From a8ca2d69f162d5a65b7991ce096b614715731ce3 Mon Sep 17 00:00:00 2001
From: xushenghao <xushenghao@wuxismart.com>
Date: Mon, 23 Dec 2024 08:09:52 +0800
Subject: [PATCH] 1

---
 Core/Src/gpio.c                 |   13 +-
 MDK-ARM/motor.uvguix.xushenghao | 3655 -------------------------------
 MDK-ARM/motor.uvoptx            |   93 +-
 MDK-ARM/motor.uvprojx           |  241 +-
 MDK-ARM/motor/motor.hex         | 2246 +++++++++----------
 User/application/app.c          |    3 +
 User/board/board.c              |    7 +-
 User/lib/driver/tmc2240.c       |   55 +-
 User/lib/driver/tmc2240.h       |    5 +-
 User/system/bsp/spis.c          |   11 +-
 motor.ioc                       |    8 +-
 11 files changed, 1277 insertions(+), 5060 deletions(-)
 delete mode 100644 MDK-ARM/motor.uvguix.xushenghao

diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 46a4128..4f41ec6 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -80,11 +80,20 @@ void MX_GPIO_Init(void)
   LL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
   /**/
-  GPIO_InitStruct.Pin = TMC2240_EN_Pin|TMC2240_CS_Pin;
+  GPIO_InitStruct.Pin = TMC2240_EN_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(GPIOA, &GPIO_InitStruct);
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_DOWN;
+  LL_GPIO_Init(TMC2240_EN_GPIO_Port, &GPIO_InitStruct);
+
+  /**/
+  GPIO_InitStruct.Pin = TMC2240_CS_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_OUTPUT;
+  GPIO_InitStruct.Speed = LL_GPIO_SPEED_FREQ_LOW;
+  GPIO_InitStruct.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
+  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
diff --git a/MDK-ARM/motor.uvguix.xushenghao b/MDK-ARM/motor.uvguix.xushenghao
deleted file mode 100644
index 4c5aa97..0000000
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@@ -1,3655 +0,0 @@
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diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index 3477205..5472002 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <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>12000000</CLKADS>
+      <CLKADS>8000000</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></sDll>
-        <sDllPa></sDllPa>
-        <sDlgDll></sDlgDll>
-        <sDlgPa></sDlgPa>
-        <sIfile></sIfile>
-        <tDll></tDll>
-        <tDllPa></tDllPa>
-        <tDlgDll></tDlgDll>
-        <tDlgPa></tDlgPa>
-        <tIfile></tIfile>
+        <sDll />
+        <sDllPa />
+        <sDlgDll />
+        <sDlgPa />
+        <sIfile />
+        <tDll />
+        <tDllPa />
+        <tDlgDll />
+        <tDlgPa />
+        <tIfile />
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
@@ -125,7 +125,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"" -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0CS32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:CS32F103C8$Flash\CS32F10x_128.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -140,77 +140,52 @@
         <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>
           <WinNumber>1</WinNumber>
-          <ItemText>buffer</ItemText>
+          <ItemText>_tmc2240</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>app,0x0A</ItemText>
+          <ItemText>rdata</ItemText>
         </Ww>
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>work,0x0A</ItemText>
+          <ItemText>data</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ch</ItemText>
+          <ItemText>wdata</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>dd</ItemText>
+          <ItemText>rdata</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>i,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>progress_text</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>x,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>8</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>_tmc2240</ItemText>
-        </Ww>
-        <Ww>
-          <count>9</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>wdata</ItemText>
-        </Ww>
-        <Ww>
-          <count>10</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>rdata</ItemText>
+          <ItemText>tx_data</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
           <WinNumber>1</WinNumber>
           <SubType>0</SubType>
-          <ItemText>0x20003440</ItemText>
+          <ItemText>0x20003450</ItemText>
           <AccSizeX>0</AccSizeX>
         </Mm>
       </MemoryWindow1>
@@ -243,19 +218,19 @@
         <newCpu>0</newCpu>
         <uProt>0</uProt>
       </DebugFlag>
-      <LintExecutable></LintExecutable>
-      <LintConfigFile></LintConfigFile>
+      <LintExecutable />
+      <LintConfigFile />
       <bLintAuto>0</bLintAuto>
       <bAutoGenD>0</bAutoGenD>
       <LntExFlags>0</LntExFlags>
-      <pMisraName></pMisraName>
-      <pszMrule></pszMrule>
-      <pSingCmds></pSingCmds>
-      <pMultCmds></pMultCmds>
-      <pMisraNamep></pMisraNamep>
-      <pszMrulep></pszMrulep>
-      <pSingCmdsp></pSingCmdsp>
-      <pMultCmdsp></pMultCmdsp>
+      <pMisraName />
+      <pszMrule />
+      <pSingCmds />
+      <pMultCmds />
+      <pMisraNamep />
+      <pszMrulep />
+      <pSingCmdsp />
+      <pMultCmdsp />
     </TargetOption>
   </Target>
 
