存到公共参数中*/
 static void pwmp_public_params_update()
 {
-    udevice.pos0_travel_vol = mode_pwmp_hd->pwmp_save->storage.trip_0;
-    udevice.pos100_travel_vol = mode_pwmp_hd->pwmp_save->storage.trip_100;
-    udevice.output_min = mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
-    udevice.output_max = mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin;
-    udevice.spid_kp = mode_pwmp_hd->pwmp_save->storage.kp;
-    udevice.spid_ki = mode_pwmp_hd->pwmp_save->storage.ki;
-    udevice.spid_kd = mode_pwmp_hd->pwmp_save->storage.kd;
-    udevice.tuned_flag = mode_pwmp_hd->pwmp_save->storage.prov_flag;
+    udevice.pos0_travel_vol = mode_pwmp_hd->pwmp_save->trip_0;
+    udevice.pos100_travel_vol = mode_pwmp_hd->pwmp_save->trip_100;
+    udevice.output_min = mode_pwmp_hd->pwmp_save->pwmp_min_origin;
+    udevice.output_max = mode_pwmp_hd->pwmp_save->pwmp_max_origin;
+    udevice.spid_kp = mode_pwmp_hd->pwmp_save->kp;
+    udevice.spid_ki = mode_pwmp_hd->pwmp_save->ki;
+    udevice.spid_kd = mode_pwmp_hd->pwmp_save->kd;
+    udevice.tuned_flag = mode_pwmp_hd->pwmp_save->prov_flag;
 }
 
 //////////////////////////////*控制BEGIN*//////////////////////////////////////////////////////
@@ -259,11 +259,11 @@ static float32_t convert_target_to_controlvalue()
     {
         if (mode_pwmp_hd->action == INFLATE)
         {
-            control_value = mode_pwmp_hd->pwmp_save->storage.valvepos_in[i - 1];
+            control_value = mode_pwmp_hd->pwmp_save->valvepos_in[i - 1];
         }
         else if (mode_pwmp_hd->action == DEFLATE)
         {
-            control_value = mode_pwmp_hd->pwmp_save->storage.valvepos_de[i - 1];
+            control_value = mode_pwmp_hd->pwmp_save->valvepos_de[i - 1];
         }
     }
     else
@@ -271,12 +271,12 @@ static float32_t convert_target_to_controlvalue()
         if (mode_pwmp_hd->action == INFLATE)
         {
             tmp = ((mode_pwmp_hd->control.ctrl_target - (i * 10)) / (10));
-            control_value = (tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[i - 1]) + mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[i - 1];
+            control_value = (tmp * mode_pwmp_hd->pwmp_save->valvepos_in_k[i - 1]) + mode_pwmp_hd->pwmp_save->valvepos_in_b[i - 1];
         }
         else if (mode_pwmp_hd->action == DEFLATE)
         {
             tmp = ((mode_pwmp_hd->control.ctrl_target - (i * 10)) / (10));
-            control_value = (tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_de_k[i - 1]) + mode_pwmp_hd->pwmp_save->storage.valvepos_de_b[i - 1];
+            control_value = (tmp * mode_pwmp_hd->pwmp_save->valvepos_de_k[i - 1]) + mode_pwmp_hd->pwmp_save->valvepos_de_b[i - 1];
         }
     }
 
