diff --git a/a8000_protocol b/a8000_protocol
index 8f879b4..07fcb84 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 8f879b4d76b81dc8bb3c7179a9aa3b126d70164b
+Subproject commit 07fcb845c2a81ec202179261c33502a04f0d9549
diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
index 4a49583..68807d6 100644
--- a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
+++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
@@ -69,7 +69,18 @@ void OpticalModuleV2::initialize(int32_t moduleid, hardware_config_t* hardwarecf
 
   m_reg.scan_step_interval = 1;
   m_reg.scan_pointnum      = 1200;
-  m_default_reg            = m_reg;
+
+  m_reg.scan_vstart    = 400;
+  m_reg.scan_vstop     = 400;
+  m_reg.scan_v1        = 550;
+  m_reg.scan_a1        = 300;
+  m_reg.scan_d1        = 300;
+  m_reg.scan_amax      = 1000;
+  m_reg.scan_dmax      = 1000;
+  m_reg.scan_vdefault  = 1200;
+  m_reg.scan_tzerowait = 0;
+
+  m_default_reg = m_reg;
 
   ZLOGI(TAG, "-----------------module info--------------");
   ZLOGI(TAG, "f_detector max gain : %f", f_detector_raw_gain_to_gain(255));
@@ -145,6 +156,16 @@ int32_t OpticalModuleV2::module_xxx_reg(int32_t param_id, bool read, int32_t& va
     PROCESS_REG(kreg_a8k_opt_t_reverse_scan_pos_offset, REG_GET(m_reg.t_reverse_scan_pos_offset), REG_SET(m_reg.t_reverse_scan_pos_offset));
     PROCESS_REG(kreg_a8k_opt_f_reverse_scan_pos_offset, REG_GET(m_reg.f_reverse_scan_pos_offset), REG_SET(m_reg.f_reverse_scan_pos_offset));
 
+    PROCESS_REG(kreg_a8k_opt_scan_vdefault, REG_GET(m_reg.scan_vdefault), REG_SET(m_reg.scan_vdefault));
+    PROCESS_REG(kreg_a8k_opt_scan_vstart, REG_GET(m_reg.scan_vstart), REG_SET(m_reg.scan_vstart));
+    PROCESS_REG(kreg_a8k_opt_scan_a1, REG_GET(m_reg.scan_a1), REG_SET(m_reg.scan_a1));
+    PROCESS_REG(kreg_a8k_opt_scan_amax, REG_GET(m_reg.scan_amax), REG_SET(m_reg.scan_amax));
+    PROCESS_REG(kreg_a8k_opt_scan_v1, REG_GET(m_reg.scan_v1), REG_SET(m_reg.scan_v1));
+    PROCESS_REG(kreg_a8k_opt_scan_dmax, REG_GET(m_reg.scan_dmax), REG_SET(m_reg.scan_dmax));
+    PROCESS_REG(kreg_a8k_opt_scan_d1, REG_GET(m_reg.scan_d1), REG_SET(m_reg.scan_d1));
+    PROCESS_REG(kreg_a8k_opt_scan_vstop, REG_GET(m_reg.scan_vstop), REG_SET(m_reg.scan_vstop));
+    PROCESS_REG(kreg_a8k_opt_scan_tzerowait, REG_GET(m_reg.scan_tzerowait), REG_SET(m_reg.scan_tzerowait));
+
     PROCESS_REG(kreg_a8k_opt_scan_step_interval, REG_GET(m_reg.scan_step_interval), REG_SET(m_reg.scan_step_interval));
     PROCESS_REG(kreg_a8k_opt_scan_pointnum, REG_GET(m_reg.scan_pointnum), REG_SET(m_reg.scan_pointnum));
     default:
@@ -159,28 +180,16 @@ int32_t OpticalModuleV2::module_stop() {
   return 0;
 }
 
-// virtual int32_t a8000_optical_start_capture();
-// virtual int32_t a8000_optical_read_raw(int32_t index, uint8_t* data, int32_t* len);
 
 #define MAX_SCAN_POINT_NUM 1200
 
-// bittly.variableSet("scan_start_pos","2860"); //F
-// bittly.variableSet("scan_step_interval","1");
-// bittly.variableSet("scan_pointnum","1200");
-// bittly.variableSet("scan_direction","-1");
-
-// bittly.variableSet("scan_start_pos","4005"); //T
-// bittly.variableSet("scan_step_interval","1");
-// bittly.variableSet("scan_pointnum","1200");
-// bittly.variableSet("scan_direction","-1");
-
 int32_t OpticalModuleV2::start_t_optical_scan(int32_t scanDirection, int32_t lasterGain, int32_t scanGain) {
   m_thread.stop();
   m_thread.start([this, scanDirection, lasterGain, scanGain]() {
     ZLOGI(TAG, "--------------start_t_optical_scan-----------");
     int32_t intervalStep = 0;
     int32_t scanStartPos = 0;
-    osDelay(50);
+    osDelay(10);
 
     if (scanDirection >= 0) {
       intervalStep = -m_reg.scan_step_interval;
@@ -189,7 +198,7 @@ int32_t OpticalModuleV2::start_t_optical_scan(int32_t scanDirection, int32_t las
       intervalStep = m_reg.scan_step_interval;
       scanStartPos = m_reg.t_reverse_scan_pos_offset;
     }
-
+    active_motor_default_cfg();
     move_to_block(scanStartPos);
 
