diff --git a/project/at32f421_board/at32f421_board.c b/project/at32f421_board/at32f421_board.c
index 0114d96..1d6930b 100644
--- a/project/at32f421_board/at32f421_board.c
+++ b/project/at32f421_board/at32f421_board.c
@@ -206,8 +206,9 @@ void loop_timer_io_init(void)
     gpio_init(GPIOA, &gpio_init_struct);
     
         
-    LEDA_OFF;
-    LEDC_OFF;
+    LEDA_OFF;   // 红灭
+    LEDB_OFF;   // 绿灭
+    LEDC_OFF;   // 黄灭
     RLY1_OFF;
     RLY2_OFF;
     
diff --git a/project/at32f421_board/at32f421_board.h b/project/at32f421_board/at32f421_board.h
index 443975a..6f3ef9f 100644
--- a/project/at32f421_board/at32f421_board.h
+++ b/project/at32f421_board/at32f421_board.h
@@ -83,7 +83,7 @@ typedef enum
 #define LED_RED_GPIO                     GPIOB
 #define LED_GPIO_CRM_CLK                 CRM_GPIOB_PERIPH_CLOCK
 
-#define LED_GREEN_PIN                    GPIO_PINS_9    // GPIO_PINS_13           //GPIO_PINS_9
+#define LED_GREEN_PIN                    GPIO_PINS_9
 #define LED_GREEN_GPIO                   GPIOA
 #define LED_GREEN_CRM_CLK                CRM_GPIOA_PERIPH_CLOCK
 
@@ -91,17 +91,26 @@ typedef enum
 #define LED_YELLOW_GPIO                  GPIOA
 #define LED_YELLOW_CRM_CLK               CRM_GPIOA_PERIPH_CLOCK
 
-#define LEDB_OFF    // gpio_bits_set(LED_RED_GPIO, LED_RED_PIN)
-#define LEDB_ON     // gpio_bits_reset(LED_RED_GPIO, LED_RED_PIN)
+// LED 命名对齐 DLD154V4B 规格:
+//   LEDA = 红色呼吸灯 (PB1, TMR14 PWM)
+//   LEDB = 绿色有车指示灯 (PA9)
+//   LEDC = 黄色故障指示灯 (PA10)
+// 注意: DEBUG 模式下 PA9 复用为 UART TX，LEDB 宏为空
 
+// LEDA — 红色 (PB1)，GPIO 直接控制（初始化闪烁用，正常运行时 PWM）
+#define LEDA_OFF    gpio_bits_set(LED_RED_GPIO, LED_RED_PIN)
+#define LEDA_ON     gpio_bits_reset(LED_RED_GPIO, LED_RED_PIN)
+
+// LEDB — 绿色 (PA9)，有车亮
 #ifdef DEBUG
-#define LEDA_OFF
-#define LEDA_ON
+#define LEDB_OFF
+#define LEDB_ON
 #else
-#define LEDA_OFF    gpio_bits_set(LED_GREEN_GPIO, LED_GREEN_PIN)
-#define LEDA_ON     gpio_bits_reset(LED_GREEN_GPIO, LED_GREEN_PIN)
+#define LEDB_OFF    gpio_bits_set(LED_GREEN_GPIO, LED_GREEN_PIN)
+#define LEDB_ON     gpio_bits_reset(LED_GREEN_GPIO, LED_GREEN_PIN)
 #endif
 
+// LEDC — 黄色 (PA10)，故障指示
 #define LEDC_OFF    gpio_bits_set(LED_YELLOW_GPIO, LED_YELLOW_PIN)
 #define LEDC_ON     gpio_bits_reset(LED_YELLOW_GPIO, LED_YELLOW_PIN)
 
@@ -110,24 +119,15 @@ typedef enum
 
 
 
-// RLY
-//#define RLY1_PIN                         GPIO_PINS_6
-//#define RLY1_GPIO                        GPIOA
-//#define RLY1_CRM_CLK                     CRM_GPIOA_PERIPH_CLOCK
-
-//#define RLY2_PIN                         GPIO_PINS_5
-//#define RLY2_GPIO                        GPIOA
-//#define RLY2_CRM_CLK                     CRM_GPIOA_PERIPH_CLOCK    
-
-//���̵ܼ���
-#define RLY1_PIN                         GPIO_PINS_5
+// RLY1 — 主输出 (PA6)，存在/脉冲
+#define RLY1_PIN                         GPIO_PINS_6
 #define RLY1_GPIO                        GPIOA
 #define RLY1_CRM_CLK                     CRM_GPIOA_PERIPH_CLOCK
 
