diff --git a/app/gl_get_corners.c b/app/gl_get_corners.c
index bf5d14a..6e150fa 100644
--- a/app/gl_get_corners.c
+++ b/app/gl_get_corners.c
@@ -2,27 +2,29 @@
 #include "math.h"
 #include "gl_headfile.h"
 
-
-
-void get_corners() {
+void get_corners()
+{
     Lpt0_found = Lpt1_found = false;
     Lpt_in0_found = Lpt_in1_found = false;
-    is_straight0 = pts_resample_left_count > 1.0 / RESAMPLEDIST;
-    is_straight1 = pts_resample_right_count > 1.0 / RESAMPLEDIST;
+    is_straight0                  = pts_resample_left_count > 1.0 / RESAMPLEDIST;
+    is_straight1                  = pts_resample_right_count > 1.0 / RESAMPLEDIST;
+    is_turn0 = is_turn1 = 0;
     for (int i = 0; i < pts_resample_left_count; i++) {
         if (angle_new_left[i] == 0) continue;
-        int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
-        int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
+        int im1    = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
+        int ip1    = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
         float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
 
-        //L 角点阈值
+        // L 角点阈值
         if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
             Lpt0_rpts0s_id = i;
-            Lpt0_found = true;
+            Lpt0_found     = true;
             // transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]);    //待优化，是否用到，无用则删
         }
-        //长直道阈值
-        if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) is_straight0 = false;
+        // 长直道阈值
+        if (conf > (7. / 180. * PI32) && i < 0.8 / RESAMPLEDIST) {
+            is_straight0 = false;
+        }
         if (Lpt0_found == true && is_straight0 == false) break;
     }
 
@@ -41,38 +43,34 @@ void get_corners() {
     Lpt0_found_barrier_in = Lpt1_found_barrier_in = false;
     for (int i = 0; i < pts_resample_left_count; i++) {
         if (angle_new_left_barrier[i] == 0) continue;
-        int im1 = clip(i - (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
-        int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
+        int im1    = clip(i - (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
+        int ip1    = clip(i + (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_left_count - 1);
         float conf = fabs(angle_left_barrier[i]) - (fabs(angle_left_barrier[im1]) + fabs(angle_left_barrier[ip1])) / 2;
 
-        //L 角点阈值
+        // L 角点阈值
         if (Lpt0_found_barrier == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) {
             Lpt0_rpts0s_id_barrier = i;
-            Lpt0_found_barrier = true;
+            Lpt0_found_barrier     = true;
         }
     }
-    if(Lpt0_found_barrier){
-        float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id_barrier][1],pts_resample_left[Lpt0_rpts0s_id_barrier][0],pts_resample_left[Lpt0_rpts0s_id_barrier+5][1],pts_resample_left[Lpt0_rpts0s_id_barrier+5][0]);
-        if(angle1 < 85.)    {
-            Lpt0_found_barrier_in = true;
-            Lpt0_found_barrier = false;
+    if (Lpt0_found_barrier) {
+        float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id_barrier][1], pts_resample_left[Lpt0_rpts0s_id_barrier][0], pts_resample_left[Lpt0_rpts0s_id_barrier + 5][1], pts_resample_left[Lpt0_rpts0s_id_barrier + 5][0]);
+        if (angle1 < 85.) {
+            Lpt0_found_barrier_in    = true;
+            Lpt0_found_barrier       = false;
             Lpt0_found_barrier_in_id = Lpt0_rpts0s_id_barrier;
         }
     }
 
-
-
-
     for (int i = 0; i < pts_resample_right_count; i++) {
         if (angle_new_right[i] == 0) continue;
-        int im1 = clip(i - (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
-        int ip1 = clip(i + (int) round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
+        int im1    = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
+        int ip1    = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
         float conf = fabs(angle_right[i]) - (fabs(angle_right[im1]) + fabs(angle_right[ip1])) / 2;
 
-
         if (Lpt1_found == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
             Lpt1_rpts1s_id = i;
-            Lpt1_found = true;
+            Lpt1_found     = true;
             // transform(pts_resample_right[Lpt1_rpts1s_id][1],pts_resample_right[Lpt1_rpts1s_id][0],&Lpt1[1],&Lpt1[0]);
         }
 