@@ -331,26 +331,26 @@ static void calculate_pwmp_stable_range(float32 *target, float32 *err)
     if (mode_pwmp_hd->action == INFLATE)
     {
         tmp = ((up_value - (up * 10.0)) / (10.0));
-        mode_pwmp_hd->control.pwmp_max_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[up - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[up - 1];
+        mode_pwmp_hd->control.pwmp_max_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_in_k[up - 1] + mode_pwmp_hd->pwmp_save->valvepos_in_b[up - 1];
         tmp = ((down_value - (down * 10.0)) / (10.0));
-        mode_pwmp_hd->control.pwmp_min_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[down - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[down - 1];
+        mode_pwmp_hd->control.pwmp_min_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_in_k[down - 1] + mode_pwmp_hd->pwmp_save->valvepos_in_b[down - 1];
         tmp = ((*target - (i * 10.0)) / (10.0));
-        mode_pwmp_hd->valvepos_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[i - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[i - 1];
+        mode_pwmp_hd->valvepos_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_in_k[i - 1] + mode_pwmp_hd->pwmp_save->valvepos_in_b[i - 1];
     }
     else if (mode_pwmp_hd->action == DEFLATE)
     {
         // tmp = ((up_value - (up * 10.0)) / (10.0));
-        // mode_pwmp_hd->control.pwmp_max_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_de_k[up - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_de_b[up - 1];
+        // mode_pwmp_hd->control.pwmp_max_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_de_k[up - 1] + mode_pwmp_hd->pwmp_save->valvepos_de_b[up - 1];
         // tmp = ((down_value - (down * 10.0)) / (10.0));
-        // mode_pwmp_hd->control.pwmp_min_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_de_k[down - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_de_b[down - 1];
+        // mode_pwmp_hd->control.pwmp_min_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_de_k[down - 1] + mode_pwmp_hd->pwmp_save->valvepos_de_b[down - 1];
         // tmp = ((*target - (i * 10.0)) / (10.0));
-        // mode_pwmp_hd->valvepos_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_de_k[i - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_de_b[i - 1];
+        // mode_pwmp_hd->valvepos_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_de_k[i - 1] + mode_pwmp_hd->pwmp_save->valvepos_de_b[i - 1];
         tmp = ((up_value - (up * 10.0)) / (10.0));
-        mode_pwmp_hd->control.pwmp_max_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[up - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[up - 1];
+        mode_pwmp_hd->control.pwmp_max_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_in_k[up - 1] + mode_pwmp_hd->pwmp_save->valvepos_in_b[up - 1];
         tmp = ((down_value - (down * 10.0)) / (10.0));
-        mode_pwmp_hd->control.pwmp_min_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[down - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[down - 1];
+        mode_pwmp_hd->control.pwmp_min_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_in_k[down - 1] + mode_pwmp_hd->pwmp_save->valvepos_in_b[down - 1];
         tmp = ((*target - (i * 10.0)) / (10.0));
-        mode_pwmp_hd->valvepos_stable = tmp * mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[i - 1] + mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[i - 1];
+        mode_pwmp_hd->valvepos_stable = tmp * mode_pwmp_hd->pwmp_save->valvepos_in_k[i - 1] + mode_pwmp_hd->pwmp_save->valvepos_in_b[i - 1];
     }
     if (fabs(*err) <= 0.5)
     {
@@ -416,7 +416,7 @@ execute_rsp_hd_t *execute_dac(execute_plan_hd_e plan)
 static execute_rsp_hd_t *execute_dac_plan1()
 {
     static float32 Control_diff;
-    Control_diff = mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin - mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+    Control_diff = mode_pwmp_hd->pwmp_save->pwmp_max_origin - mode_pwmp_hd->pwmp_save->pwmp_min_origin;
     float32 out = 0.0;
 
