diff --git a/src/main/java/com/iflytop/handacid/app/controller/DeviceParamController.java b/src/main/java/com/iflytop/handacid/app/controller/DeviceParamController.java
new file mode 100644
index 0000000..4de353e
--- /dev/null
+++ b/src/main/java/com/iflytop/handacid/app/controller/DeviceParamController.java
@@ -0,0 +1,122 @@
+package com.iflytop.handacid.app.controller;
+
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.iflytop.handacid.common.model.entity.DeviceParamConfig;
+import com.iflytop.handacid.common.model.vo.DeviceParamGroupVO;
+import com.iflytop.handacid.common.model.vo.ModuleIdVO;
+import com.iflytop.handacid.common.model.vo.RegIndexVO;
+import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.service.DeviceParamConfigService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import jakarta.validation.Valid;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.http.MediaType;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.nio.charset.StandardCharsets;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 设备参数配置
+ */
+@Tag(name = "设备参数配置")
+@RestController
+@RequestMapping("/api/device-param")
+@RequiredArgsConstructor
+@Slf4j
+public class DeviceParamController {
+
+    private final DeviceParamConfigService deviceParamConfigService;
+
+    @Operation(summary = "获取所有设备配置")
+    @GetMapping("/list")
+    public Result<List<DeviceParamGroupVO>> getList() {
+        List<DeviceParamGroupVO> vos = deviceParamConfigService.listGroupedByModule();
+        return Result.success(vos);
+    }
+
+    @Operation(summary = "获取所有设备模块")
+    @GetMapping("/modules")
+    public Result<List<ModuleIdVO>> listAllModules() {
+        List<ModuleIdVO> vos = deviceParamConfigService.listAllModuleIds();
+        return Result.success(vos);
+    }
+
+    @Operation(summary = "获取所有设备模块配置项")
+    @GetMapping("/reg-indices")
+    public Result<List<RegIndexVO>> listAllRegIndices() {
+        List<RegIndexVO> vos = deviceParamConfigService.listAllRegIndices();
+        return Result.success(vos);
+    }
+
+
+    @Operation(summary = "添加新配置")
+    @PostMapping("")
+    public Result<String> add(@Valid @RequestBody DeviceParamConfig deviceParamConfig) {
+        deviceParamConfigService.save(deviceParamConfig);
+        return Result.success();
+    }
+
+    @Operation(summary = "修改配置")
+    @PutMapping("")
+    public Result<String> update(@Valid @RequestBody DeviceParamConfig deviceParamConfig) {
+        deviceParamConfigService.updateById(deviceParamConfig);
+        return Result.success();
+    }
+
+    @Operation(summary = "删除配置")
+    @DeleteMapping("/{ids}")
+    public Result<String> delete(@Parameter(description = "矿石ID，多个以英文逗号(,)分割") @PathVariable String ids) {
+        boolean isSuccess = deviceParamConfigService.deleteDeviceParam(ids);
+        if (isSuccess) {
+            return Result.success();
+        }
+        return Result.failed();
+    }
+
+    @Operation(summary = "上传csv文件覆盖数据库配置")
+    @PostMapping(value = "/uploadFile", consumes = MediaType.MULTIPART_FORM_DATA_VALUE)
+    public Result<String> uploadFile(@RequestPart("file") MultipartFile file) {
+        //文件后缀检查
+        if (!file.getOriginalFilename().endsWith(".csv")) {
+            return Result.failed("<UNK>.csv<UNK>");
+        }
+        try (BufferedReader reader = new BufferedReader(
+                new InputStreamReader(file.getInputStream(), StandardCharsets.UTF_8))) {
+            String line;
+            deviceParamConfigService.remove(new QueryWrapper<>());//删除所有配置
+            //是否含有表头
+            boolean isHeader = true;
+            List<DeviceParamConfig> deviceParamConfigList = new ArrayList<>();
+            while ((line = reader.readLine()) != null) {
+                if (isHeader) {
+                    isHeader = false;
+                    continue; // 跳过CSV文件的标题行
+                }
+                String[] data = line.split(",");
+                if (data.length >= 4) { // 假设CSV文件至少包含4列
+                    DeviceParamConfig deviceParamConfig = new DeviceParamConfig();
+                    deviceParamConfig.setId(Long.valueOf(data[0]));
+                    deviceParamConfig.setMid(String.valueOf(data[1]));
+                    deviceParamConfig.setRegIndex(String.valueOf(data[2]));
+                    deviceParamConfig.setRegVal(Integer.valueOf(data[3]));
+                    deviceParamConfigList.add(deviceParamConfig);
+                    deviceParamConfigService.save(deviceParamConfig);
+                }
+            }
+        } catch (IOException e) {
+            log.error("csv文件导入数据库失败:{}", e.getMessage());
+            throw new RuntimeException(e);
+        }
+        return Result.success();
+    }
+
+}
diff --git a/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java b/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java
index 33e6aee..609691f 100644
--- a/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java
+++ b/src/main/java/com/iflytop/handacid/app/core/command/DeviceCommandGenerator.java
@@ -12,6 +12,7 @@ public class DeviceCommandGenerator {
 //=========================================== 阀 =================================================================
 