@@ -91,21 +89,20 @@ void get_corners() {
 
     for (int i = 0; i < pts_resample_right_count; i++) {
         if (angle_new_right_barrier[i] == 0) continue;
-        int im1 = clip(i - (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
-        int ip1 = clip(i + (int) round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
+        int im1    = clip(i - (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
+        int ip1    = clip(i + (int)round(ANGLEDIST_barrier / RESAMPLEDIST), 0, pts_resample_right_count - 1);
         float conf = fabs(angle_right_barrier[i]) - (fabs(angle_right_barrier[im1]) + fabs(angle_right_barrier[ip1])) / 2;
 
-
         if (Lpt1_found_barrier == false && (66. / 180. * PI32) < conf && conf < 140. / 180. * PI32 && i < 0.5 / RESAMPLEDIST) {
             Lpt1_rpts1s_id_barrier = i;
-            Lpt1_found_barrier = true;
+            Lpt1_found_barrier     = true;
         }
     }
-    if(Lpt1_found_barrier){
-        float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id_barrier][1],pts_resample_right[Lpt1_rpts1s_id_barrier][0],pts_resample_right[Lpt1_rpts1s_id_barrier+5][1],pts_resample_right[Lpt1_rpts1s_id_barrier+5][0]);
-        if(angle2 > 100.)   {
-            Lpt1_found_barrier_in = true;
-            Lpt1_found_barrier = false;
+    if (Lpt1_found_barrier) {
+        float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id_barrier][1], pts_resample_right[Lpt1_rpts1s_id_barrier][0], pts_resample_right[Lpt1_rpts1s_id_barrier + 5][1], pts_resample_right[Lpt1_rpts1s_id_barrier + 5][0]);
+        if (angle2 > 100.) {
+            Lpt1_found_barrier_in    = true;
+            Lpt1_found_barrier       = false;
             Lpt1_found_barrier_in_id = Lpt1_rpts1s_id_barrier;
         }
     }
@@ -114,9 +111,4 @@ void get_corners() {
     {
         state_type = TURN_RIGHT_STATE;
     }
-    
-    
-
 }
-
-
diff --git a/app/page/page_rtcam.c b/app/page/page_rtcam.c
index 0ed4a59..baf14c4 100644
--- a/app/page/page_rtcam.c
+++ b/app/page/page_rtcam.c
@@ -28,8 +28,8 @@ static void Setup()
 
     ips200_show_string(5, 165, "pts_l:");
     ips200_show_string(5, 185, "pts_r:");
-    ips200_show_string(5, 205, "con_l:");
-    ips200_show_string(5, 224, "con_r:");
+    ips200_show_string(5, 205, "str_l:");
+    ips200_show_string(5, 224, "str_r:");
     ips200_show_string(100, 165, "lpt0: ");
     ips200_show_string(100, 185, "lpt1: ");
     ips200_show_string(100, 205, "lptin0: ");
@@ -55,14 +55,14 @@ static void Loop()
     Show_Marked_Image();
     ips200_show_uint(60, 165, pts_inv_l_count, 3);
     ips200_show_uint(60, 185, pts_inv_r_count, 3);
-    ips200_show_uint(60, 205, Lpt0_found, 3);
-    ips200_show_uint(60, 224, Lpt1_found, 3);
+    ips200_show_uint(60, 205, is_straight0, 3);
+    ips200_show_uint(60, 224, is_straight1, 3);
     ips200_show_uint(160, 165, Lpt0_found_barrier, 3);
     ips200_show_uint(160, 185, Lpt1_found_barrier, 3);
     ips200_show_uint(160, 205, Lpt0_found_barrier_in, 3);
     ips200_show_uint(160, 224, Lpt1_found_barrier_in, 3);
     ips200_show_uint(200, 165, barrier_type, 3);
-    ips200_show_uint(200, 185, time_barrier, 5);
+    ips200_show_uint(200, 185, state_type, 5);
 }
 
 /**