diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index e37f0b2..0a7b74b 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -68,8 +68,8 @@
 /*           Cortex-M3 Processor Interruption and Exception Handlers          */
 /******************************************************************************/
 /**
-  * @brief This function handles Non maskable interrupt.
-  */
+ * @brief This function handles Non maskable interrupt.
+ */
 void NMI_Handler(void)
 {
   /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@@ -83,8 +83,8 @@ void NMI_Handler(void)
 }
 
 /**
-  * @brief This function handles Hard fault interrupt.
-  */
+ * @brief This function handles Hard fault interrupt.
+ */
 void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
@@ -98,8 +98,8 @@ void HardFault_Handler(void)
 }
 
 /**
-  * @brief This function handles Memory management fault.
-  */
+ * @brief This function handles Memory management fault.
+ */
 void MemManage_Handler(void)
 {
   /* USER CODE BEGIN MemoryManagement_IRQn 0 */
@@ -113,8 +113,8 @@ void MemManage_Handler(void)
 }
 
 /**
-  * @brief This function handles Prefetch fault, memory access fault.
-  */
+ * @brief This function handles Prefetch fault, memory access fault.
+ */
 void BusFault_Handler(void)
 {
   /* USER CODE BEGIN BusFault_IRQn 0 */
@@ -128,8 +128,8 @@ void BusFault_Handler(void)
 }
 
 /**
-  * @brief This function handles Undefined instruction or illegal state.
-  */
+ * @brief This function handles Undefined instruction or illegal state.
+ */
 void UsageFault_Handler(void)
 {
   /* USER CODE BEGIN UsageFault_IRQn 0 */
@@ -143,8 +143,8 @@ void UsageFault_Handler(void)
 }
 
 /**
-  * @brief This function handles System service call via SWI instruction.
-  */
+ * @brief This function handles System service call via SWI instruction.
+ */
 void SVC_Handler(void)
 {
   /* USER CODE BEGIN SVCall_IRQn 0 */
@@ -156,8 +156,8 @@ void SVC_Handler(void)
 }
 
 /**
-  * @brief This function handles Debug monitor.
-  */
+ * @brief This function handles Debug monitor.
+ */
 void DebugMon_Handler(void)
 {
   /* USER CODE BEGIN DebugMonitor_IRQn 0 */
@@ -169,8 +169,8 @@ void DebugMon_Handler(void)
 }
 
 /**
-  * @brief This function handles Pendable request for system service.
-  */
+ * @brief This function handles Pendable request for system service.
+ */
 void PendSV_Handler(void)
 {
   /* USER CODE BEGIN PendSV_IRQn 0 */
@@ -182,8 +182,8 @@ void PendSV_Handler(void)
 }
 
 /**
-  * @brief This function handles System tick timer.
-  */
+ * @brief This function handles System tick timer.
+ */
 void SysTick_Handler(void)
 {
   /* USER CODE BEGIN SysTick_IRQn 0 */
@@ -203,8 +203,8 @@ void SysTick_Handler(void)
 /******************************************************************************/
 
 /**
-  * @brief This function handles DMA1 channel4 global interrupt.
-  */
+ * @brief This function handles DMA1 channel4 global interrupt.
+ */
 void DMA1_Channel4_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
@@ -217,8 +217,8 @@ void DMA1_Channel4_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles DMA1 channel5 global interrupt.
-  */
+ * @brief This function handles DMA1 channel5 global interrupt.
+ */
 void DMA1_Channel5_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
@@ -231,8 +231,8 @@ void DMA1_Channel5_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles TIM1 update interrupt.
-  */
+ * @brief This function handles TIM1 update interrupt.
+ */
 void TIM1_UP_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM1_UP_IRQn 0 */
@@ -249,20 +249,24 @@ void TIM1_UP_IRQHandler(void)
 }
 
 /**
-  * @brief This function handles TIM3 global interrupt.
-  */
+ * @brief This function handles TIM3 global interrupt.
+ */
 void TIM3_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM3_IRQn 0 */
 
   /* USER CODE END TIM3_IRQn 0 */
   /* USER CODE BEGIN TIM3_IRQn 1 */
+  if (IS_TIM_IT_FLAG(TIM3))
+  {
+    TIM_IRQ_HANDLER(TIM3);
+  }
   /* USER CODE END TIM3_IRQn 1 */
 }
 