     /*判断此时的充排气状态*/
@@ -440,39 +440,39 @@ static execute_rsp_hd_t *execute_dac_plan1()
         if (mode_pwmp_hd->process_state == PWMP_HD_PROCESS_ADJUST)
         {
             if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
-            {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first;
+            {                                                                                                                                                                     // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first;
             }
             else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) >= 1)
-            {                                                                                                                                                                                       // 对PID输出结果进行归一化处理
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second;
+            {                                                                                                                                                                       // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second;
             }
             else
             {
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
             }
         }
         else
         {
             if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
-            {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first;
+            {                                                                                                                                                                     // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first;
                 mode_pwmp_hd->pid_mode = INAUTO_C;
             }
             else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) >= 1)
-            {                                                                                                                                                                                       // 对PID输出结果进行归一化处理
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second;
+            {                                                                                                                                                                       // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second;
                 mode_pwmp_hd->pid_mode = INAUTO_C;
             }
             else if (fabs(mode_pwmp_hd->control.real_error) < 1 && fabs(mode_pwmp_hd->control.real_error) > 0.7)
             {
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                 mode_pwmp_hd->pid_mode = INAUTO_C;
             }
             else
@@ -485,17 +485,17 @@ static execute_rsp_hd_t *execute_dac_plan1()
         float32 index = fabs(1 - exp(-(pow(mode_pwmp_hd->control.real_error, 2) - 1)));
         if (fabs(mode_pwmp_hd->control.real_error) >= 1)
         {
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index); // 映射实际控制器的范围
-            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index;
+            out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index); // 映射实际控制器的范围
+            out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index;
         }
         else if (fabs(mode_pwmp_hd->control.real_error) > 0.99 && fabs(mode_pwmp_hd->control.real_error) < 1)
         {
-            out = mode_pwmp_hd->pwmp_save->storage.startup_value;
+            out = mode_pwmp_hd->pwmp_save->startup_value;
         }
         else if (fabs(mode_pwmp_hd->control.real_error) <= 0.99)
         {
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-            out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin);
+            out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+            out += (mode_pwmp_hd->pwmp_save->pwmp_min_origin);
         }
 #endif
     }
@@ -513,36 +513,36 @@ static execute_rsp_hd_t *execute_dac_plan1()
         static float32 index_max_third = 0;
         if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
         {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
-            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first;
+            out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
+            out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first;
         }
         else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) >= 1)
         {                                                                                                                                                                                       // 对PID输出结果进行归一化处理
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
-            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second;
+            out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
+            out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second;
         }
         else
         {
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin - Control_diff * index_max_third) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin + Control_diff * index_min_third); // 映射实际控制器的范围
-            out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin + Control_diff * index_min_third);
+            out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin - Control_diff * index_max_third) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin + Control_diff * index_min_third); // 映射实际控制器的范围
+            out += (mode_pwmp_hd->pwmp_save->pwmp_min_origin + Control_diff * index_min_third);
         }
 #else
         float32 index = fabs(1 - exp(-(pow(mode_pwmp_hd->control.real_error, 2) - 1)));
         if (fabs(mode_pwmp_hd->control.real_error) >= 1)
         {
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index); // 映射实际控制器的范围
-            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index;
+            out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index); // 映射实际控制器的范围
+            out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index;
         }
         else if (fabs(mode_pwmp_hd->control.real_error) > 0.99 && fabs(mode_pwmp_hd->control.real_error) < 1)
         {
-            out = mode_pwmp_hd->pwmp_save->storage.startup_value;
+            out = mode_pwmp_hd->pwmp_save->startup_value;
         }
         else if (fabs(mode_pwmp_hd->control.real_error) <= 0.99)
         {
             if (mode_pwmp_hd_adjust->adjust_state == PWMP_HD_ADJUST_STEP_BY_10_TO_100 || mode_pwmp_hd_adjust->adjust_state == PWMP_HD_ADJUST_STEP_BY_10_TO_0)
             {
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin);
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                out += (mode_pwmp_hd->pwmp_save->pwmp_min_origin);
             }
             else
             {
@@ -568,7 +568,7 @@ static execute_rsp_hd_t *execute_dac_plan2()
 {
     float32 out = 0.0;
     static float32 Control_diff;
-    Control_diff = mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin - mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+    Control_diff = mode_pwmp_hd->pwmp_save->pwmp_max_origin - mode_pwmp_hd->pwmp_save->pwmp_min_origin;
     /*判断此时的充排气状态*/
     inflate_or_deflate();
     /*获取目标值对应的控制值大小*/
@@ -593,19 +593,19 @@ static execute_rsp_hd_t *execute_dac_plan2()
             static float32 index_min_second = 0;
             static float32 index_max_second = 0;
             if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
-            {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first;
+            {                                                                                                                                                                     // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_first;
             }
             else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) >= 1)
-            {                                                                                                                                                                                       // 对PID输出结果进行归一化处理
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second;