-// �̶��̵��� ���ڼ̵���
-#define RLY2_PIN                         GPIO_PINS_6
+// RLY2 — 辅助输出 (PA5)，方向/第二路
+#define RLY2_PIN                         GPIO_PINS_5
 #define RLY2_GPIO                        GPIOA
-#define RLY2_CRM_CLK                     CRM_GPIOA_PERIPH_CLOCK    
+#define RLY2_CRM_CLK                     CRM_GPIOA_PERIPH_CLOCK
 
 #define RLY1_ON      gpio_bits_set(RLY1_GPIO, RLY1_PIN)
 #define RLY1_OFF     gpio_bits_reset(RLY1_GPIO, RLY1_PIN)
@@ -155,23 +155,23 @@ typedef enum
 #define USER_BUTTON_PORT                 GPIOA
 #define USER_BUTTON_CRM_CLK              CRM_GPIOA_PERIPH_CLOCK
 
-// ������L
+// ������L
 #define SW1_BUTTON_PIN                  GPIO_PINS_0
 #define SW1_BUTTON_PORT                 GPIOA
 #define SW1_BUTTON_CRM_CLK              CRM_GPIOA_PERIPH_CLOCK
-// ������H
+// ������H
 #define SW2_BUTTON_PIN                  GPIO_PINS_1
 #define SW2_BUTTON_PORT                 GPIOA
 #define SW2_BUTTON_CRM_CLK              CRM_GPIOA_PERIPH_CLOCK
-// �����ʽ
+// �����ʽ
 #define SW3_BUTTON_PIN                  GPIO_PINS_2
 #define SW3_BUTTON_PORT                 GPIOA
 #define SW3_BUTTON_CRM_CLK              CRM_GPIOA_PERIPH_CLOCK
-// ��ʱ
+// ��ʱ
 #define SW4_BUTTON_PIN                  GPIO_PINS_3
 #define SW4_BUTTON_PORT                 GPIOA
 #define SW4_BUTTON_CRM_CLK              CRM_GPIOA_PERIPH_CLOCK
-// ��ȫ��λ
+// ��ȫ��λ
 #define SW5_BUTTON_PIN                  GPIO_PINS_4
 #define SW5_BUTTON_PORT                 GPIOA
 #define SW5_BUTTON_CRM_CLK              CRM_GPIOA_PERIPH_CLOCK
diff --git a/utilities/at32f421_freertos_demo/inc/TaskLoop.h b/utilities/at32f421_freertos_demo/inc/TaskLoop.h
index ac34abb..a7039a8 100644
--- a/utilities/at32f421_freertos_demo/inc/TaskLoop.h
+++ b/utilities/at32f421_freertos_demo/inc/TaskLoop.h
@@ -16,11 +16,12 @@
 
 #include <stdint.h>
 
-#define   HOLD_TIME   5*1200
-#define   LC_HOLD_TIME      4*1200   //时间4分钟
-#define   IN_DELAY    10
-#define   OUT_DELAY   39
-#define   PLUSE_DELAY 10
+// 时序参数（每 tick ≈50ms），对齐 M1H 参考实现
+#define   HOLD_TIME       (5 * 1200)    // 有限存在保持（约5分钟）
+#define   LC_HOLD_TIME    (4 * 1200)    // 安全复位时间（约4分钟）
+#define   IN_DELAY        10            // 进入防抖 500ms
+#define   OUT_DELAY       38            // 离开防抖 1.9s
+#define   PULSE_DELAY     19            // 脉冲宽度 950ms
 
 
 #define     MAX_CMP_LOOP_UNIT       4       // 5 组
diff --git a/utilities/at32f421_freertos_demo/src/TaskLoop.c b/utilities/at32f421_freertos_demo/src/TaskLoop.c
index 80b78c7..02bfae3 100644
--- a/utilities/at32f421_freertos_demo/src/TaskLoop.c
+++ b/utilities/at32f421_freertos_demo/src/TaskLoop.c
@@ -9,8 +9,11 @@
 
 
 
