diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 0a7b74b..cb6a358 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -257,9 +257,13 @@ void TIM3_IRQHandler(void)
 
   /* USER CODE END TIM3_IRQn 0 */
   /* USER CODE BEGIN TIM3_IRQn 1 */
-  if (IS_TIM_IT_FLAG(TIM3))
+  if (IS_TIM_IT_FLAG(TMC2240_TIM))
   {
-    TIM_IRQ_HANDLER(TIM3);
+    if (LL_TIM_IsActiveFlag_CC3(TMC2240_TIM))
+    {
+      tmc2240_motor_update(TMC2240_1);
+    }
+    TIM_IRQ_HANDLER(TMC2240_TIM);
   }
   /* USER CODE END TIM3_IRQn 1 */
 }
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index 98524f0..b2f39ea 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -75,7 +75,7 @@ void MX_TIM3_Init(void)
   LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
 
   /* TIM3 interrupt Init */
-  NVIC_SetPriority(TIM3_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),3, 0));
+  NVIC_SetPriority(TIM3_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
   NVIC_EnableIRQ(TIM3_IRQn);
 
   /* USER CODE BEGIN TIM3_Init 1 */
@@ -86,8 +86,7 @@ void MX_TIM3_Init(void)
   TIM_InitStruct.Autoreload = 1000;
   TIM_InitStruct.ClockDivision = LL_TIM_CLOCKDIVISION_DIV1;
   LL_TIM_Init(TIM3, &TIM_InitStruct);
-  LL_TIM_EnableARRPreload(TIM3);
-  LL_TIM_SetClockSource(TIM3, LL_TIM_CLOCKSOURCE_INTERNAL);
+  LL_TIM_DisableARRPreload(TIM3);
   LL_TIM_OC_EnablePreload(TIM3, LL_TIM_CHANNEL_CH3);
   TIM_OC_InitStruct.OCMode = LL_TIM_OCMODE_PWM1;
   TIM_OC_InitStruct.OCState = LL_TIM_OCSTATE_DISABLE;
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 121efbd..a16ed32 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -148,24 +148,7 @@
           <Name></Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <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>
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -175,37 +158,7 @@
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>tmc,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>wdata</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>rdata</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>TMC2240_B_CURRENT</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>rdata</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>vel,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>0x03E8,0x0A</ItemText>
+          <ItemText>app,0x0A</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow1>
@@ -283,7 +236,7 @@
 
   <Group>
     <GroupName>Application/User/Core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -395,7 +348,7 @@
 