+            {                                                                                                                                                                       // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin - Control_diff * index_min_second;
             }
             else
             {
-                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
             }
         }
         else
@@ -615,20 +615,20 @@ static execute_rsp_hd_t *execute_dac_plan2()
             {
                 if (mode_pwmp_hd->action == INFLATE)
                 {
-                    if (fabs(mode_pwmp_hd->control.real_error) >= mode_pwmp_hd->pwmp_save->storage.overimpulse_in)
+                    if (fabs(mode_pwmp_hd->control.real_error) >= mode_pwmp_hd->pwmp_save->overimpulse_in)
                     {
-                        out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.3) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                        out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                        out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.3) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                        out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                     }
-                    else if (fabs(mode_pwmp_hd->control.real_error) >= 5.7 && fabs(mode_pwmp_hd->control.real_error) < mode_pwmp_hd->pwmp_save->storage.overimpulse_in)
+                    else if (fabs(mode_pwmp_hd->control.real_error) >= 5.7 && fabs(mode_pwmp_hd->control.real_error) < mode_pwmp_hd->pwmp_save->overimpulse_in)
                     {
-                        out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.1) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                        out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                        out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.1) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                        out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                     }
                     else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) > 0.5)
                     {
-                        out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                        out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                        out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                        out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                     }
                     else if (fabs(mode_pwmp_hd->control.real_error) <= 0.5)
                     {
@@ -638,20 +638,20 @@ static execute_rsp_hd_t *execute_dac_plan2()
                 }
                 else if (mode_pwmp_hd->action == DEFLATE)
                 {
-                    if (fabs(mode_pwmp_hd->control.real_error) >= mode_pwmp_hd->pwmp_save->storage.overimpulse_ex)
+                    if (fabs(mode_pwmp_hd->control.real_error) >= mode_pwmp_hd->pwmp_save->overimpulse_ex)
                     {
-                        out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8); // 映射实际控制器的范围
-                        out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8;
+                        out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.8); // 映射实际控制器的范围
+                        out += mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.8;
                     }
-                    else if (fabs(mode_pwmp_hd->control.real_error) >= 5.7 && fabs(mode_pwmp_hd->control.real_error) < mode_pwmp_hd->pwmp_save->storage.overimpulse_ex)
+                    else if (fabs(mode_pwmp_hd->control.real_error) >= 5.7 && fabs(mode_pwmp_hd->control.real_error) < mode_pwmp_hd->pwmp_save->overimpulse_ex)
                     {
-                        out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.95); // 映射实际控制器的范围
-                        out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.95;
+                        out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.95); // 映射实际控制器的范围
+                        out += mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.95;
                     }
                     else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) > 0.5)
                     {
-                        out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                        out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                        out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                        out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                     }
                     else if (fabs(mode_pwmp_hd->control.real_error) <= 0.5)
                     {
@@ -662,20 +662,20 @@ static execute_rsp_hd_t *execute_dac_plan2()
             }
             else
             {
-                if (fabs(mode_pwmp_hd->control.real_error) >= mode_pwmp_hd->pwmp_save->storage.overimpulse_in)
+                if (fabs(mode_pwmp_hd->control.real_error) >= mode_pwmp_hd->pwmp_save->overimpulse_in)
                 {
-                    out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.3) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                    out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                    out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.3) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                    out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                 }
-                else if (fabs(mode_pwmp_hd->control.real_error) >= 5.7 && fabs(mode_pwmp_hd->control.real_error) < mode_pwmp_hd->pwmp_save->storage.overimpulse_in)
+                else if (fabs(mode_pwmp_hd->control.real_error) >= 5.7 && fabs(mode_pwmp_hd->control.real_error) < mode_pwmp_hd->pwmp_save->overimpulse_in)
                 {
-                    out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.1) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                    out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                    out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.1) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                    out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                 }
                 else if (fabs(mode_pwmp_hd->control.real_error) < 5.7)
                 {
-                    out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
-                    out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+                    out *= (mode_pwmp_hd->pwmp_save->pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->pwmp_min_origin); // 映射实际控制器的范围
+                    out += mode_pwmp_hd->pwmp_save->pwmp_min_origin;
                 }
             }
         }
@@ -768,8 +768,8 @@ static void pwmp_adjust_hd_idle(uint8_t *state, mode_pwmp_hd_adjust_state_e next
     {
         mode_pwmp_hd->auto_tune_state = PWMP_HD_ADJUST_RESULT_TUNING;
         sys_millis_reset();
-        osel_memset((uint8_t *)&mode_pwmp_hd->pwmp_save->storage, 0, sizeof(mode_pwmp_hd_storage_data_t));
-        mode_pwmp_hd->pwmp_save->storage.tuned_flag = TUNED_ONGOING;
+        osel_memset((uint8_t *)mode_pwmp_hd->pwmp_save, 0, sizeof(mode_pwmp_hd_storage_data_t));
+        mode_pwmp_hd->pwmp_save->tuned_flag = TUNED_ONGOING;
         /*为指针开辟存储空间*/
         if (mode_pwmp_hd_adjust == NULL)
         {
@@ -1368,45 +1368,45 @@ static void pwmp_adjust_hd_calculate(uint8_t *state, mode_pwmp_hd_adjust_state_e
     if (!FSM_IS_WAIT(*state))
     {
         /*行程上下限*/
-        mode_pwmp_hd->pwmp_save->storage.trip_0 = mode_pwmp_hd_adjust->adc_record_0;
-        mode_pwmp_hd->pwmp_save->storage.trip_100 = mode_pwmp_hd_adjust->adc_record_2;
-        mode_pwmp_hd->pwmp_save->storage.ad_diff = ABS(mode_pwmp_hd->pwmp_save->storage.trip_0 - mode_pwmp_hd->pwmp_save->storage.trip_100);
+        mode_pwmp_hd->pwmp_save->trip_0 = mode_pwmp_hd_adjust->adc_record_0;
+        mode_pwmp_hd->pwmp_save->trip_100 = mode_pwmp_hd_adjust->adc_record_2;
+        mode_pwmp_hd->pwmp_save->ad_diff = ABS(mode_pwmp_hd->pwmp_save->trip_0 - mode_pwmp_hd->pwmp_save->trip_100);
 