 /**
-  * @brief This function handles USART1 global interrupt.
-  */
+ * @brief This function handles USART1 global interrupt.
+ */
 void USART1_IRQHandler(void)
 {
   /* USER CODE BEGIN USART1_IRQn 0 */
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 05a7fb3..d706b2f 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -148,7 +148,24 @@
           <Name></Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>262</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134224768</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>../Core/Src/stm32f1xx_it.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\motor\../Core/Src/stm32f1xx_it.c\262</Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -158,7 +175,7 @@
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tmc</ItemText>
+          <ItemText>tmc,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
@@ -185,6 +202,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>vel,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>0x03E8,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index 970a6ce..f9c6e86 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:10000000E0340020050100087D1500089B08000869
-:100010007915000861080008C11A000800000000F6
-:10002000000000000000000000000000CD180008E3
-:100030009908000800000000CD170008CF1800083C
+:100000000035002005010008D91500089B080008EC
+:10001000D515000861080008411C00080000000018
+:10002000000000000000000000000000AD19000802
+:100030009908000800000000AD180008AF1900087A
 :100040001F0100081F0100081F0100081F01000810
 :100050001F0100081F0100081F0100081F01000800
 :100060001F0100081F0100081F0100081F010008F0
 :100070001F0100081F01000879080008890800080E
 :100080001F0100081F0100081F0100081F010008D0
 :100090001F0100081F0100081F0100081F010008C0
-:1000A0001F010008C51900081F0100081F010008F2
-:1000B0001F010008AD1A00081F0100081F010008F9
+:1000A0001F010008A51A00081F0100081F01000811
+:1000B0001F010008751B00081F0100081F01000830
 :1000C0001F0100081F0100081F0100081F01000890
-:1000D0001F010008B11A00081F0100081F010008D5
+:1000D0001F010008311C00081F0100081F01000853
 :1000E0001F0100081F0100081F010008DFF810D0E1
-:1000F00000F0A4FB00480047252B0008AFF3008068
-:10010000E03400200648804706480047FEE7FEE747
+:1000F00000F0A4FB00480047FD2D0008AFF300808E
+:10010000003500200648804706480047FEE7FEE726
 :10011000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B7
-:10012000C1190008ED000008D2B201E000F8012B6F
+:10012000A11A0008ED000008D2B201E000F8012B8E
 :10013000491EFBD270470022F6E710B513460A4667
 :1001400004461946FFF7F0FF204610BD421C10F888
 :10015000011B0029FBD1801A7047F0B480EA01022C
@@ -132,11 +132,11 @@
 :1008200002D500200146E9E7010510196941DDE91B
 :10083000084500196941BDE8F04DA2E7064C074D97
 :1008400006E0E06840F0010394E8070098471034A0
-:10085000AC42F6D3FFF74EFC0456000824560008BD
+:10085000AC42F6D3FFF74EFC005A0008205A0008BD
 :1008600000BFFEE7024600BF1AB901E000BF00BFAB
 :10087000FCE700BF0120704710B50248006803F094
-:1008800062FD10BD5C00002010B50248006803F056
-:100890005AFD10BD5C000020704700BFFEE700005D
+:1008800060FF10BD5C00002010B50248006803F056
+:1008900058FF10BD5C000020704700BFFEE700005D
 :1008A00008B5054989690143034A9161114689697F
 :1008B0000140009100BF08BD0010024008B5054985
 :1008C00089690143034A9161114689690140009198
@@ -145,29 +145,29 @@
 :1008F0000010024008B5054989690143034A916126
 :10090000114689690140009100BF08BD00100240F6
 :1009100010B54A1E044B9A5C825822F001034A1E0D
-:10092000014CA25C835010BD3C49000810B54A1E22
+:10092000014CA25C835010BD384D000810B54A1E22
 :10093000044B9A5C825842F001034A1E014CA25CAF
-:10094000835010BD3C49000810B54A1E044B9A5C08
+:10094000835010BD384D000810B54A1E044B9A5C08
 :10095000825842F002034A1E014CA25C835010BD33
-:100960003C49000830B54B1E054CE35CC35823F4EA
+:10096000384D000830B54B1E054CE35CC35823F4EA
 :10097000405313434C1E024D2C5D035130BD00000B
-:10098000FA48000830B54B1E064CE35C03445B6834
+:10098000F64C000830B54B1E064CE35C03445B6834
 :100990006FF30F0313434C1E024D2C5D0444636040
-:1009A00030BD00003C49000830B54B1E054CE35CEF
+:1009A00030BD0000384D000830B54B1E054CE35CEF
 :1009B000C35844F21004A34313434C1E014D2C5D55
-:1009C000035130BDFA48000810B54B1E024CE35CE1
-:1009D0000344DA6010BD00003C49000830B54B1EEE
+:1009C000035130BDF64C000810B54B1E024CE35CE1
+:1009D0000344DA6010BD0000384D000830B54B1EEE
 :1009E000054CE35CC35823F0800313434C1E024DB7
-:1009F0002C5D035130BD0000FA48000830B54B1E95
+:1009F0002C5D035130BD0000F64C000830B54B1E95
 :100A0000054CE35CC35823F4406313434C1E024D72
-:100A10002C5D035130BD0000FA48000830B54B1E74
+:100A10002C5D035130BD0000F64C000830B54B1E74
 :100A2000054CE35CC35823F0200313434C1E024DD6
-:100A30002C5D035130BD0000FA48000810B54B1E74
-:100A4000024CE35C03449A6010BD00003C4900087E
+:100A30002C5D035130BD0000F64C000810B54B1E74
+:100A4000024CE35C03449A6010BD0000384D00087E
 :100A500030B54B1E054CE35CC35823F040031343F1
-:100A60004C1E024D2C5D035130BD0000FA480008B9
+:100A60004C1E024D2C5D035130BD0000F64C0008B9
 :100A700030B54B1E054CE35CC35823F4407313435D
-:100A80004C1E024D2C5D035130BD0000FA48000899
+:100A80004C1E024D2C5D035130BD0000F64C000899
 :100A90002DE9F04102460B461868C0F30F2595FA80
 :100AA000A5F0B0FA80F480E00120A04028400028A2
 :100AB0007AD0082C04D240F2011000FA04F106E0CA
@@ -195,9 +195,9 @@
 :100C10002C431C6070BD000002480068401C014964
 :100C200008607047200000204FF47A71B0FBF1F2A9
 :100C3000521E4FF0E0235A6100229A6105221A6188
-:100C400000BF704710B5044600F0F6FD2060206834
-:100C500000F0BEFD6060606800F0CAFDA0606068E2
-:100C600000F0D8FDE06010BD016841F04001016076
+:100C400000BF704710B5044600F066FE20602068C3
+:100C500000F02EFE6060606800F03AFEA060606800
+:100C600000F048FEE06010BD016841F04001016005
 :100C7000704730B50246012300BF1068C0F38010F2
 :100C800038BBD1E9000420438C682043CC68204362
 :100C90000C6920434C6920438C692043CC69204374
@@ -205,1185 +205,1248 @@
 :100CB000506820F004004C6940EA14405060086A13
 :100CC000B0F5005F04D1486A84B2146100BF00BF70
 :100CD0000023184630BD000001490860704700003D
-:100CE00000000020816821F08001816070470000D1
-:100CF00010B5024613681C48824208D0B2F1804FFA
-:100D000005D01A48824202D01948824204D123F009
-:100D100070004C6840EA04031348824208D0B2F1E4
-:100D2000804F05D01148824202D01148824204D13E
-:100D300023F44070CC6840EA040313608868D062F2
-:100D400000BF0888906200BF0748824203D108694B
-:100D5000106300BF00BF00BF506940F00100506148
-:100D600000BF002010BD0000002C01400004004026
-:100D7000000800400146086900F0010070470000CB
-:100D800070B50246012901D1002416E0042901D1E1
-:100D9000012412E0102901D102240EE0402901D1E2
-:100DA00003240AE0B1F5807F01D1042405E0B1F508
-:100DB000806F01D1052400E006242346064CE55C43
-:100DC00002F1180428190468044DEE5C0425B540AE
-:100DD000AC43046070BD0000D7480008DE4800083E
-:100DE00070B50246012901D1002416E0042901D181
-:100DF000012412E0102901D102240EE0402901D182
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diff --git a/User/application/app.c b/User/application/app.c
index f75bb9c..55bba97 100644
--- a/User/application/app.c
+++ b/User/application/app.c
@@ -13,6 +13,7 @@ static uint8_t business_inspection(struct flow *fl)
     FL_HEAD(fl);
     for (;;)
     {
+        tmc2240_process(TMC2240_1);
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
     FL_TAIL(fl);
@@ -33,7 +34,7 @@ static uint8_t idle_inspection(struct flow *fl)
     for (;;)
     {
         GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
-        tmc2240_test(TMC2240_1);
+        tmc2240_config_read(TMC2240_1);
         ssd1306_f6x8_string(0, 2, " tick:");
         ssd1306_f6x8_number(40, 2, tick++, 0);
         ssd1306_f6x8_string(0, 4, " cfg:");
diff --git a/User/board/board.c b/User/board/board.c
index 0610b9f..7bac26f 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -42,7 +42,6 @@ void board_init(void)
     ssd1306_init();
 