   <Group>
     <GroupName>User/application</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index 5d18c25..fbf76c8 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:100000000035002005010008D91500089B080008EC
-:10001000D515000861080008411C00080000000018
-:10002000000000000000000000000000AD19000802
-:100030009908000800000000AD180008AF1900087A
+:100000000035002005010008D51500089B080008F0
+:10001000D115000861080008491C00080000000014
+:10002000000000000000000000000000A919000806
+:100030009908000800000000A9180008AB19000882
 :100040001F0100081F0100081F0100081F01000810
 :100050001F0100081F0100081F0100081F01000800
 :100060001F0100081F0100081F0100081F010008F0
 :100070001F0100081F01000879080008890800080E
 :100080001F0100081F0100081F0100081F010008D0
 :100090001F0100081F0100081F0100081F010008C0
-:1000A0001F010008A51A00081F0100081F01000811
-:1000B0001F010008751B00081F0100081F01000830
+:1000A0001F010008A11A00081F0100081F01000815
+:1000B0001F010008711B00081F0100081F01000834
 :1000C0001F0100081F0100081F0100081F01000890
-:1000D0001F010008311C00081F0100081F01000853
+:1000D0001F010008391C00081F0100081F0100084B
 :1000E0001F0100081F0100081F010008DFF810D0E1
-:1000F00000F0A4FB00480047FD2D0008AFF300808E
+:1000F00000F0A4FB00480047312F0008AFF3008058
 :10010000003500200648804706480047FEE7FEE726
 :10011000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B7
-:10012000A11A0008ED000008D2B201E000F8012B8E
+:100120009D1A0008ED000008D2B201E000F8012B92
 :10013000491EFBD270470022F6E710B513460A4667
 :1001400004461946FFF7F0FF204610BD421C10F888
 :10015000011B0029FBD1801A7047F0B480EA01022C
@@ -132,11 +132,11 @@
 :1008200002D500200146E9E7010510196941DDE91B
 :10083000084500196941BDE8F04DA2E7064C074D97
 :1008400006E0E06840F0010394E8070098471034A0
-:10085000AC42F6D3FFF74EFC005A0008205A0008BD
+:10085000AC42F6D3FFF74EFC905C0008B05C000899
 :1008600000BFFEE7024600BF1AB901E000BF00BFAB
-:10087000FCE700BF0120704710B50248006803F094
-:1008800060FF10BD3000002010B50248006803F082
-:1008900058FF10BD30000020704700BFFEE7000089
+:10087000FCE700BF0120704710B50248006804F093
+:10088000A8F810BD3000002010B50248006804F040
+:10089000A0F810BD30000020704700BFFEE7000048
 :1008A00008B5054989690143034A9161114689697F
 :1008B0000140009100BF08BD0010024008B5054985
 :1008C00089690143034A9161114689690140009198
@@ -145,29 +145,29 @@
 :1008F0000010024008B5054989690143034A916126
 :10090000114689690140009100BF08BD00100240F6
 :1009100010B54A1E044B9A5C825822F001034A1E0D
-:10092000014CA25C835010BD384D000810B54A1E22
+:10092000014CA25C835010BDC84F000810B54A1E90
 :10093000044B9A5C825842F001034A1E014CA25CAF
-:10094000835010BD384D000810B54A1E044B9A5C08
+:10094000835010BDC84F000810B54A1E044B9A5C76
 :10095000825842F002034A1E014CA25C835010BD33
-:10096000384D000830B54B1E054CE35CC35823F4EA
+:10096000C84F000830B54B1E054CE35CC35823F458
 :10097000405313434C1E024D2C5D035130BD00000B
-:10098000F64C000830B54B1E064CE35C03445B6834
+:10098000864F000830B54B1E064CE35C03445B68A1
 :100990006FF30F0313434C1E024D2C5D0444636040
-:1009A00030BD0000384D000830B54B1E054CE35CEF
+:1009A00030BD0000C84F000830B54B1E054CE35C5D
 :1009B000C35844F21004A34313434C1E014D2C5D55
-:1009C000035130BDF64C000810B54B1E024CE35CE1
-:1009D0000344DA6010BD0000384D000830B54B1EEE
+:1009C000035130BD864F000810B54B1E024CE35C4E
+:1009D0000344DA6010BD0000C84F000830B54B1E5C
 :1009E000054CE35CC35823F0800313434C1E024DB7
-:1009F0002C5D035130BD0000F64C000830B54B1E95
+:1009F0002C5D035130BD0000864F000830B54B1E02
 :100A0000054CE35CC35823F4406313434C1E024D72
-:100A10002C5D035130BD0000F64C000830B54B1E74
+:100A10002C5D035130BD0000864F000830B54B1EE1
 :100A2000054CE35CC35823F0200313434C1E024DD6
-:100A30002C5D035130BD0000F64C000810B54B1E74
-:100A4000024CE35C03449A6010BD0000384D00087E
+:100A30002C5D035130BD0000864F000810B54B1EE1
+:100A4000024CE35C03449A6010BD0000C84F0008EC
 :100A500030B54B1E054CE35CC35823F040031343F1
-:100A60004C1E024D2C5D035130BD0000F64C0008B9
+:100A60004C1E024D2C5D035130BD0000864F000826
 :100A700030B54B1E054CE35CC35823F4407313435D
-:100A80004C1E024D2C5D035130BD0000F64C000899
+:100A80004C1E024D2C5D035130BD0000864F000806
 :100A90002DE9F04102460B461868C0F30F2595FA80
 :100AA000A5F0B0FA80F480E00120A04028400028A2
 :100AB0007AD0082C04D240F2011000FA04F106E0CA
@@ -195,9 +195,9 @@
 :100C10002C431C6070BD000002480068401C014964
 :100C200008607047200000204FF47A71B0FBF1F2A9
 :100C3000521E4FF0E0235A6100229A6105221A6188
-:100C400000BF704710B5044600F066FE20602068C3
-:100C500000F02EFE6060606800F03AFEA060606800
-:100C600000F048FEE06010BD016841F04001016005
+:100C400000BF704710B5044600F064FE20602068C5
