diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 59be19d..9d46913 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -89,6 +89,10 @@ void Error_Handler(void);
 #define TMC2240_MISO_GPIO_Port GPIOA
 #define TMC2240_MOSI_Pin LL_GPIO_PIN_7
 #define TMC2240_MOSI_GPIO_Port GPIOA
+#define TMC2240_STEP_Pin LL_GPIO_PIN_0
+#define TMC2240_STEP_GPIO_Port GPIOB
+#define TMC2240_DIR_Pin LL_GPIO_PIN_1
+#define TMC2240_DIR_GPIO_Port GPIOB
 #define OLED_SDA_Pin LL_GPIO_PIN_12
 #define OLED_SDA_GPIO_Port GPIOB
 #define OLDE_SCK_Pin LL_GPIO_PIN_13
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 4f41ec6..61bc6f7 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -59,7 +59,7 @@ void MX_GPIO_Init(void)
   LL_GPIO_ResetOutputPin(GPIOA, TMC2240_EN_Pin|TMC2240_CS_Pin);
 
   /**/
-  LL_GPIO_ResetOutputPin(GPIOB, OLED_SDA_Pin|OLDE_SCK_Pin);
+  LL_GPIO_ResetOutputPin(GPIOB, TMC2240_STEP_Pin|TMC2240_DIR_Pin|OLED_SDA_Pin|OLDE_SCK_Pin);
 
   /**/
   GPIO_InitStruct.Pin = LED_BLUE_Pin;
@@ -96,10 +96,16 @@ void MX_GPIO_Init(void)
   LL_GPIO_Init(TMC2240_CS_GPIO_Port, &GPIO_InitStruct);
 
   /**/
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_0|LL_GPIO_PIN_1|LL_GPIO_PIN_2|LL_GPIO_PIN_10
-                          |LL_GPIO_PIN_11|LL_GPIO_PIN_14|LL_GPIO_PIN_15|LL_GPIO_PIN_3
-                          |LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6|LL_GPIO_PIN_7
-                          |LL_GPIO_PIN_8|LL_GPIO_PIN_9;
+  GPIO_InitStruct.Pin = TMC2240_STEP_Pin|TMC2240_DIR_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /**/
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_14
+                          |LL_GPIO_PIN_15|LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5
+                          |LL_GPIO_PIN_6|LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
   LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
diff --git a/Core/Src/spi.c b/Core/Src/spi.c
index 9146037..01d0037 100644
--- a/Core/Src/spi.c
+++ b/Core/Src/spi.c
@@ -64,7 +64,7 @@ void MX_SPI1_Init(void)
   SPI_InitStruct.ClockPolarity = LL_SPI_POLARITY_HIGH;
   SPI_InitStruct.ClockPhase = LL_SPI_PHASE_2EDGE;
   SPI_InitStruct.NSS = LL_SPI_NSS_SOFT;
-  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV32;
+  SPI_InitStruct.BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV256;
   SPI_InitStruct.BitOrder = LL_SPI_MSB_FIRST;
   SPI_InitStruct.CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE;
   SPI_InitStruct.CRCPoly = 10;
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 5472002..9ca3964 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8"?>
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
 <ProjectOpt xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_optx.xsd">
 
   <SchemaVersion>1.0</SchemaVersion>
@@ -26,7 +26,7 @@
     <ToolsetNumber>0x4</ToolsetNumber>
     <ToolsetName>ARM-ADS</ToolsetName>
     <TargetOption>
-      <CLKADS>8000000</CLKADS>
+      <CLKADS>12000000</CLKADS>
       <OPTTT>
         <gFlags>1</gFlags>
         <BeepAtEnd>1</BeepAtEnd>
@@ -45,7 +45,7 @@
         <PageWidth>79</PageWidth>
         <PageLength>66</PageLength>
         <TabStop>8</TabStop>
-        <ListingPath />
+        <ListingPath></ListingPath>
       </OPTLEX>
       <ListingPage>
         <CreateCListing>1</CreateCListing>
@@ -104,16 +104,16 @@
         <bSchkAxf>0</bSchkAxf>
         <bTchkAxf>0</bTchkAxf>
         <nTsel>3</nTsel>
-        <sDll />
-        <sDllPa />
-        <sDlgDll />
-        <sDlgPa />
-        <sIfile />
-        <tDll />
-        <tDllPa />
-        <tDlgDll />
-        <tDlgPa />
-        <tIfile />
+        <sDll></sDll>
+        <sDllPa></sDllPa>
+        <sDlgDll></sDlgDll>
+        <sDlgPa></sDlgPa>
+        <sIfile></sIfile>
+        <tDll></tDll>
+        <tDllPa></tDllPa>
+        <tDlgDll></tDlgDll>
+        <tDlgPa></tDlgPa>
+        <tIfile></tIfile>