 //=========================================== 泵 =================================================================
+
     /**
      * 泵 1 设置速度
      */
@@ -56,6 +57,13 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 泵 1 使能
+     */
+    public static DeviceCommand pump1Enable() {
+        return controlCmd(Device.PUMP_1, Action.ENABLE, null);
+    }
+
+    /**
      * 泵 2 设置速度
      */
     public static DeviceCommand pump2SetSpeed(double speed) {
@@ -98,6 +106,12 @@ public class DeviceCommandGenerator {
         return controlCmd(Device.PUMP_2, Action.STOP, null);
     }
 
+    /**
+     * 泵 2 使能
+     */
+    public static DeviceCommand pump2Enable() {
+        return controlCmd(Device.PUMP_2, Action.ENABLE, null);
+    }
 
     /**
      * 泵 3 设置速度
@@ -142,6 +156,12 @@ public class DeviceCommandGenerator {
         return controlCmd(Device.PUMP_3, Action.STOP, null);
     }
 
+    /**
+     * 泵 3 使能
+     */
+    public static DeviceCommand pump3Enable() {
+        return controlCmd(Device.PUMP_3, Action.ENABLE, null);
+    }
 
     /**
      * 泵 4 设置速度
@@ -185,6 +205,13 @@ public class DeviceCommandGenerator {
     public static DeviceCommand pump4Stop() {
         return controlCmd(Device.PUMP_4, Action.STOP, null);
     }
+
+    /**
+     * 泵 4 使能
+     */
+    public static DeviceCommand pump4Enable() {
+        return controlCmd(Device.PUMP_4, Action.ENABLE, null);
+    }
 //=========================================== 私有方法 ============================================================
 
     /**
diff --git a/src/main/java/com/iflytop/handacid/app/service/DeviceInitService.java b/src/main/java/com/iflytop/handacid/app/service/DeviceInitService.java
index c4365ea..9a93d24 100644
--- a/src/main/java/com/iflytop/handacid/app/service/DeviceInitService.java
+++ b/src/main/java/com/iflytop/handacid/app/service/DeviceInitService.java
@@ -4,14 +4,22 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.iflytop.handacid.app.common.enums.ChannelCode;
 import com.iflytop.handacid.app.common.enums.SolutionAddMode;
 import com.iflytop.handacid.app.common.enums.SystemConfigKey;
+import com.iflytop.handacid.app.core.command.DeviceCommand;
+import com.iflytop.handacid.app.core.command.DeviceCommandGenerator;
 import com.iflytop.handacid.app.core.state.ChannelState;
 import com.iflytop.handacid.app.core.state.DeviceState;
+import com.iflytop.handacid.common.model.bo.DeviceInitializationData;
 import com.iflytop.handacid.common.model.entity.Channel;
+import com.iflytop.handacid.common.model.entity.DeviceParamConfig;
 import com.iflytop.handacid.common.model.entity.Solution;
 import com.iflytop.handacid.common.service.ChannelService;
+import com.iflytop.handacid.common.service.DeviceParamConfigService;
 import com.iflytop.handacid.common.service.SolutionService;
 import com.iflytop.handacid.common.service.SystemConfigService;
+import com.iflytop.handacid.hardware.comm.can.A8kCanBusService;
 import com.iflytop.handacid.hardware.service.AppEventBusService;
+import com.iflytop.handacid.hardware.type.MId;
+import com.iflytop.handacid.hardware.type.RegIndex;
 import com.iflytop.handacid.hardware.type.appevent.A8kCanBusOnConnectEvent;
 import com.iflytop.handacid.hardware.type.appevent.AppEvent;
 import jakarta.annotation.PostConstruct;
@@ -20,6 +28,8 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.ObjectProvider;
 import org.springframework.stereotype.Service;
 