+:100C500000F02CFE6060606800F038FEA060606804
+:100C600000F046FEE06010BD016841F04001016007
 :100C7000704730B50246012300BF1068C0F38010F2
 :100C800038BBD1E9000420438C682043CC68204362
 :100C90000C6920434C6920438C692043CC69204374
@@ -205,1248 +205,1289 @@
 :100CB000506820F004004C6940EA14405060086A13
 :100CC000B0F5005F04D1486A84B2146100BF00BF70
 :100CD0000023184630BD000001490860704700003D
-:100CE00000000020816821F080018160704701468A
-:100CF000C86A704710B5024613681C48824208D083
-:100D0000B2F1804F05D01A48824202D0194882427F
-:100D100004D123F070004C6840EA04031348824277
-:100D200008D0B2F1804F05D01148824202D011485C
-:100D3000824204D123F44070CC6840EA040313607B
-:100D40008868D06200BF0888906200BF074882426E
-:100D500003D10869106300BF00BF00BF506940F0B5
-:100D60000100506100BF002010BD0000002C0140B8
-:100D7000000400400008004001460869C0F340003C
-:100D8000704701460869C0F3800070470146086952
-:100D9000C0F3C000704701460869C0F300107047F7
-:100DA0000146086900F0010070470146C868C0F3B9
-:100DB000400070470146C868C0F380007047014694
-:100DC000C868C0F3C00070470146C868C0F300108F
-:100DD00070470146C86800F00100704770B50246D0
-:100DE000012901D1002416E0042901D1012412E0D7
-:100DF000102901D102240EE0402901D103240AE088
-:100E0000B1F5807F01D1042405E0B1F5806F01D1F7
-:100E1000052400E006242346064CE55C02F1180494
-:100E200028190468044DEE5C0425B540AC43046009
-:100E300070BD0000D34C0008DA4C000870B50246C3
-:100E4000012901D1002416E0042901D1012412E076
-:100E5000102901D102240EE0402901D103240AE027
-:100E6000B1F5807F01D1042405E0B1F5806F01D197
-:100E7000052400E006242346064CE55C02F1180434
-:100E800028190468044DEE5C0825B5402C43046025
-:100E900070BD0000D34C0008DA4C00082DE9F04189
-:100EA00006460C4615460127012C08D0102C0CD004
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-:100EC000304600F0CBFB074612E02946304600F0E2
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-:100F10000A434260704708B50168009100BF41680C
-:100F2000009100BF08BD6FF04001016070470000F4
-:100F30002DE9FF4104460D4601270026204600F01A
-:100F400055F8002833D1E9686868084329690843DF
-:100F5000E16841F20C6291430843E060A8682169AE
-:100F600021F440510143216100BF6869616921F4A6
-:100F700040710143616100BF6846FFF763FE0E48A0
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-:100FB00004B0BDE8F081000000380140004400406A
-:100FC0000048004001460868C0F3400070470146F1
-:100FD0000868C0F38000704701460868C0F3C0008D
-:100FE000704701460868C0F3801070470146C86822
-:100FF000C0F34030704770B501EBC10303EB011340
-:101000009400B3FBF4F301EBC10404EB011495006D
-:10101000B4FBF5F46425B4FBF5F404EBC40505EB6F
-:101020000414A3EB8403322404EB03136424B3FB02
-:10103000F4F303F0F00301EBC10404EB0114950099
-:10104000B4FBF5F46425B4FBF5F403EB041401EBF5
-:10105000C10303EB01139500B3FBF5F301EBC105ED
-:1010600005EB01159600B5FBF6F56426B5FBF6F524
-:1010700005EBC50606EB0515A3EB8503322505EB4D
-:1010800003136425B3FBF5F303F00F0323449BB272
-:10109000836070BD38B50120144949690143134A82
-:1010A0005161114649690140009100BF00BF00F045
-:1010B000FDFD05460022114600F090FA0446214647
-:1010C0000E2000F003FE0E2000F0D6FD00F0EEFD35
-:1010D00005460022114600F081FA044621460F2001
-:1010E00000F0F4FD0F2000F0C7FD38BD00100240F5
-:1010F00000B585B014216846FFF71DF81020FFF7F2
-:10110000CFFB2020FFF7CCFB0420FFF7C9FB082012
-:10111000FFF7C6FB2D492E48FFF75BFD41F618018E
-:101120002C48FFF756FD2C492C48FFF752FD274865
-:101130000090012001900220029000200390694657
-:101140002348FFF7A5FC264800900020019069463F
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-:101690000F48824213D123F008004E6940EA8603C6
-:1016A00023F004008E6840EA860325F480708E697A
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diff --git a/User/application/app.c b/User/application/app.c
index 55bba97..fd60012 100644
--- a/User/application/app.c
+++ b/User/application/app.c
@@ -13,7 +13,12 @@ static uint8_t business_inspection(struct flow *fl)
     FL_HEAD(fl);
     for (;;)
     {
-        tmc2240_process(TMC2240_1);
+        if (app.angel != 0)
+        {
+            tmc2240_motor_set_angle(TMC2240_1, app.angel);
+            app.angel = 0;
+        }
+
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
     FL_TAIL(fl);
@@ -35,6 +40,7 @@ static uint8_t idle_inspection(struct flow *fl)
     {
         GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
         tmc2240_config_read(TMC2240_1);
+        tmc2240_process(TMC2240_1);
         ssd1306_f6x8_string(0, 2, " tick:");
         ssd1306_f6x8_number(40, 2, tick++, 0);
         ssd1306_f6x8_string(0, 4, " cfg:");
@@ -78,6 +84,6 @@ void app_init(void)
     FL_INIT(&idle_fw);     // 空闲任务
 