     {
-        GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
         spi_gpio_group_t gpios;
         gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
         gpios.mosi = gpio_create(TMC2240_MOSI_GPIO_Port, TMC2240_MOSI_Pin);
@@ -50,6 +49,9 @@ void board_init(void)
         gpios.miso = gpio_create(TMC2240_MISO_GPIO_Port, TMC2240_MISO_Pin);
         gpios.rst = gpio_create(NULL, 0);
         gpios.rdy = gpio_create(NULL, 0);
-        tmc2240_init(TMC2240_1, SPI1, &gpios);
+        tmc2240_init(TMC2240_1, SPI1, TIM3, LL_TIM_CHANNEL_CH3, &gpios);
+        tmc2240_get(TMC2240_1)->en = gpio_create(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
+        tmc2240_get(TMC2240_1)->dir = gpio_create(TMC2240_DIR_GPIO_Port, TMC2240_DIR_Pin);
+        tmc2240_get(TMC2240_1)->params.enable = TRUE;
     }
 }
diff --git a/User/lib/driver/tmc2240.c b/User/lib/driver/tmc2240.c
index 0333442..f691ee0 100644
--- a/User/lib/driver/tmc2240.c
+++ b/User/lib/driver/tmc2240.c
@@ -80,14 +80,17 @@ static uint32_t tmc2240_reg_read(tmc2240_index_e index, uint8_t reg)
  *
  * @param index TMC2240步进电机驱动器的索引，用于指定要配置的驱动器。
  */
-static void tmc2240_config(tmc2240_index_e index)
+static void tmc2240_config_write(tmc2240_index_e index)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
     DBG_ASSERT(tmc != NULL __DBG_LINE);
 