diff --git a/MDK-ARM/motor.uvprojx b/MDK-ARM/motor.uvprojx
index 988f013..d134470 100644
--- a/MDK-ARM/motor.uvprojx
+++ b/MDK-ARM/motor.uvprojx
@@ -1,10 +1,7 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="project_projx.xsd">
-
+<?xml version="1.0" encoding="UTF-8"?>
+<Project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" noNamespaceSchemaLocation="project_projx.xsd">
   <SchemaVersion>2.1</SchemaVersion>
-
   <Header>### uVision Project, (C) Keil Software</Header>
-
   <Targets>
     <Target>
       <TargetName>motor</TargetName>
@@ -14,33 +11,33 @@
       <uAC6>0</uAC6>
       <TargetOption>
         <TargetCommonOption>
-          <Device>CS32F103C8</Device>
+          <Device>STM32F103C8</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></FlashUtilSpec>
-          <StartupFile></StartupFile>
+          <FlashUtilSpec />
+          <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></MemoryEnv>
-          <Cmp></Cmp>
-          <Asm></Asm>
-          <Linker></Linker>
-          <OHString></OHString>
-          <InfinionOptionDll></InfinionOptionDll>
-          <SLE66CMisc></SLE66CMisc>
-          <SLE66AMisc></SLE66AMisc>
-          <SLE66LinkerMisc></SLE66LinkerMisc>
+          <MemoryEnv />
+          <Cmp />
+          <Asm />
+          <Linker />
+          <OHString />
+          <InfinionOptionDll />
+          <SLE66CMisc />
+          <SLE66AMisc />
+          <SLE66LinkerMisc />
           <SFDFile>$$Device:CS32F103C8$SVD\CS32F103xx.svd</SFDFile>
           <bCustSvd>0</bCustSvd>
           <UseEnv>0</UseEnv>
-          <BinPath></BinPath>
-          <IncludePath></IncludePath>
-          <LibPath></LibPath>
-          <RegisterFilePath></RegisterFilePath>
-          <DBRegisterFilePath></DBRegisterFilePath>
+          <BinPath />
+          <IncludePath />
+          <LibPath />
+          <RegisterFilePath />
+          <DBRegisterFilePath />
           <TargetStatus>
             <Error>0</Error>
             <ExitCodeStop>0</ExitCodeStop>
@@ -54,16 +51,16 @@
           <CreateLib>0</CreateLib>
           <CreateHexFile>1</CreateHexFile>
           <DebugInformation>1</DebugInformation>
-          <BrowseInformation>0</BrowseInformation>
-          <ListingPath></ListingPath>
+          <BrowseInformation>1</BrowseInformation>
+          <ListingPath />
           <HexFormatSelection>1</HexFormatSelection>
           <Merge32K>0</Merge32K>
           <CreateBatchFile>0</CreateBatchFile>
           <BeforeCompile>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name></UserProg1Name>
-            <UserProg2Name></UserProg2Name>
+            <UserProg1Name />
+            <UserProg2Name />
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopU1X>0</nStopU1X>
@@ -72,8 +69,8 @@
           <BeforeMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name></UserProg1Name>
-            <UserProg2Name></UserProg2Name>
+            <UserProg1Name />
+            <UserProg2Name />
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
             <nStopB1X>0</nStopB1X>
@@ -82,15 +79,15 @@
           <AfterMake>
             <RunUserProg1>0</RunUserProg1>
             <RunUserProg2>0</RunUserProg2>
-            <UserProg1Name></UserProg1Name>
-            <UserProg2Name></UserProg2Name>
+            <UserProg1Name />
+            <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>
@@ -104,17 +101,17 @@
           <AssembleAssemblyFile>0</AssembleAssemblyFile>
           <PublicsOnly>0</PublicsOnly>
           <StopOnExitCode>3</StopOnExitCode>
-          <CustomArgument></CustomArgument>
-          <IncludeLibraryModules></IncludeLibraryModules>
+          <CustomArgument />
+          <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>
@@ -138,11 +135,11 @@
           </Flash1>
           <bUseTDR>1</bUseTDR>
           <Flash2>BIN\UL2CM3.DLL</Flash2>
-          <Flash3></Flash3>
-          <Flash4></Flash4>
-          <pFcarmOut></pFcarmOut>
-          <pFcarmGrp></pFcarmGrp>
-          <pFcArmRoot></pFcArmRoot>
+          <Flash3 />
+          <Flash4 />
+          <pFcarmOut />
+          <pFcarmGrp />
+          <pFcArmRoot />
           <FcArmLst>0</FcArmLst>
         </Utilities>
         <TargetArmAds>
@@ -175,7 +172,7 @@
             <RvctClst>0</RvctClst>
             <GenPPlst>0</GenPPlst>
             <AdsCpuType>"Cortex-M3"</AdsCpuType>
-            <RvctDeviceName></RvctDeviceName>
+            <RvctDeviceName />
             <mOS>0</mOS>
             <uocRom>0</uocRom>
             <uocRam>0</uocRam>
@@ -309,7 +306,7 @@
                 <Size>0x0</Size>
               </OCR_RVCT10>
             </OnChipMemories>
-            <RvctStartVector></RvctStartVector>
+            <RvctStartVector />
           </ArmAdsMisc>
           <Cads>
             <interw>1</interw>
@@ -336,9 +333,9 @@
             <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>
@@ -354,10 +351,10 @@
             <useXO>0</useXO>
             <ClangAsOpt>1</ClangAsOpt>
             <VariousControls>
-              <MiscControls></MiscControls>
-              <Define></Define>
-              <Undefine></Undefine>
-              <IncludePath></IncludePath>
+              <MiscControls />
+              <Define />
+              <Undefine />
+              <IncludePath />
             </VariousControls>
           </Aads>
           <LDads>
@@ -367,15 +364,15 @@
             <noStLib>0</noStLib>
             <RepFail>1</RepFail>
             <useFile>0</useFile>
-            <TextAddressRange></TextAddressRange>
-            <DataAddressRange></DataAddressRange>
-            <pXoBase></pXoBase>
-            <ScatterFile></ScatterFile>
-            <IncludeLibs></IncludeLibs>
-            <IncludeLibsPath></IncludeLibsPath>
-            <Misc></Misc>
-            <LinkerInputFile></LinkerInputFile>
-            <DisabledWarnings></DisabledWarnings>
+            <TextAddressRange />
+            <DataAddressRange />