     ENABLE_TIM(TASK_TIM);
-
+    ENABLE_TIM(TMC2240_TIM);
     ssd1306_clear();
 }
diff --git a/User/application/app.h b/User/application/app.h
index 7cbd894..12c0e67 100644
--- a/User/application/app.h
+++ b/User/application/app.h
@@ -11,6 +11,7 @@
 
 typedef struct
 {
+    int32_t angel;
 } app_t;
 
 extern app_t app;
diff --git a/User/board/board.c b/User/board/board.c
index 7bac26f..217224f 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -49,9 +49,8 @@ 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, TIM3, LL_TIM_CHANNEL_CH3, &gpios);
+        tmc2240_init(TMC2240_1, SPI1, TMC2240_TIM, TMC2240_TIM_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/board/board.h b/User/board/board.h
index c6fb45b..deb6644 100644
--- a/User/board/board.h
+++ b/User/board/board.h
@@ -7,7 +7,8 @@
 #define UART_TXSIZE (240u) // 发送240个字节
 
 #define TASK_TIM TIM1
-
+#define TMC2240_TIM TIM3
+#define TMC2240_TIM_CH3 LL_TIM_CHANNEL_CH3
 typedef struct
 {
     /* data */
diff --git a/User/system/lib/driver/tmc2240.c b/User/system/lib/driver/tmc2240.c
index f691ee0..bba0572 100644
--- a/User/system/lib/driver/tmc2240.c
+++ b/User/system/lib/driver/tmc2240.c
@@ -89,11 +89,16 @@ static void tmc2240_config_write(tmc2240_index_e index)
     tmc->config.gconf.data = 0x00000000;
 
     tmc->config.chopconf.data = 0x00410153;
-    tmc->config.chopconf.bits.mres = TMC2240_MRES_8;
+    tmc->config.chopconf.bits.mres = TMC2240_MRES_1;
 
     tmc->config.drvconf.data = 0x00000021;
     tmc->config.global_scaler.data = 0x00000000;
-    tmc->config.ihold_irun.data = 0x00071f1f;
+
+    tmc->config.ihold_irun.bits.ihold = 2;
+    tmc->config.ihold_irun.bits.irun = 16;
+    tmc->config.ihold_irun.bits.iholddelay = 5;
+    tmc->config.ihold_irun.bits.irundelay = 5;
+
     tmc->config.pwmconf.data = 0xC44C261E;
     tmc->config.gstat.data = 0x00000007;
     tmc2240_reg_write(index, TMC2240_GCONF, tmc->config.gconf.data);
@@ -105,21 +110,75 @@ static void tmc2240_config_write(tmc2240_index_e index)
     tmc2240_reg_write(index, TMC2240_GSTAT, tmc->config.gstat.data);
 }
 