     // 设置激光亮度增益
@@ -206,7 +215,8 @@ int32_t OpticalModuleV2::start_t_optical_scan(int32_t scanDirection, int32_t las
     int32_t adcval        = 0;
     adc_capture_point_num = 0;
 
-    motor_prepare();
+    int32_t startTicket = HAL_GetTick();
+    active_motor_opt_cfg();
     while (true) {
       // 移动到第一个点
       move_to_block(scanStartPos + step);
@@ -226,13 +236,18 @@ int32_t OpticalModuleV2::start_t_optical_scan(int32_t scanDirection, int32_t las
         break;
       }
     }
+
+    // end of scan
     m_t_laster_enable_io.setState(false);
-    motor_release();
     _close_t_amp_n5v();
+    recover_motor_default_cfg();
 
     if (scanDirection < 0) {
       reverse_capture_data();
     }
+    ZLOGI(TAG, "use time: %f s", (HAL_GetTick() - startTicket) / 1000.0);
+
+    ZLOGI(TAG, "--------------end_t_optical_scan-----------");
   });
   return 0;
 
@@ -242,7 +257,7 @@ int32_t OpticalModuleV2::start_f_optical_scan(int32_t scanDirection, int32_t las
   m_thread.stop();
   m_thread.start([this, scanDirection, lasterGain, scanGain]() {
     ZLOGI(TAG, "--------------start_f_optical_scan-----------");
-    osDelay(50);
+    osDelay(10);
 
     int32_t intervalStep = 0;
     int32_t scanStartPos = 0;
@@ -254,7 +269,7 @@ int32_t OpticalModuleV2::start_f_optical_scan(int32_t scanDirection, int32_t las
       intervalStep = m_reg.scan_step_interval;
       scanStartPos = m_reg.f_reverse_scan_pos_offset;
     }
-
+    active_motor_default_cfg();
     move_to_block(scanStartPos);
 
     // 设置激光亮度增益
@@ -274,8 +289,8 @@ int32_t OpticalModuleV2::start_f_optical_scan(int32_t scanDirection, int32_t las
     int     pointnum      = 0;
     int32_t adcval        = 0;
     adc_capture_point_num = 0;
-
-    motor_prepare();
+    active_motor_opt_cfg();
+    int32_t startTicket = HAL_GetTick();
     while (true) {
       // 移动到第一个点
       move_to_block(scanStartPos + step);
@@ -293,13 +308,19 @@ int32_t OpticalModuleV2::start_f_optical_scan(int32_t scanDirection, int32_t las
       if (m_thread.getExitFlag()) {
         break;
       }
-      osDelay(1);
+      // osDelay(1);
     }
-    motor_release();
+
+    // end of scan
+    select_f_channel(0);
     a8000_optical_close_laser(kf_optical);
+    recover_motor_default_cfg();
+
     if (scanDirection < 0) {
       reverse_capture_data();
     }
+    ZLOGI(TAG, "use time: %f s", (HAL_GetTick() - startTicket) / 1000.0);
+    ZLOGI(TAG, "--------------end_f_optical_scan-----------");
   });
 
   // adc_capture_buf[0]
@@ -321,8 +342,8 @@ int32_t OpticalModuleV2::start_barcode_scan(int32_t lasterGain, int32_t scanGain
     ZLOGI(TAG, "intervalstep       : %d", intervalstep);
     ZLOGI(TAG, "scanNum            : %d", scanNum);
 
-    osDelay(50);
-
+    osDelay(10);
+    active_motor_default_cfg();
     move_to_block(startpos);
 
     // 设置激光亮度增益
@@ -344,7 +365,8 @@ int32_t OpticalModuleV2::start_barcode_scan(int32_t lasterGain, int32_t scanGain
     adc_capture_point_num = 0;
     int32_t scanDirection = intervalstep < 0 ? 1 : 0;  // 与电机运行相反的方向为正
 
-    motor_prepare();
+    active_motor_opt_cfg();
+    int32_t startTicket = HAL_GetTick();
     while (true) {
       // 移动到第一个点
       move_to_block(startpos + step);
@@ -362,13 +384,19 @@ int32_t OpticalModuleV2::start_barcode_scan(int32_t lasterGain, int32_t scanGain
       if (m_thread.getExitFlag()) {
         break;
       }
-      osDelay(1);
+      // osDelay(1);
     }
-    motor_release();
+
+    // end of scan
+    select_f_channel(0);
     a8000_optical_close_laser(kf_optical);
+    recover_motor_default_cfg();
+
     if (scanDirection < 0) {
       reverse_capture_data();
     }
+    ZLOGI(TAG, "use time: %f s", (HAL_GetTick() - startTicket) / 1000.0);
+    ZLOGI(TAG, "--------------end_barcode_scan-----------");
   });
 