+            <pXoBase />
+            <ScatterFile />
+            <IncludeLibs />
+            <IncludeLibsPath />
+            <Misc />
+            <LinkerInputFile />
+            <DisabledWarnings />
           </LDads>
         </TargetArmAds>
       </TargetOption>
@@ -420,8 +417,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -449,12 +444,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -476,8 +465,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -505,12 +492,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -532,8 +513,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -561,12 +540,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -588,8 +561,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -617,12 +588,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -799,8 +764,6 @@
               <AssembleAssemblyFile>2</AssembleAssemblyFile>
               <PublicsOnly>2</PublicsOnly>
               <StopOnExitCode>11</StopOnExitCode>
-              <CustomArgument></CustomArgument>
-              <IncludeLibraryModules></IncludeLibraryModules>
               <ComprImg>1</ComprImg>
             </CommonProperty>
             <GroupArmAds>
@@ -828,12 +791,6 @@
                 <v6Lto>2</v6Lto>
                 <v6WtE>2</v6WtE>
                 <v6Rtti>2</v6Rtti>
-                <VariousControls>
-                  <MiscControls></MiscControls>
-                  <Define></Define>
-                  <Undefine></Undefine>
-                  <IncludePath></IncludePath>
-                </VariousControls>
               </Cads>
               <Aads>
                 <interw>2</interw>
@@ -846,12 +803,6 @@
                 <uSurpInc>2</uSurpInc>
                 <useXO>2</useXO>
                 <ClangAsOpt>1</ClangAsOpt>
-                <VariousControls>
-                  <MiscControls></MiscControls>
-                  <Define></Define>
-                  <Undefine></Undefine>
-                  <IncludePath></IncludePath>
-                </VariousControls>
               </Aads>
             </GroupArmAds>
           </GroupOption>
@@ -873,8 +824,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -902,12 +851,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -929,8 +872,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -958,12 +899,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -985,8 +920,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1014,12 +947,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1041,8 +968,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1070,12 +995,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1097,8 +1016,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1126,12 +1043,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1153,8 +1064,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1182,12 +1091,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1209,8 +1112,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1238,12 +1139,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1265,8 +1160,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1294,12 +1187,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1321,8 +1208,6 @@
                   <AssembleAssemblyFile>2</AssembleAssemblyFile>
                   <PublicsOnly>2</PublicsOnly>
                   <StopOnExitCode>11</StopOnExitCode>
-                  <CustomArgument></CustomArgument>
-                  <IncludeLibraryModules></IncludeLibraryModules>
                   <ComprImg>1</ComprImg>
                 </CommonProperty>
                 <FileArmAds>
@@ -1350,12 +1235,6 @@
                     <v6Lto>2</v6Lto>
                     <v6WtE>2</v6WtE>
                     <v6Rtti>2</v6Rtti>
-                    <VariousControls>
-                      <MiscControls></MiscControls>
-                      <Define></Define>
-                      <Undefine></Undefine>
-                      <IncludePath></IncludePath>
-                    </VariousControls>
                   </Cads>
                 </FileArmAds>
               </FileOption>
@@ -1418,20 +1297,18 @@
       </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>
@@ -1440,5 +1317,5 @@
       </Layer>
     </Layers>
   </LayerInfo>
-
 </Project>
+
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index 4928b66..a45585b 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:100000009034002005010008091500088707000842
-:10001000051500084D070008ED1A00080000000053
-:100020000000000000000000000000005918000857
-:100030008507000800000000591700085B18000839
+:100000009034002005010008291500088707000822
+:10001000251500084D0700080D1B00080000000012
+:100020000000000000000000000000007918000837
+:100030008507000800000000791700087B180008F9
 :100040001F0100081F0100081F0100081F01000810
 :100050001F0100081F0100081F0100081F01000800
 :100060001F0100081F0100081F0100081F010008F0
 :100070001F0100081F010008650700087507000838
 :100080001F0100081F0100081F0100081F010008D0
 :100090001F0100081F0100081F0100081F010008C0
-:1000A0001F010008511900081F0100081F01000866
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diff --git a/User/application/app.c b/User/application/app.c
index 933b385..0bd4041 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_config(TMC2240_1);
         tmc2240_position_read(TMC2240_1);
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
@@ -36,6 +37,8 @@ static uint8_t idle_inspection(struct flow *fl)
         GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
         ssd1306_f6x8_string(0, 2, " tick:");
         ssd1306_f6x8_number(40, 2, tick++, 0);
+        ssd1306_f6x8_string(0, 4, " cfg:");
+        ssd1306_f6x8_number(40, 4, tmc2240_get(TMC2240_1)->data.gconf, 0);
         ssd1306_update_screen();
         FL_LOCK_DELAY(fl, FL_CLOCK_SEC);
     }
diff --git a/User/board/board.c b/User/board/board.c
index f178a13..fdce42a 100644
--- a/User/board/board.c
+++ b/User/board/board.c
@@ -42,7 +42,8 @@ void board_init(void)
     ssd1306_init();
 