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -140,15 +140,15 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMDBGFLAGS</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGUARM</Key>
-          <Name />
+          <Name></Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint />
+      <Breakpoint/>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -218,19 +218,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable />
-      <LintConfigFile />
+      <LintExecutable></LintExecutable>
+      <LintConfigFile></LintConfigFile>
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName />
-      <pszMrule />
-      <pSingCmds />
-      <pMultCmds />
-      <pMisraNamep />
-      <pszMrulep />
-      <pSingCmdsp />
-      <pMultCmdsp />
+      <pMisraName></pMisraName>
+      <pszMrule></pszMrule>
+      <pSingCmds></pSingCmds>
+      <pMultCmds></pMultCmds>
+      <pMisraNamep></pMisraNamep>
+      <pszMrulep></pszMrulep>
+      <pSingCmdsp></pSingCmdsp>
+      <pMultCmdsp></pMultCmdsp>
     </TargetOption>
   </Target>
 
diff --git a/MDK-ARM/motor.uvprojx b/MDK-ARM/motor.uvprojx
index d134470..0e46e93 100644
--- a/MDK-ARM/motor.uvprojx
+++ b/MDK-ARM/motor.uvprojx
@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
+<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
+
   <SchemaVersion>2.1</SchemaVersion>
+
   <Header>### uVision Project, (C) Keil Software</Header>
+
   <Targets>
     <Target>
       <TargetName>motor</TargetName>
@@ -11,33 +14,33 @@
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
-          <Device>STM32F103C8</Device>
+          <Device>CS32F103C8</Device>
           <Vendor>AutoChips</Vendor>
           <PackID>Keil.CS32F1xx_DFP.1.0.0</PackID>
           <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
-          <FlashUtilSpec />
-          <StartupFile />
+          <FlashUtilSpec></FlashUtilSpec>
+          <StartupFile></StartupFile>
           <FlashDriverDll>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128 -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM))</FlashDriverDll>
           <DeviceId>0</DeviceId>
           <RegisterFile>$$Device:CS32F103C8$Device\Include\cs32f10x.h</RegisterFile>
-          <MemoryEnv />
-          <Cmp />
-          <Asm />
-          <Linker />
-          <OHString />
-          <InfinionOptionDll />
-          <SLE66CMisc />
-          <SLE66AMisc />
-          <SLE66LinkerMisc />
+          <MemoryEnv></MemoryEnv>
+          <Cmp></Cmp>
+          <Asm></Asm>
+          <Linker></Linker>
+          <OHString></OHString>
+          <InfinionOptionDll></InfinionOptionDll>
+          <SLE66CMisc></SLE66CMisc>
+          <SLE66AMisc></SLE66AMisc>
+          <SLE66LinkerMisc></SLE66LinkerMisc>
           <SFDFile>$$Device:CS32F103C8$SVD\CS32F103xx.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
-          <BinPath />
-          <IncludePath />
-          <LibPath />
-          <RegisterFilePath />
-          <DBRegisterFilePath />
+          <BinPath></BinPath>
+          <IncludePath></IncludePath>
+          <LibPath></LibPath>
+          <RegisterFilePath></RegisterFilePath>
+          <DBRegisterFilePath></DBRegisterFilePath>
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
@@ -52,15 +55,15 @@
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
           <BrowseInformation>1</BrowseInformation>
-          <ListingPath />
+          <ListingPath></ListingPath>
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
           <CreateBatchFile>0</CreateBatchFile>
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
@@ -69,8 +72,8 @@
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
@@ -79,15 +82,15 @@
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name />
-            <UserProg2Name />
+            <UserProg1Name></UserProg1Name>
+            <UserProg2Name></UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopA1X>0</nStopA1X>