   // adc_capture_buf[0]
@@ -579,27 +607,26 @@ int32_t OpticalModuleV2::_close_t_amp_n5v() {
   return 0;
 }
 
-int32_t OpticalModuleV2::motor_prepare() {
-  auto _motor = motor->getMotor();
-  // _motor->setNoAccLimit(true);
-  return 0;
-}
-int32_t OpticalModuleV2::motor_release() {
+void OpticalModuleV2::active_motor_default_cfg() { motor->step_motor_active_cfg(); }
+void OpticalModuleV2::recover_motor_default_cfg() { active_motor_default_cfg(); }
+
+void OpticalModuleV2::active_motor_opt_cfg() {
   auto _motor = motor->getMotor();
-  // _motor->setNoAccLimit(false);
-  return 0;
+  _motor->set_vstart(m_reg.scan_vstart);
+  _motor->set_vstop(m_reg.scan_vstop);
+  _motor->set_a1(m_reg.scan_a1);
+  _motor->set_d1(m_reg.scan_d1);
+  _motor->set_v1(m_reg.scan_v1);
+  _motor->set_amax(m_reg.scan_amax);
+  _motor->set_dmax(m_reg.scan_dmax);
+  _motor->set_tzerowait(m_reg.scan_tzerowait);
 }
 
 int32_t OpticalModuleV2::move_to_block(int32_t pos) {
   auto _motor = motor->getMotor();
-  _motor->setAcceleration(3600);
-  _motor->setDeceleration(3600);
-  _motor->moveTo(pos, motor->getCfg()->motor_default_velocity);
-  while (!_motor->isReachTarget() && !m_thread.getExitFlag()) {
-    // zos_early_delayus(100);
-    // osDelay(1);
+  _motor->moveTo(pos, m_reg.scan_vdefault);
+  while (!_motor->isReachTarget()) {
   }
-  _motor->stop();
   return 0;
 }
 
diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp
index 9b7cb40..886eed8 100644
--- a/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp
+++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.hpp
@@ -11,7 +11,7 @@
 namespace iflytop {
 using namespace std;
 
-#define  OPTICAL_MODULE_MAX_SCAN_POINT_NUM 2000
+#define OPTICAL_MODULE_MAX_SCAN_POINT_NUM 2000
 
 class OpticalModuleV2 : public ZIModule {
   ENABLE_MODULE(OpticalModuleV2, ka8000_optical_module, PC_VERSION);
@@ -54,6 +54,17 @@ class OpticalModuleV2 : public ZIModule {
     int32_t f_reverse_scan_pos_offset;
     int32_t scan_step_interval;
     int32_t scan_pointnum;
+
+    int32_t scan_vdefault;
+    int32_t scan_vstart;
+    int32_t scan_a1;
+    int32_t scan_amax;
+    int32_t scan_v1;
+    int32_t scan_dmax;
+    int32_t scan_d1;
+    int32_t scan_vstop;
+    int32_t scan_tzerowait;
+
   } reg_table_t;
 
  private:
@@ -127,7 +138,6 @@ class OpticalModuleV2 : public ZIModule {
   virtual int32_t a8k_opt_v2_f_start_scan(int32_t scanDirection, int32_t lasterGain, int32_t scanGain);
   virtual int32_t a8k_opt_v2_barcode_start_scan(int32_t lasterGain, int32_t scanGain, int32_t startpos, int32_t intervalstep, int32_t scanNum);
 
-
   virtual int32_t a8000_optical_read_raw(int32_t index, uint8_t* data, int32_t* len);
 
   virtual int32_t a8k_opt_v2_t_open_laster(int32_t lasterGain, int32_t scanGain);
@@ -150,7 +160,6 @@ class OpticalModuleV2 : public ZIModule {
 
   int32_t dumpresult();
 
-  int32_t         move_to_block(int32_t pos);
   virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t& val) override;
   void            opt_module_power_ctrl(bool on);
 
@@ -159,9 +168,6 @@ class OpticalModuleV2 : public ZIModule {
   int32_t _open_t_amp_n5v();
   int32_t _close_t_amp_n5v();
 
-  int32_t motor_prepare();
-  int32_t motor_release();
-
   int32_t f_detector_gain_to_raw_gain(float gain);
   int32_t t_detector_gain_to_raw_gain(float gain);
 
@@ -172,6 +178,12 @@ class OpticalModuleV2 : public ZIModule {
   int32_t raw_get_sector_num(int32_t* val);
 
  private:
+  void    active_motor_default_cfg();
+  void    recover_motor_default_cfg();
+  void    active_motor_opt_cfg();
+  int32_t move_to_block(int32_t pos);
+
+ private:
   int32_t a8000_optical_open_laser(int32_t type);
   int32_t a8000_optical_close_laser(int32_t type);
   int32_t a8000_optical_set_laster_gain(int32_t type, int32_t gain);
diff --git a/usrc/version.h b/usrc/version.h
index 8276cdc..cb6027f 100644
--- a/usrc/version.h
+++ b/usrc/version.h
@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1015
+#define PC_VERSION           1016