     {
-        GPIO_RESET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
+        GPIO_SET(TMC2240_EN_GPIO_Port, TMC2240_EN_Pin);
+        delay_ms(100);
         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);
@@ -50,8 +51,6 @@ 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, &gpios);
-        tmc2240_get(TMC2240_1)->spi->interface.hardware_enable(tmc2240_get(TMC2240_1)->spi, SPI1);
-        tmc2240_config(TMC2240_1);
+        tmc2240_init(TMC2240_1, SPI1, &gpios);
     }
 }
diff --git a/User/lib/driver/tmc2240.c b/User/lib/driver/tmc2240.c
index d4e92fb..8025f7c 100644
--- a/User/lib/driver/tmc2240.c
+++ b/User/lib/driver/tmc2240.c
@@ -6,13 +6,11 @@ static void tmc2240_write(tmc2240_index_e index, uint8_t *data)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
-
     tmc->spi->gpios.cs->reset(*tmc->spi->gpios.cs);
     for (uint16_t i = 0; i < 5; i++)
     {
         tmc->spi->interface.u.normal.spi_send(tmc->spi, data[i]);
     }
-
     tmc->spi->gpios.cs->set(*tmc->spi->gpios.cs);
 }
 
@@ -27,37 +25,9 @@ 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_config(tmc2240_index_e index)
-{
-    uint8_t wdata[5];
-    wdata[0] = 0x80 | TMC2240_REG_GCONF; // 写入 GCONF 寄存器
-    wdata[1] = 0x00;
-    wdata[2] = 0x00;
-    wdata[3] = 0x00;
-    wdata[4] = 0x01;
-    tmc2240_write(index, wdata);
-
-    // 读取 GCONF 寄存器
-    uint8_t rdata[5] = {0};
-    wdata[0] = TMC2240_REG_GCONF;
-    tmc2240_read(index, wdata, rdata);
-    _tmc2240[index].data.gconf = rdata[4];
-}
-
-void tmc2240_init(tmc2240_index_e index, spi_gpio_group_t *gpios)
+void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
@@ -72,6 +42,29 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index)
     return &_tmc2240[index];
 }
 