             <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>1</SelectedForBatchBuild>
-          <SVCSIdString />
+          <SVCSIdString></SVCSIdString>
         </TargetCommonOption>
         <CommonProperty>
           <UseCPPCompiler>0</UseCPPCompiler>
@@ -101,17 +104,17 @@
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
-          <CustomArgument />
-          <IncludeLibraryModules />
+          <CustomArgument></CustomArgument>
+          <IncludeLibraryModules></IncludeLibraryModules>
           <ComprImg>0</ComprImg>
         </CommonProperty>
         <DllOption>
           <SimDllName>SARMCM3.DLL</SimDllName>
-          <SimDllArguments>-REMAP</SimDllArguments>
+          <SimDllArguments> -REMAP</SimDllArguments>
           <SimDlgDll>DCM.DLL</SimDlgDll>
           <SimDlgDllArguments>-pCM3</SimDlgDllArguments>
           <TargetDllName>SARMCM3.DLL</TargetDllName>
-          <TargetDllArguments />
+          <TargetDllArguments></TargetDllArguments>
           <TargetDlgDll>TCM.DLL</TargetDlgDll>
           <TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
         </DllOption>
@@ -135,11 +138,11 @@
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3 />
-          <Flash4 />
-          <pFcarmOut />
-          <pFcarmGrp />
-          <pFcArmRoot />
+          <Flash3></Flash3>
+          <Flash4></Flash4>
+          <pFcarmOut></pFcarmOut>
+          <pFcarmGrp></pFcarmGrp>
+          <pFcArmRoot></pFcArmRoot>
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
@@ -172,7 +175,7 @@
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M3"</AdsCpuType>
-            <RvctDeviceName />
+            <RvctDeviceName></RvctDeviceName>
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
@@ -306,7 +309,7 @@
                 <Size>0x0</Size>
               </OCR_RVCT10>
             </OnChipMemories>
-            <RvctStartVector />
+            <RvctStartVector></RvctStartVector>
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
@@ -333,9 +336,9 @@
             <v6WtE>0</v6WtE>
             <v6Rtti>0</v6Rtti>
             <VariousControls>
-              <MiscControls />
+              <MiscControls></MiscControls>
               <Define>STM32,STM32F103xB,USE_FULL_LL_DRIVER,HSE_VALUE=8000000,HSE_STARTUP_TIMEOUT=100,LSE_STARTUP_TIMEOUT=5000,LSE_VALUE=32768,HSI_VALUE=8000000,LSI_VALUE=40000,VDD_VALUE=3300,PREFETCH_ENABLE=1</Define>
-              <Undefine />
+              <Undefine></Undefine>
               <IncludePath>../Core/Inc;../Drivers/STM32F1xx_HAL_Driver/Inc;../Drivers/CMSIS/Device/ST/STM32F1xx/Include;../Drivers/CMSIS/Include;../User;../User/application;../User/board;../User/system/inc;../User/system/bsp;../User/lib/inc;../User/lib/flow;../User/lib/control/inc;../User/lib/driver</IncludePath>
             </VariousControls>
           </Cads>
@@ -351,10 +354,10 @@
             <useXO>0</useXO>
             <ClangAsOpt>1</ClangAsOpt>
             <VariousControls>
-              <MiscControls />
-              <Define />
-              <Undefine />
-              <IncludePath />
+              <MiscControls></MiscControls>
+              <Define></Define>
+              <Undefine></Undefine>
+              <IncludePath></IncludePath>
             </VariousControls>
           </Aads>
           <LDads>
@@ -364,15 +367,15 @@
             <noStLib>0</noStLib>
             <RepFail>1</RepFail>
             <useFile>0</useFile>
-            <TextAddressRange />
-            <DataAddressRange />
-            <pXoBase />
-            <ScatterFile />
-            <IncludeLibs />
-            <IncludeLibsPath />
-            <Misc />
-            <LinkerInputFile />
-            <DisabledWarnings />
+            <TextAddressRange></TextAddressRange>
+            <DataAddressRange></DataAddressRange>
+            <pXoBase></pXoBase>
+            <ScatterFile></ScatterFile>
+            <IncludeLibs></IncludeLibs>
+            <IncludeLibsPath></IncludeLibsPath>