         /*控制区间*/
-        mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin = mode_pwmp_hd_adjust->arr_record_2;
-        mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin = mode_pwmp_hd_adjust->arr_record_0;
-        mode_pwmp_hd->pwmp_save->storage.arr_diff = ABS(mode_pwmp_hd_adjust->arr_record_2 - mode_pwmp_hd_adjust->arr_record_0);
-        mode_pwmp_hd->pwmp_save->storage.pwmp_max = mode_pwmp_hd_adjust->arr_record_2 + (mode_pwmp_hd->pwmp_save->storage.arr_diff);
-        mode_pwmp_hd->pwmp_save->storage.pwmp_min = mode_pwmp_hd_adjust->arr_record_0 - (mode_pwmp_hd->pwmp_save->storage.arr_diff);
+        mode_pwmp_hd->pwmp_save->pwmp_max_origin = mode_pwmp_hd_adjust->arr_record_2;
+        mode_pwmp_hd->pwmp_save->pwmp_min_origin = mode_pwmp_hd_adjust->arr_record_0;
+        mode_pwmp_hd->pwmp_save->arr_diff = ABS(mode_pwmp_hd_adjust->arr_record_2 - mode_pwmp_hd_adjust->arr_record_0);
+        mode_pwmp_hd->pwmp_save->pwmp_max = mode_pwmp_hd_adjust->arr_record_2 + (mode_pwmp_hd->pwmp_save->arr_diff);
+        mode_pwmp_hd->pwmp_save->pwmp_min = mode_pwmp_hd_adjust->arr_record_0 - (mode_pwmp_hd->pwmp_save->arr_diff);
 