     tmc->config.gconf.data = 0x00000000;
+
     tmc->config.chopconf.data = 0x00410153;
+    tmc->config.chopconf.bits.mres = TMC2240_MRES_8;
+
     tmc->config.drvconf.data = 0x00000021;
     tmc->config.global_scaler.data = 0x00000000;
     tmc->config.ihold_irun.data = 0x00071f1f;
@@ -102,17 +105,63 @@ static void tmc2240_config(tmc2240_index_e index)
     tmc2240_reg_write(index, TMC2240_GSTAT, tmc->config.gstat.data);
 }
 
-void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
+static void _tmc2240_enable(tmc2240_index_e index, BOOL enable)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
 
+    if (enable == TRUE)
+    {
+        tmc->en->reset(*tmc->en);
+        PWM_START(tmc->timer, tmc->time_ch);
+    }
+    else
+    {
+        tmc->en->set(*tmc->en);
+        PWM_STOP(tmc->timer, tmc->time_ch);
+    }
+}
+
+static void _tmc2240_direction(tmc2240_index_e index, tmc2240_direction_e dir)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+    if (dir == TMC2240_FORWARD)
+    {
+        tmc->dir->reset(*tmc->dir);
+    }
+    else
+    {
+        tmc->dir->set(*tmc->dir);
+    }
+}
+
+void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer, uint32_t time_ch, spi_gpio_group_t *gpios)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    tmc->timer = timer;
+    tmc->time_ch = time_ch;
     tmc->spi = spi_create(SPI_TYPE_NORMAL, *gpios, 0);
     DBG_ASSERT(tmc->spi != NULL __DBG_LINE);
     osel_memset((uint8_t *)&tmc->config, 0, sizeof(tmc2240_config_t));
     osel_memset((uint8_t *)&tmc->read_config, 0, sizeof(tmc2240_config_t));
     tmc->spi->interface.hardware_enable(tmc->spi, SPIx);
-    tmc2240_config(index);
+    {
+        tmc->default_tm.sysclk = SystemCoreClock / 1000;
+        tmc->default_tm.psc = PWM_GET_PSC(tmc->timer);
+        tmc->default_tm.arr = PWM_GET_ARR(tmc->timer);
+        tmc->default_tm.freq = PWM_GET_FREQ(tmc->timer);
+    }
+    tmc->params.percent = TMC2240_PWM_DUTY_DEFAULT;
+    tmc->params.arr = 0;
+    tmc->params.freq = 0;
+    tmc->params.enable = FALSE;
+    tmc->params.direction = TMC2240_FORWARD;
+    tmc2240_config_write(index);
 }
 
 tmc2240_t *tmc2240_get(tmc2240_index_e index)
@@ -121,14 +170,16 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index)
     return &_tmc2240[index];
 }
 