+            <Misc></Misc>
+            <LinkerInputFile></LinkerInputFile>
+            <DisabledWarnings></DisabledWarnings>
           </LDads>
         </TargetArmAds>
       </TargetOption>
@@ -417,6 +420,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -444,6 +449,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -465,6 +476,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -492,6 +505,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -513,6 +532,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -540,6 +561,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -561,6 +588,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -588,6 +617,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -764,6 +799,8 @@
               <AssembleAssemblyFile>2</AssembleAssemblyFile>
               <PublicsOnly>2</PublicsOnly>
               <StopOnExitCode>11</StopOnExitCode>
+              <CustomArgument></CustomArgument>
+              <IncludeLibraryModules></IncludeLibraryModules>
               <ComprImg>1</ComprImg>
             </CommonProperty>
             <GroupArmAds>
@@ -791,6 +828,12 @@
                 <v6Lto>2</v6Lto>
                 <v6WtE>2</v6WtE>
                 <v6Rtti>2</v6Rtti>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
               </Cads>
               <Aads>
                 <interw>2</interw>
@@ -803,6 +846,12 @@
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
                 <ClangAsOpt>1</ClangAsOpt>
+                <VariousControls>
+                  <MiscControls></MiscControls>
+                  <Define></Define>
+                  <Undefine></Undefine>
+                  <IncludePath></IncludePath>
+                </VariousControls>
               </Aads>
             </GroupArmAds>
           </GroupOption>
@@ -824,6 +873,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -851,6 +902,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -872,6 +929,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -899,6 +958,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -920,6 +985,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -947,6 +1014,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -968,6 +1041,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -995,6 +1070,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1016,6 +1097,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1043,6 +1126,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1064,6 +1153,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1091,6 +1182,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1112,6 +1209,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1139,6 +1238,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1160,6 +1265,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1187,6 +1294,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1208,6 +1321,8 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1235,6 +1350,12 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1297,18 +1418,20 @@
       </Groups>
     </Target>
   </Targets>
+
   <RTE>
-    <apis />
+    <apis/>
     <components>
       <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.5.0" condition="ARMv6_7_8-M Device">
-        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0" />
+        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.8.0"/>
         <targetInfos>
-          <targetInfo name="motor" />
+          <targetInfo name="motor"/>
         </targetInfos>
       </component>
     </components>
-    <files />
+    <files/>
   </RTE>
+
   <LayerInfo>
     <Layers>
       <Layer>
@@ -1317,5 +1440,5 @@
       </Layer>
     </Layers>
   </LayerInfo>
-</Project>
 
+</Project>
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index a45585b..c65c83f 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:100000009034002005010008291500088707000822
-:10001000251500084D0700080D1B00080000000012