+void tmc2240_config(tmc2240_index_e index)
+{
+    uint8_t wdata[5];
+    wdata[0] = TMC2240_HIGHT_BIT | TMC2240_REG_GCONF; // 写入 GCONF 寄存器
+    wdata[1] = 0x00;
+    wdata[2] = 0x00;
+    wdata[3] = 0x00;
+    wdata[4] = 0x04;
+    tmc2240_write(index, wdata);
+    osel_memset(wdata, 0, 5);
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    __NOP();
+    // 读取 GCONF 寄存器
+    uint8_t rdata[5] = {0};
+    wdata[0] = TMC2240_REG_GCONF;
+    tmc2240_read(index, wdata, rdata);
+    _tmc2240[index].data.gconf = rdata[4];
+}
+
 int32_t tmc2240_position_read(tmc2240_index_e index)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
diff --git a/User/lib/driver/tmc2240.h b/User/lib/driver/tmc2240.h
index 2ccca82..52d5624 100644
--- a/User/lib/driver/tmc2240.h
+++ b/User/lib/driver/tmc2240.h
@@ -2,7 +2,10 @@
 #define __TMC2240_H
 #include "main.h"
 #include "spis.h"
+
+#define TMC2240_HIGHT_BIT 0x80
 #define TMC2240_REG_GCONF 0x00
+#define TMC2240_REG_XACTUAL 0x21
 