+static void _tmc2240_motor_update(tmc2240_index_e index)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+    switch (tmc->config.chopconf.bits.mres)
+    {
+    case TMC2240_MRES_256:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 256;
+        break;
+    case TMC2240_MRES_128:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 128;
+        break;
+    case TMC2240_MRES_64:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 64;
+        break;
+    case TMC2240_MRES_32:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 32;
+        break;
+    case TMC2240_MRES_16:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 16;
+        break;
+    case TMC2240_MRES_8:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 8;
+        break;
+    case TMC2240_MRES_4:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 4;
+        break;
+    case TMC2240_MRES_2:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE / 2;
+        break;
+    case TMC2240_MRES_1:
+        tmc->motor.step_angle = MOTOR_42_STEP_ANGLE;
+        break;
+    default:
+        break;
+    }
+
+    tmc->motor.circle_pulse = 360 / tmc->motor.step_angle;
+}
+
 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);
 
+    BOOL state = tmc->en->read(*tmc->en) == 0 ? TRUE : FALSE;
+
+    if (state == enable)
+    {
+        return;
+    }
+
     if (enable == TRUE)
     {
-        tmc->en->reset(*tmc->en);
         PWM_START(tmc->timer, tmc->time_ch);
+        tmc->en->reset(*tmc->en);
+        tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
     }
     else
     {
-        tmc->en->set(*tmc->en);
         PWM_STOP(tmc->timer, tmc->time_ch);
+        tmc->en->set(*tmc->en);
+        chopconf_u chopconf;
+        osel_memset((uint8_t *)&chopconf, 0, sizeof(chopconf_u));
+        chopconf.bits.mres = TMC2240_MRES_1;
+        tmc2240_reg_write(index, TMC2240_CHOPCONF, chopconf.data);
     }
 }
 
@@ -143,12 +202,12 @@ void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer,
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
+    osel_memset((uint8_t *)tmc, 0, sizeof(tmc2240_t));
+
     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);
     {
         tmc->default_tm.sysclk = SystemCoreClock / 1000;
@@ -162,6 +221,7 @@ void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, TIM_TypeDef *timer,
     tmc->params.enable = FALSE;
     tmc->params.direction = TMC2240_FORWARD;
     tmc2240_config_write(index);
+    _tmc2240_motor_update(index);
 }
 
 tmc2240_t *tmc2240_get(tmc2240_index_e index)
@@ -203,17 +263,82 @@ void tmc2240_process(tmc2240_index_e 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.enable == TRUE)
     {
-        if (tmc->params.arr == 0)
+        _tmc2240_direction(index, tmc->params.direction);
+
+        if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
         {
-            tmc->params.arr = tmc->default_tm.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);
         }
-        PWM_SET_ARR(tmc->timer, tmc->params.arr);
-        tmc->params.freq = PWM_GET_FREQ(tmc->timer);
+
+        tmc2240_percent(index, tmc->params.percent);
+
+        if (tmc->config.chopconf.bits.mres != tmc->read_config.chopconf.bits.mres)
+        {
+            tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
+            _tmc2240_motor_update(index);
+        }
+    }
+}
+
+void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+    if (angle == 0)
+    {
+        return;
     }
 
-    tmc2240_percent(index, tmc->params.percent);
+    if (angle > 0)
+    {
+        tmc->params.direction = TMC2240_FORWARD;
+    }
+    else
+    {
+        tmc->params.direction = TMC2240_BACKWARD;
+    }
+
+    tmc->motor.pulse_count = ABS(angle) / tmc->motor.step_angle;
+    tmc->motor.step_angle_count = 0;
+    tmc->params.enable = TRUE;
+    _tmc2240_enable(index, tmc->params.enable);
+}
+
+void tmc2240_motor_update(tmc2240_index_e index)
+{
+    DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
+    tmc2240_t *tmc = &_tmc2240[index];
+    DBG_ASSERT(tmc != NULL __DBG_LINE);
+
+    if (tmc->motor.pulse_count > 0)
+    {
+        tmc->motor.pulse_count--;      // 脉冲数
+        tmc->motor.step_angle_count++; // 步距个数
+        if (tmc->params.direction == TMC2240_FORWARD)
+        {
+            tmc->motor.add_pulse_count++; /* 绝对位置++ */
+        }
+        else
+        {
+            tmc->motor.add_pulse_count--; /* 绝对位置-- */
+        }
+    }
+
+    /* 当脉冲数等于0的时候 代表需要发送的脉冲个数已完成，停止输出 */
+
+    if (tmc->motor.pulse_count <= 0)
+    {
+        tmc->params.enable = FALSE;
+        _tmc2240_enable(index, tmc->params.enable);
+    }
 }
diff --git a/User/system/lib/driver/tmc2240.h b/User/system/lib/driver/tmc2240.h
index 47709d2..a862083 100644
--- a/User/system/lib/driver/tmc2240.h
+++ b/User/system/lib/driver/tmc2240.h
@@ -5,6 +5,7 @@
  * @version 0.1
  * @note
  * 1. 芯片VM需要供电，否则SPI无法正常通信
+ * 2. 42步进电机每步1.8度，1圈200步。1/8细分，1步=0.225度，电机转一周需要1600个脉冲
  */
 