-:100020000000000000000000000000007918000837
-:100030008507000800000000791700087B180008F9
+:1000000090340020050100085115000887070008FA
+:100010004D1500084D070008351B000800000000C2
+:10002000000000000000000000000000A11800080F
+:100030008507000800000000A1170008A3180008A9
 :100040001F0100081F0100081F0100081F01000810
 :100050001F0100081F0100081F0100081F01000800
 :100060001F0100081F0100081F0100081F010008F0
 :100070001F0100081F010008650700087507000838
 :100080001F0100081F0100081F0100081F010008D0
 :100090001F0100081F0100081F0100081F010008C0
-:1000A0001F010008711900081F0100081F01000846
-:1000B0001F010008411A00081F0100081F01000865
+:1000A0001F010008991900081F0100081F0100081E
+:1000B0001F010008691A00081F0100081F0100083D
 :1000C0001F0100081F0100081F0100081F01000890
-:1000D0001F010008FD1A00081F0100081F01000889
+:1000D0001F010008251B00081F0100081F01000860
 :1000E0001F0100081F0100081F010008DFF810D0E1
-:1000F00000F01AFB00480047692B0008AFF30080AE
+:1000F00000F01AFB00480047B12B0008AFF3008066
 :10010000903400200648804706480047FEE7FEE797
 :10011000FEE7FEE7FEE7FEE7FEE7FEE7FEE7FEE7B7
-:100120006D190008ED000008D2B201E000F8012BC3
+:1001200095190008ED000008D2B201E000F8012B9B
 :10013000491EFBD270470022F6E710B513460A4667
 :1001400004461946FFF7F0FF204610BD421C10F888
 :10015000011B0029FBD1801A7047F0B480EA01022C
@@ -115,10 +115,10 @@
 :100710000146E9E7010510196941DDE908450019BD
 :100720006941BDE8F04DA2E7064C074D06E0E068E0
 :1007300040F0010394E8070098471034AC42F6D328
-:10074000FFF7D8FCFC5300081C54000800BFFEE76C
+:10074000FFF7D8FC94540008B454000800BFFEE73B
 :10075000024600BF1AB901E000BF00BFFCE700BFBE
-:100760000120704710B50248006803F0E8FC10BD96
-:100770005C00002010B50248006803F0E0FC10BDEA
+:100760000120704710B50248006803F034FD10BD49
+:100770005C00002010B50248006803F02CFD10BD9D
 :100780005C000020704700BFFEE7000008B5054987
 :10079000C9690143034AD1611146C9690140009109
 :1007A00000BF08BD0010024008B505498969014332
@@ -130,29 +130,29 @@
 :1008000089690143034A9161114689690140009158
 :1008100000BF08BD0010024010B54A1E044B9A5C90
 :10082000825822F001034A1E014CA25C835010BD85
-:100830003447000810B54A1E044B9A5C825842F0B7
-:1008400001034A1E014CA25C835010BD34470008CE
+:10083000CC47000810B54A1E044B9A5C825842F01F
+:1008400001034A1E014CA25C835010BDCC47000836
 :1008500010B54A1E044B9A5C825842F002034A1EAD
-:10086000014CA25C835010BD3447000830B54B1ECC
+:10086000014CA25C835010BDCC47000830B54B1E34
 :10087000054CE35CC35823F4405313434C1E024D14
-:100880002C5D035130BD0000F246000830B54B1E10
+:100880002C5D035130BD00008A47000830B54B1E77
 :10089000064CE35C03445B686FF30F0313434C1E89
-:1008A000024D2C5D0444636030BD000034470008F5
+:1008A000024D2C5D0444636030BD0000CC4700085D
 :1008B00030B54B1E054CE35CC35844F21004A3430F
-:1008C00013434C1E014D2C5D035130BDF246000810
+:1008C00013434C1E014D2C5D035130BD8A47000877
 :1008D00010B54B1E024CE35C0344DA6010BD00000F
-:1008E0003447000830B54B1E054CE35CC35823F079
+:1008E000CC47000830B54B1E054CE35CC35823F0E1
 :1008F000800313434C1E024D2C5D035130BD00009C
-:10090000F246000830B54B1E054CE35CC35823F497
+:100900008A47000830B54B1E054CE35CC35823F4FE
 :10091000406313434C1E024D2C5D035130BD00005B
-:10092000F246000830B54B1E054CE35CC35823F07B
+:100920008A47000830B54B1E054CE35CC35823F0E2
 :10093000200313434C1E024D2C5D035130BD0000BB
-:10094000F246000810B54B1E024CE35C03449A606B
-:1009500010BD00003447000830B54B1E054CE35C69
+:100940008A47000810B54B1E024CE35C03449A60D2
+:1009500010BD0000CC47000830B54B1E054CE35CD1
 :10096000C35823F0400313434C1E024D2C5D03512A
-:1009700030BD0000F246000830B54B1E054CE35C6C
+:1009700030BD00008A47000830B54B1E054CE35CD3
 :10098000C35823F4407313434C1E024D2C5D035196
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+:1009900030BD00008A4700082DE9F04102460B46B1
 :1009A0001868C0F30F2595FAA5F0B0FA80F480E03E
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@@ -173,1184 +173,1194 @@
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diff --git a/User/board/board.c b/User/board/board.c