 typedef enum
 {
@@ -20,7 +23,7 @@ typedef struct
     } data;
 } tmc2240_t;
 
-void tmc2240_init(tmc2240_index_e index, spi_gpio_group_t *gpios);
+void tmc2240_init(tmc2240_index_e index, SPI_TypeDef *SPIx, spi_gpio_group_t *gpios);
 void tmc2240_config(tmc2240_index_e index);
 tmc2240_t *tmc2240_get(tmc2240_index_e index);
 
diff --git a/User/system/bsp/spis.c b/User/system/bsp/spis.c
index 4f57581..247a380 100644
--- a/User/system/bsp/spis.c
+++ b/User/system/bsp/spis.c
@@ -1,7 +1,7 @@
 #include "spis.h"
 #include "delay.h"
 
-#define SPI_TIMEOUT 2000
+#define SPI_TIMEOUT 0xffffffff
 
 #define CMD_RDSR 0x05   /*!< Read Status Register instruction  */
 #define CMD_WRSR 0x01   /*!< Write Status Register instruction */
@@ -461,11 +461,18 @@ static uint8_t spi_read_write_byte(spi_t *handle, uint8_t tx_data)
     else
     {
         LL_SPI_TransmitData8(handle->spi, tx_data);
-
+        if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
+        {
+            return 0xff;
+        }
         if (spi_wait_flag(handle, LL_SPI_SR_RXNE, SPI_TIMEOUT) == FALSE)
         {
             return 0xff;
         }
+        if (spi_wait_flag(handle, LL_SPI_SR_TXE, SPI_TIMEOUT) == FALSE)
+        {
+            return 0xff;
+        }
         rdata = LL_SPI_ReceiveData8(handle->spi);
         return rdata;
     }
diff --git a/motor.ioc b/motor.ioc
index 01bc6ad..3825ff6 100644
--- a/motor.ioc
+++ b/motor.ioc
@@ -89,11 +89,13 @@ PA13.Mode=Serial_Wire
 PA13.Signal=SYS_JTMS-SWDIO
 PA14.Mode=Serial_Wire
 PA14.Signal=SYS_JTCK-SWCLK
-PA3.GPIOParameters=GPIO_Label
+PA3.GPIOParameters=GPIO_PuPd,GPIO_Label
 PA3.GPIO_Label=TMC2240_EN
+PA3.GPIO_PuPd=GPIO_PULLDOWN
 PA3.Signal=GPIO_Output
-PA4.GPIOParameters=GPIO_Label
+PA4.GPIOParameters=GPIO_PuPd,GPIO_Label
 PA4.GPIO_Label=TMC2240_CS
+PA4.GPIO_PuPd=GPIO_PULLUP
 PA4.Signal=GPIO_Output
 PA5.GPIOParameters=GPIO_Label
 PA5.GPIO_Label=TMC2240_SCK
@@ -198,7 +200,7 @@ SPI1.CLKPhase=SPI_PHASE_2EDGE
 SPI1.CLKPolarity=SPI_POLARITY_HIGH
 SPI1.CalculateBaudRate=2.25 MBits/s
 SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,BaudRatePrescaler,CalculateBaudRate,CLKPolarity,CLKPhase
+SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
 SPI1.Mode=SPI_MODE_MASTER
 SPI1.VirtualType=VM_MASTER
 TIM1.IPParameters=Prescaler,Period