 #ifndef __TMC2240_H
@@ -12,6 +13,7 @@
 #include "main.h"
 #include "spis.h"
 
+#define MOTOR_42_STEP_ANGLE 1.8f    // 42步进电机每步1.8度
 #define TMC2240_PWM_DUTY_DEFAULT 50 // PWM默认占空比
 
 /*
@@ -327,30 +329,44 @@ typedef struct
     // 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;
+        uint32_t sysclk; // 系统时钟
+        uint32_t psc;    // 预分频系数
+        uint16_t arr;    // 自动重装值  auto reload value
+        uint32_t freq;   // 频率
     } default_tm;
     struct
     {
-        BOOL enable; // 使能
-        tmc2240_direction_e direction;
-        float32 percent;
-        uint16_t arr;
-        uint32_t freq;
+        BOOL enable;                   // 使能
+        tmc2240_direction_e direction; // 方向
+        float32 percent;               // 占空比
+        uint16_t arr;                  // 自动重装值(改变速度)
+        uint32_t freq;                 // 频率
     } params;
 
     struct
     {
-        uint16_t tmc2240_adc_temp;
-        float32 tmc2240_temperature;
+        float32 step_angle;    // 步进角度
+        uint16_t circle_pulse; // 一圈脉冲数
+
+        __IO int32_t add_pulse_count;   /* 脉冲个数累计 */
+        __IO uint32_t pulse_count;      /* 脉冲个数记录 */
+        __IO uint32_t step_angle_count; /* 步距个数 */
+    } motor;
+
+    struct
+    {
+        uint16_t tmc2240_adc_temp;   // 温度ADC值
+        float32 tmc2240_temperature; // 温度
     } data;
+
 } tmc2240_t;
 
 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_motor_set_angle(tmc2240_index_e index, int32_t angle);
+void tmc2240_motor_update(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/motor.ioc b/motor.ioc
index d2fdc93..968b967 100644
--- a/motor.ioc
+++ b/motor.ioc
@@ -49,7 +49,6 @@ Mcu.Pin14=PA13
 Mcu.Pin15=PA14
 Mcu.Pin16=VP_SYS_VS_Systick
 Mcu.Pin17=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin2=PD1-OSC_OUT
 Mcu.Pin3=PA3
 Mcu.Pin4=PA4
@@ -58,7 +57,7 @@ Mcu.Pin6=PA6
 Mcu.Pin7=PA7
 Mcu.Pin8=PB0
 Mcu.Pin9=PB1
-Mcu.PinsNb=19
+Mcu.PinsNb=18
 Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
@@ -78,7 +77,7 @@ NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:false
 NVIC.TIM1_UP_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
-NVIC.TIM3_IRQn=true\:3\:0\:true\:false\:true\:true\:true\:true
+NVIC.TIM3_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA10.Mode=Asynchronous
@@ -212,7 +211,7 @@ SPI1.VirtualType=VM_MASTER
 TIM1.IPParameters=Prescaler,Period
 TIM1.Period=99
 TIM1.Prescaler=7199
-TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
+TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_DISABLE
 TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
 TIM3.IPParameters=Prescaler,Period,Channel-PWM Generation3 CH3,AutoReloadPreload
 TIM3.Period=1000
@@ -223,6 +222,4 @@ VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ClockSourceINT.Mode=Internal
 VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
-VP_TIM3_VS_ClockSourceINT.Mode=Internal
-VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
 board=custom