         /*启动值*/
-        mode_pwmp_hd->pwmp_save->storage.startup_value = mode_pwmp_hd_adjust->arr_record_1;
+        mode_pwmp_hd->pwmp_save->startup_value = mode_pwmp_hd_adjust->arr_record_1;
 
         /*0与100阀位位置*/
-        mode_pwmp_hd->pwmp_save->storage.current0 = mode_pwmp_hd_adjust->current_0;
-        mode_pwmp_hd->pwmp_save->storage.current100 = mode_pwmp_hd_adjust->current_100;
+        mode_pwmp_hd->pwmp_save->current0 = mode_pwmp_hd_adjust->current_0;
+        mode_pwmp_hd->pwmp_save->current100 = mode_pwmp_hd_adjust->current_100;
 
         /*全开及全关时间*/
-        mode_pwmp_hd->pwmp_save->storage.all_open_time = mode_pwmp_hd_adjust->all_open_time;
-        mode_pwmp_hd->pwmp_save->storage.all_close_time = mode_pwmp_hd_adjust->all_close_time;
-        mode_pwmp_hd->pwmp_save->storage.all_open_time_full = mode_pwmp_hd_adjust->all_open_time_full;
-        mode_pwmp_hd->pwmp_save->storage.all_close_time_full = mode_pwmp_hd_adjust->all_close_time_full;
+        mode_pwmp_hd->pwmp_save->all_open_time = mode_pwmp_hd_adjust->all_open_time;
+        mode_pwmp_hd->pwmp_save->all_close_time = mode_pwmp_hd_adjust->all_close_time;
+        mode_pwmp_hd->pwmp_save->all_open_time_full = mode_pwmp_hd_adjust->all_open_time_full;
+        mode_pwmp_hd->pwmp_save->all_close_time_full = mode_pwmp_hd_adjust->all_close_time_full;
 
         /*判断调节阀类型（气开/气关），对最低行程和最高行程进行标定*/
         if (udevice.zero_power_condition == VALVE_OPEN)
         {
-            mode_pwmp_hd->pwmp_save->storage.trip_100 = mode_pwmp_hd->pwmp_save->storage.trip_100;
-            mode_pwmp_hd->pwmp_save->storage.trip_0 = mode_pwmp_hd->pwmp_save->storage.trip_0;
+            mode_pwmp_hd->pwmp_save->trip_100 = mode_pwmp_hd->pwmp_save->trip_100;
+            mode_pwmp_hd->pwmp_save->trip_0 = mode_pwmp_hd->pwmp_save->trip_0;
         }
         else
         {
-            uint16_t tmp = mode_pwmp_hd->pwmp_save->storage.trip_100;
-            mode_pwmp_hd->pwmp_save->storage.trip_100 = mode_pwmp_hd->pwmp_save->storage.trip_0;
-            mode_pwmp_hd->pwmp_save->storage.trip_0 = tmp;
+            uint16_t tmp = mode_pwmp_hd->pwmp_save->trip_100;
+            mode_pwmp_hd->pwmp_save->trip_100 = mode_pwmp_hd->pwmp_save->trip_0;
+            mode_pwmp_hd->pwmp_save->trip_0 = tmp;
         }
 
         // 保存安装方向
-        if (mode_pwmp_hd->pwmp_save->storage.trip_100 > mode_pwmp_hd->pwmp_save->storage.trip_0) // 上大下小，正装
+        if (mode_pwmp_hd->pwmp_save->trip_100 > mode_pwmp_hd->pwmp_save->trip_0) // 上大下小，正装
         {
             udevice.invert_feedback = 1;
         }
@@ -1415,10 +1415,10 @@ static void pwmp_adjust_hd_calculate(uint8_t *state, mode_pwmp_hd_adjust_state_e
             udevice.invert_feedback = 0;
         }
 
-        udevice.pos0_travel_vol = mode_pwmp_hd->pwmp_save->storage.trip_0;
-        udevice.pos100_travel_vol = mode_pwmp_hd->pwmp_save->storage.trip_100;
-        udevice.output_min = mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
-        udevice.output_max = mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin;
+        udevice.pos0_travel_vol = mode_pwmp_hd->pwmp_save->trip_0;
+        udevice.pos100_travel_vol = mode_pwmp_hd->pwmp_save->trip_100;
+        udevice.output_min = mode_pwmp_hd->pwmp_save->pwmp_min_origin;
+        udevice.output_max = mode_pwmp_hd->pwmp_save->pwmp_max_origin;
         calib_parapos_perent();
 
         mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
@@ -1633,9 +1633,9 @@ static void pwmp_adjust_hd_pid_calculate(uint8_t *state, mode_pwmp_hd_adjust_sta
     default:
         break;
     }
-    mode_pwmp_hd->pwmp_save->storage.kp = fabs(pid_autotune_hd->p_auto_hd);
-    mode_pwmp_hd->pwmp_save->storage.ki = fabs(pid_autotune_hd->i_auto_hd);
-    mode_pwmp_hd->pwmp_save->storage.kd = fabs(pid_autotune_hd->d_auto_hd);
+    mode_pwmp_hd->pwmp_save->kp = fabs(pid_autotune_hd->p_auto_hd);
+    mode_pwmp_hd->pwmp_save->ki = fabs(pid_autotune_hd->i_auto_hd);
+    mode_pwmp_hd->pwmp_save->kd = fabs(pid_autotune_hd->d_auto_hd);
     *state = next_state; // 将状态切换
 }
 