-void tmc2240_velocity(tmc2240_index_e index, int32_t vel)
+void tmc2240_percent(tmc2240_index_e index, float32 percent)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
     DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+    PWM_SET_DUTY(tmc->timer, tmc->time_ch, ABS(percent));
 }
 
-void tmc2240_test(tmc2240_index_e index)
+void tmc2240_config_read(tmc2240_index_e index)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
@@ -141,6 +192,28 @@ void tmc2240_test(tmc2240_index_e index)
     tmc->read_config.ihold_irun.data = tmc2240_reg_read(index, TMC2240_IHOLD_IRUN);
     tmc->read_config.pwmconf.data = tmc2240_reg_read(index, TMC2240_PWMCONF);
     tmc->read_config.gstat.data = tmc2240_reg_read(index, TMC2240_GSTAT);
-    tmc->adc_temp = tmc2240_reg_read(index, TMC2240_ADC_TEMP);
-    tmc->temperature = (float32)(tmc->adc_temp - 2038) / 7.7;
+    tmc->data.tmc2240_adc_temp = tmc2240_reg_read(index, TMC2240_ADC_TEMP);
+    tmc->data.tmc2240_temperature = (float32)(tmc->data.tmc2240_adc_temp - 2038) / 7.7;
+}
+
+void tmc2240_process(tmc2240_index_e index)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+    _tmc2240_enable(index, tmc->params.enable);
+    _tmc2240_direction(index, tmc->params.direction);
+
+    if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
+    {
+        if (tmc->params.arr == 0)
+        {
+            tmc->params.arr = tmc->default_tm.arr;
+        }
+        PWM_SET_ARR(tmc->timer, tmc->params.arr);
+        tmc->params.freq = PWM_GET_FREQ(tmc->timer);
+    }
+
+    tmc2240_percent(index, tmc->params.percent);
 }
diff --git a/User/lib/driver/tmc2240.h b/User/lib/driver/tmc2240.h
index d70df05..47709d2 100644
--- a/User/lib/driver/tmc2240.h
+++ b/User/lib/driver/tmc2240.h
@@ -12,6 +12,8 @@
 #include "main.h"
 #include "spis.h"
 
+#define TMC2240_PWM_DUTY_DEFAULT 50 // PWM默认占空比
+
 /*
 0x00 	= 	0x00002108 		;; writing GCONF @ address 0=0x00 with 0x00002108=8456=0.0
 0x03 	= 	0x00000000 		;; writing SLAVECONF @ address 1=0x03 with 0x00000000=0=0.0
@@ -103,6 +105,25 @@ typedef enum
     TMC2240_MAX,
 } tmc2240_index_e;
 
+typedef enum
+{
+    TMC2240_FORWARD,  // 正转
+    TMC2240_BACKWARD, // 反转
+} tmc2240_direction_e;
+
+typedef enum
+{
+    TMC2240_MRES_256,
+    TMC2240_MRES_128,
+    TMC2240_MRES_64,
+    TMC2240_MRES_32,
+    TMC2240_MRES_16,
+    TMC2240_MRES_8,
+    TMC2240_MRES_4,
+    TMC2240_MRES_2,
+    TMC2240_MRES_1, // FULL STEP
+} tmc2240_mres_e;
+
 // 0x00 GCONF
 typedef union
 {
@@ -188,17 +209,6 @@ typedef union
     } bits;
 } gstat_u;
 
-// 0x04 IOIN
-typedef union
-{
-    uint32_t data;
-    struct
-    {
-        uint32_t step : 1;
-        uint32_t dir : 1;
-    } bits;
-} ioin_u;
-
 // 0x0A DRVCONF
 typedef union
 {
@@ -237,49 +247,6 @@ typedef union
     } bits;
 } ihold_irun_u;
 