-const uint16_t SensTable[4] =   {300, 60, 32, 21 };
-const uint16_t SensTable_1[4] = {60, 32, 21, 14 };       //释放灵敏度
+// 灵敏度表（对齐 M1H 参考实现）
+// 进入阈值 = Origin × SensTable[SENS] / 65536
+// 离开阈值（滞回）= Origin × SensTable_1[SENS] / 65536，约为进入的一半
+const uint16_t SensTable[4] =   {216, 108,  36,  10};   // 0=低灵敏, 3=高灵敏
+const uint16_t SensTable_1[4] = {108,  72,  18,   9};   // 释放灵敏度（滞回）
 
 const uint16_t DELAY_TIME[4] = {0, 10};    //0、0.6秒、1.6秒、3秒 {0,12,32,60};   //0、0.6秒、1.6秒、3秒
 
@@ -345,7 +348,7 @@ void update_flt_history(uint32_t new_flt, int32_t firstOrder, int32_t secondOrde
         if (flt_mgr.init_samples >= INIT_SAMPLE_COUNT) {
             flt_mgr.stable_init_value = flt_mgr.init_sum / INIT_SAMPLE_COUNT;
             flt_mgr.is_initialized = 1;
-            LEDA_OFF;
+            LEDB_OFF;
             stage_config[0].base_value = flt_mgr.stable_init_value;
             update_lower_upper(&stage_config[0]);
             flt_mgr.init_freq = (float)(g_sys_freq )/((float)(flt_mgr.stable_init_value << XNSUM_FOR_ORIGIN_FACTOR)/((float)(loop1_LPCNT))) * g_input_div;
@@ -727,7 +730,7 @@ void TMR15_GLOBAL_IRQHandler(void)
                   loop1_FLAG_PLUSE_IN_F = 1;
               }
               loop1_INCNT = 0;
-              LEDA_ON;
+              LEDB_ON;
           }
 
           if(loop1_FLAG_PLUSE_IN_F)
@@ -760,14 +763,14 @@ void TMR15_GLOBAL_IRQHandler(void)
                     loop1_FLAG_OUT = 0;
                     loop1_FLAG_PLUSE = 1;
                     loop1_OUTCNT = 0;
-                    LEDA_OFF;
+                    LEDB_OFF;
                 }
           }
 
           if(loop1_FLAG_PLUSE)  // Give 500ms
           {
               loop1_OUTCNT++;
-              if(loop1_OUTCNT > PLUSE_DELAY)
+              if(loop1_OUTCNT > PULSE_DELAY)
               {
                   loop1_FLAG_PLUSE = 0;
                   loop1_OUTCNT = 0;
@@ -971,7 +974,7 @@ void vd1_task(void){
             loop1_VD_FLAG = 1;         //???????1
             loop1_FLAG_IN = 1;         //??????
             
-            LEDA_ON;
+            LEDB_ON;
             
 
             if(!SET_SAFE)
@@ -1026,7 +1029,7 @@ void vd1_task(void){
             g_loop_acs_info.flag_event = 1;
             g_loop_acs_info.car_state = 0;
             //          g_led_A_state = 0;
-            LEDA_OFF;
+            LEDB_OFF;
             loop1_ORG_CNT = 0;
             loop1_ORG_SUM = 0;
             Hold_CNT = 0;
@@ -1085,16 +1088,16 @@ void loop_task_function(void *pvParameters)
             if(!loop1_LOOP_OK0){
                 for(swcnt = 0; swcnt < 6; swcnt++){
                     if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){
-                        LEDA_ON;
+                        LEDB_ON;
                     }
                     else{
-                        LEDA_OFF;
+                        LEDB_OFF;
                     }
                     vTaskDelay(200);
                     // TODO: 添加看门狗
                 }
                 loop1_LOOP_OK0= 1;
-                LEDA_OFF;
+                LEDB_OFF;
             }
             
             if(loop1_CAP_OK){
@@ -1132,7 +1135,7 @@ void loop_task_function(void *pvParameters)
 //            loop1_FLAG_PLUSE = 0;
             
             // 线圈断开，继电器释放，状态为0，车辆状态也为0
-            RLY1_OFF;  RLY2_OFF; LEDA_OFF;
+            RLY1_OFF;  RLY2_OFF; LEDB_OFF;
             
             if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){
                 LED_YELLOW_ON;
@@ -1152,10 +1155,10 @@ void loop_task_function(void *pvParameters)
             g_xn_counter = 0;
             
 //            if(gpio_output_data_bit_read(LED_GREEN_GPIO, LED_GREEN_PIN)){
-//                LEDA_ON;
+//                LEDB_ON;
 //            }
 //            else{
-//                LEDA_OFF;
+//                LEDB_OFF;
 //            }
 //            
 //            if(gpio_output_data_bit_read(LED_YELLOW_GPIO, LED_YELLOW_PIN)){