@@ -1643,15 +1643,15 @@ static void pwmp_adjust_hd_pid_calculate(uint8_t *state, mode_pwmp_hd_adjust_sta
 static void pwmp_adjust_hd_save(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
 {
     *state = next_state;
-    if (mode_pwmp_hd->pwmp_save->storage.tuned_flag == TUNED_ONGOING)
+    if (mode_pwmp_hd->pwmp_save->tuned_flag == TUNED_ONGOING)
     {
-        mode_pwmp_hd->pwmp_save->storage.tuned_flag = TUNED_SUCCESS;
+        mode_pwmp_hd->pwmp_save->tuned_flag = TUNED_SUCCESS;
         mode_pwmp_hd->auto_tune_state = PWMP_HD_ADJUST_RESULT_SUCCESS;
         pwmp_public_params_update();
     }
     else
     {
-        mode_pwmp_hd->pwmp_save->storage.tuned_flag = TUNED_FAILED;
+        mode_pwmp_hd->pwmp_save->tuned_flag = TUNED_FAILED;
     }
     mode_pwmp_hd->params_save_cb();
 }
@@ -1688,22 +1688,22 @@ static void pwmp_hd_adjust_step_by_10_to_100(uint8_t *state, mode_pwmp_hd_adjust
             {
                 if (udevice.zero_power_condition == VALVE_OPEN)
                 {
-                    pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8);
+                    pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.8);
                 }
                 else
                 {
-                    pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.5);
+                    pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.5);
                 }
             }
             else if (mode_pwmp_hd_adjust->ctrl_target == 100)
             {
                 if (udevice.zero_power_condition == VALVE_OPEN)
                 {
-                    pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 1.5);
+                    pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_min_origin * 1.5);
                 }
                 else
                 {
-                    pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 0.8);
+                    pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_max_origin * 0.8);
                 }
             }
             else
@@ -1790,11 +1790,11 @@ static void pwmp_hd_adjust_step_by_10_to_0(uint8_t *state, mode_pwmp_hd_adjust_s
         {
             if (mode_pwmp_hd_adjust->ctrl_target == 0)
             {
-                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8);
+                pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.8);
             }
             else if (mode_pwmp_hd_adjust->ctrl_target == 100)
             {
-                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.5);
+                pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.5);
             }
             else
             {
@@ -1838,19 +1838,19 @@ static void pwmp_hd_adjust_valvepos_calculate(uint8_t *state, mode_pwmp_hd_adjus
 {
     *state = next_state;
     mode_pwmp_hd_adjust->overimpulse_ex = mode_pwmp_hd_adjust->overimpulse_in;
-    mode_pwmp_hd->pwmp_save->storage.overimpulse_in = mode_pwmp_hd_adjust->overimpulse_in;
-    mode_pwmp_hd->pwmp_save->storage.overimpulse_ex = mode_pwmp_hd_adjust->overimpulse_ex;
+    mode_pwmp_hd->pwmp_save->overimpulse_in = mode_pwmp_hd_adjust->overimpulse_in;
+    mode_pwmp_hd->pwmp_save->overimpulse_ex = mode_pwmp_hd_adjust->overimpulse_ex;
     for (unsigned int i = 0; i < 9; i++)
     {
-        mode_pwmp_hd->pwmp_save->storage.valvepos_in[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
-        // mode_pwmp_hd->pwmp_save->storage.valvepos_de[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
+        mode_pwmp_hd->pwmp_save->valvepos_in[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
+        // mode_pwmp_hd->pwmp_save->valvepos_de[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
     }
     for (unsigned int i = 0; i < 8; i++)
     {
-        mode_pwmp_hd->pwmp_save->storage.valvepos_in_k[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i + 1] - mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
-        // mode_pwmp_hd->pwmp_save->storage.valvepos_de_k[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i + 1] - mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
-        mode_pwmp_hd->pwmp_save->storage.valvepos_in_b[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
-        // mode_pwmp_hd->pwmp_save->storage.valvepos_de_b[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
+        mode_pwmp_hd->pwmp_save->valvepos_in_k[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i + 1] - mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
+        // mode_pwmp_hd->pwmp_save->valvepos_de_k[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i + 1] - mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
+        mode_pwmp_hd->pwmp_save->valvepos_in_b[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
+        // mode_pwmp_hd->pwmp_save->valvepos_de_b[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
     }
     mode_pwmp_hd->params_save_cb();
 }
@@ -2434,25 +2434,25 @@ void mode_pwmp_hd_process(void)
             {
                 // if (udevice.zero_power_condition == VALVE_OPEN)
                 // {
-                //     pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8);
+                //     pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.8);
                 // }
                 // else
                 // {
-                //     pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.2);
+                //     pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.2);
                 // }
-                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8);
+                pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.8);
             }
             else if (rt_data.loop_current > 19.5)
             {
                 // if (udevice.zero_power_condition == VALVE_OPEN)
                 // {
-                //     pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.2);
+                //     pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.2);
                 // }
                 // else
                 // {
-                //     pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8);
+                //     pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_min_origin * 0.8);
                 // }
-                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.2);
+                pdctrl_out(mode_pwmp_hd->pwmp_save->pwmp_max_origin * 1.2);
             }
             else if (rt_data.loop_current >= 4.5 && rt_data.loop_current <= 19.5)
             {
@@ -2496,7 +2496,7 @@ void mode_pwmp_hd_process(void)
 //////////////////////////////*入口END*//////////////////////////////////////////////////////
 