-// 0x11 TPOWERDOWN
-typedef union
-{
-    uint32_t data;
-    struct
-    {
-        /**
-         * TPOWERDOW将电机停顿后的延迟时间(STST)设置为
-            电机电流断电。时间范围约为0至4秒。
-            注意：至少需要设置2才能自动调整
-            SteaIhChop2脉宽调制自动关闭。
-            重置默认设置=10
-            0...((2^8)-1)x 2^18 tCLK
-         */
-        uint32_t tpow : 8; // 0-9
-        uint32_t reserved1 : 24;
-    } bits;
-} tpowerdown_u;
-
-// 0x13 TPWMTHRS
-typedef union
-{
-    uint32_t data;
-    struct
-    {
-        uint32_t tpwmthrs : 20;  // 0-19
-        uint32_t reserved1 : 12; // 20-31
-    } bits;
-} tpwmthrs_u;
-
-// 0x2D DIRECT_MODE
-typedef union
-{
-    uint32_t data;
-    struct
-    {
-        uint32_t direct_coil_a : 9; // 0-8
-        uint32_t reserved1 : 7;     // 9-15
-        uint32_t direct_coil_b : 9; // 16-24
-        uint32_t reserved2 : 7;     // 25-31
-    } bits;
-} direct_mode_u;
-
 // 0x6C CHOPCONF
 typedef union
 {
@@ -336,29 +303,54 @@ typedef struct
 {
     gconf_u gconf;                 // 0x00 GCONF
     gstat_u gstat;                 // 0x01 GSTAT
-    ioin_u ioin;                   // 0x04 IOIN
     drvconf_u drvconf;             // 0x0A DRVCONF
     global_scaler_u global_scaler; // 0x0B GLOBAL_SCALER
     ihold_irun_u ihold_irun;       // 0x10 IHOLD_IRUN
-    tpowerdown_u tpowerdown;       // 0x11 TPOWERDOWN
-    direct_mode_u direct_mode;     // 0x2D DIRECT_MODE
     chopconf_u chopconf;           // 0x6C CHOPCONF
     pwmconf_u pwmconf;             // 0x70 PWMCONF
 } tmc2240_config_t;
 
 typedef struct
 {
+    gpio_t *en;  ///< EN_PIN
+    gpio_t *dir; ///< DIR_PIN
+    TIM_TypeDef *timer;
+    uint32_t time_ch;
     spi_t *spi;
+
     tmc2240_config_t config;
     tmc2240_config_t read_config;
 
-    uint16_t adc_temp;
-    float32 temperature;
+    uint32_t step;
+    __IO uint32_t step_count;
+
+    // PRIVATE
+    struct
+    {
+        uint32_t sysclk;
+        uint32_t psc; // 预分频系数
+        uint16_t arr; // 自动重装值  auto reload value
+        uint32_t freq;
+    } default_tm;
+    struct
+    {
+        BOOL enable; // 使能
+        tmc2240_direction_e direction;
+        float32 percent;
+        uint16_t arr;
+        uint32_t freq;
+    } params;
+
+    struct
+    {
+        uint16_t tmc2240_adc_temp;
+        float32 tmc2240_temperature;
+    } data;
 } tmc2240_t;
 
-void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios);
+void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer, uint32_t time_ch, spi_gpio_group_t *gpios);
 tmc2240_t *tmc2240_get(tmc2240_index_e index);
 
-void tmc2240_velocity(tmc2240_index_e index, int32_t vel);
-void tmc2240_test(tmc2240_index_e index);
+void tmc2240_process(tmc2240_index_e index);
+void tmc2240_config_read(tmc2240_index_e index);
 #endif // __TMC2240_H
diff --git a/User/system/bsp/pwms.h b/User/system/bsp/pwms.h
index ce04409..bfce2c9 100644
--- a/User/system/bsp/pwms.h
+++ b/User/system/bsp/pwms.h
@@ -40,7 +40,9 @@
     } while (__LINE__ == -1)
 
 #define PWM_GET_ARR(TIMx) LL_TIM_GetAutoReload(TIMx)
+#define PWM_SET_ARR(TIMx, ARR) LL_TIM_SetAutoReload(TIMx, ARR - 1)
 #define PWM_GET_PSC(TIMx) LL_TIM_GetPrescaler(TIMx)
+#define PWM_SET_PSC(TIMx, PSC) LL_TIM_SetPrescaler(TIMx, PSC - 1)
 
 /**
  * @brief  Sets the PWM frequency