index fdce42a..f5af1cd 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -42,7 +42,10 @@ void board_init(void)
     ssd1306_init();
 
     {
-        GPIO_SET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
+        GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
+        GPIO_SET(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
+        GPIO_RESET(TMC2240_STEP_GPIO_Port, TMC2240_STEP_Pin);
+        GPIO_RESET(TMC2240_DIR_GPIO_Port, TMC2240_DIR_Pin);
         delay_ms(100);
         spi_gpio_group_t gpios;
         gpios.cs = gpio_create(TMC2240_CS_GPIO_Port, TMC2240_CS_Pin);
diff --git a/User/lib/driver/tmc2240.c b/User/lib/driver/tmc2240.c
index 8025f7c..ed116b7 100644
--- a/User/lib/driver/tmc2240.c
+++ b/User/lib/driver/tmc2240.c
@@ -25,6 +25,17 @@ static void tmc2240_read(tmc2240_index_e index, uint8_t *wdata, uint8_t *rdata)
         rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
     }
     tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
+
+    __NOP();
+    __NOP();
+    __NOP();
+
+    tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
+    for (uint16_t i = 0; i < 5; i++) // 循环读取数据
+    {
+        rdata[i] = tmc->spi->interface.u.normal.spi_send(tmc->spi, wdata[i]);
+    }
+    tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
 }
 
 void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
@@ -49,15 +60,10 @@ void tmc2240_config(tmc2240_index_e index)
     wdata[1] = 0x00;
     wdata[2] = 0x00;
     wdata[3] = 0x00;
-    wdata[4] = 0x04;
+    wdata[4] = 0x02;
     tmc2240_write(index, wdata);
     osel_memset(wdata, 0, 5);
-    __NOP();
-    __NOP();
-    __NOP();
-    __NOP();
-    __NOP();
-    __NOP();
+    delay_ms(100);
     // 读取 GCONF 寄存器
     uint8_t rdata[5] = {0};
     wdata[0] = TMC2240_REG_GCONF;
diff --git a/motor.ioc b/motor.ioc
index 3825ff6..511d58d 100644
--- a/motor.ioc
+++ b/motor.ioc
@@ -42,24 +42,26 @@ Mcu.Name=STM32F103C(8-B)Tx
 Mcu.Package=LQFP48
 Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=PD0-OSC_IN
-Mcu.Pin10=PB13
-Mcu.Pin11=PA9
-Mcu.Pin12=PA10
-Mcu.Pin13=PA13
-Mcu.Pin14=PA14
-Mcu.Pin15=VP_SYS_VS_Systick
-Mcu.Pin16=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin17=VP_TIM2_VS_ClockSourceINT
-Mcu.Pin18=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin10=PB1
+Mcu.Pin11=PB12
+Mcu.Pin12=PB13
+Mcu.Pin13=PA9
+Mcu.Pin14=PA10
+Mcu.Pin15=PA13
+Mcu.Pin16=PA14
+Mcu.Pin17=VP_SYS_VS_Systick
+Mcu.Pin18=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin19=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin2=PD1-OSC_OUT
+Mcu.Pin20=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin3=PA1
 Mcu.Pin4=PA3
 Mcu.Pin5=PA4
 Mcu.Pin6=PA5
 Mcu.Pin7=PA6
 Mcu.Pin8=PA7
-Mcu.Pin9=PB12
-Mcu.PinsNb=19
+Mcu.Pin9=PB0
+Mcu.PinsNb=21
 Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
@@ -111,6 +113,14 @@ PA7.Mode=Full_Duplex_Master
 PA7.Signal=SPI1_MOSI
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
+PB0.GPIOParameters=GPIO_Label
+PB0.GPIO_Label=TMC2240_STEP
+PB0.Locked=true
+PB0.Signal=GPIO_Output
+PB1.GPIOParameters=GPIO_Label
+PB1.GPIO_Label=TMC2240_DIR
+PB1.Locked=true
+PB1.Signal=GPIO_Output
 PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultOutputPP
 PB12.GPIO_Label=OLED_SDA
 PB12.GPIO_ModeDefaultOutputPP=GPIO_MODE_OUTPUT_PP
@@ -195,10 +205,10 @@ RealThread.RT-Thread.3.1.5.RT_USING_DEVICE=1
 RealThread.RT-Thread.3.1.5_SwParameter=RTOSJjkernel\:true;RTOSJjshell\:true;RTOSJjdevice\:true;
 SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
 SH.S_TIM2_CH2.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
+SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_256
 SPI1.CLKPhase=SPI_PHASE_2EDGE
 SPI1.CLKPolarity=SPI_POLARITY_HIGH
-SPI1.CalculateBaudRate=2.25 MBits/s
+SPI1.CalculateBaudRate=281.25 KBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
 SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
 SPI1.Mode=SPI_MODE_MASTER