 /*程序初始化*/
-void mode_pwmp_hd_init(mode_interface_req_t *req, uint16_t positioner_model, mode_pwmp_hd_params_u *params, void (*params_save_cb)(void))
+void mode_pwmp_hd_init(mode_interface_req_t *req, uint16_t positioner_model, mode_pwmp_hd_storage_data_t *params, void (*params_save_cb)(void))
 {
     DBG_ASSERT(req != NULL __DBG_LINE);
     DBG_ASSERT(params != NULL __DBG_LINE); // 断言检查
diff --git a/User/application/mode/mode_pwmp_hd.h b/User/application/mode/mode_pwmp_hd.h
index 7d3a414..684f114 100644
--- a/User/application/mode/mode_pwmp_hd.h
+++ b/User/application/mode/mode_pwmp_hd.h
@@ -94,14 +94,6 @@ typedef struct
     uint16_t value;
 } mode_pwmp_hd_filter_t;
 
-typedef union
-{
-    //
-    uint8_t data[300];
-    // 自定义数据结构
-    mode_pwmp_hd_storage_data_t storage;
-} mode_pwmp_hd_params_u;
-
 typedef enum
 {
     INAUTO_C,  // PID控制器开始模式
@@ -130,7 +122,7 @@ typedef struct
 
     mode_pwmp_hd_control_t control;
     mode_pwmp_hd_filter_t filter;
-    mode_pwmp_hd_params_u *pwmp_save;
+    mode_pwmp_hd_storage_data_t *pwmp_save;
     void (*params_save_cb)(void);
 } mode_pwmp_hd_t;
 
@@ -370,7 +362,7 @@ typedef struct
 } execute_rsp_hd_t;
 /////////////////////////////////////////*控制算法END*////////////////////////////////////////
 
-void mode_pwmp_hd_init(mode_interface_req_t *req, uint16_t positioner_model, mode_pwmp_hd_params_u *params, void (*params_save_cb)(void));
+void mode_pwmp_hd_init(mode_interface_req_t *req, uint16_t positioner_model, mode_pwmp_hd_storage_data_t *params, void (*params_save_cb)(void));
 void mode_pwmp_hd_dinit(void);
 void mode_pwmp_hd_process(void);
 void pwmp_hd_process_state_set(mode_pwmp_hd_process_state_e state);