+import java.util.List;
+
 @Slf4j
 @Service
 @RequiredArgsConstructor
@@ -29,6 +39,9 @@ public class DeviceInitService {
     private final DeviceState deviceState;
     private final ObjectProvider<ChannelState> channelStateObjectProvider;
     private final ChannelService channelService;
+    private final DeviceCommandService deviceCommandService;
+    private final DeviceParamConfigService deviceParamConfigService;
+    private final A8kCanBusService canBusService;
     private final SolutionService solutionService;
     private final SystemConfigService systemConfigService;
 
@@ -40,6 +53,9 @@ public class DeviceInitService {
             try {
                 log.info("初始化开始");
                 initDeviceState();
+                initDeviceSetData();//初始化设备参数
+                initEnable();//使能
+                // initDeviceState();//初始化设备状态
                 log.info("初始化完毕");
             } catch (Exception e) {
                 throw new RuntimeException(e);
@@ -54,7 +70,26 @@ public class DeviceInitService {
         }
     }
 
+    /**
+     * 初始化所有设备使能
+     */
+    public void initEnable() throws Exception {
+        DeviceCommand pump1Enable = DeviceCommandGenerator.pump1Enable();
+        deviceCommandService.sendCommand(pump1Enable);
+
+        DeviceCommand pump2Enable = DeviceCommandGenerator.pump2Enable();
+        deviceCommandService.sendCommand(pump2Enable);
+
+        DeviceCommand pump3Enable = DeviceCommandGenerator.pump3Enable();
+        deviceCommandService.sendCommand(pump3Enable);
+
+        DeviceCommand pump4Enable = DeviceCommandGenerator.pump4Enable();
+        deviceCommandService.sendCommand(pump4Enable);
+    }
 
+    /**
+     * 初始化设备状态
+     */
     public void initDeviceState() {
         log.info("初始化 initDeviceState");
         for (ChannelCode code : ChannelCode.values()) {
@@ -69,4 +104,31 @@ public class DeviceInitService {
         log.info("初始化 initDeviceState完毕");
     }
 
+    /**
+     * 初始化设备参数
+     */
+    public void initDeviceSetData() throws Exception {
+        if (deviceState.isVirtual() || deviceState.isInitComplete()) {
+            return;
+        }
+        List<DeviceParamConfig> deviceParamConfigs = deviceParamConfigService.list();
+        for (DeviceParamConfig deviceParamConfig : deviceParamConfigs) {
+            DeviceInitializationData data = new DeviceInitializationData();
+            data.setId(Math.toIntExact(deviceParamConfig.getId()));
+            data.setMid(deviceParamConfig.getMid());
+            data.setRegIndex(deviceParamConfig.getRegIndex());
+            data.setRegInitVal(deviceParamConfig.getRegVal());
+            boolean success = false;  // 标记是否执行成功
+            while (!success) {
+                try {
+                    canBusService.moduleSetReg(MId.valueOf(data.getMid()), RegIndex.valueOf(data.getRegIndex()), data.getRegInitVal());
+                    success = true;
+                } catch (Exception e) {
+                    log.error("设备初始化写入参数失败，错误: {}", e.getMessage());
+                    Thread.sleep(2000);
+                }
+            }
+        }
+    }
+
 }
diff --git a/src/main/java/com/iflytop/handacid/common/model/bo/DeviceInitializationData.java b/src/main/java/com/iflytop/handacid/common/model/bo/DeviceInitializationData.java
new file mode 100644
index 0000000..38d6d55
--- /dev/null
+++ b/src/main/java/com/iflytop/handacid/common/model/bo/DeviceInitializationData.java
@@ -0,0 +1,11 @@
+package com.iflytop.handacid.common.model.bo;
+
+import lombok.Data;
+
+@Data
+public class DeviceInitializationData {
+    private int id;
+    private String mid;
+    private String regIndex;
+    private int regInitVal;
+}
diff --git a/src/main/java/com/iflytop/handacid/app/service/DeviceParamConfigService.java b/src/main/java/com/iflytop/handacid/common/service/DeviceParamConfigService.java
similarity index 98%
rename from src/main/java/com/iflytop/handacid/app/service/DeviceParamConfigService.java
rename to src/main/java/com/iflytop/handacid/common/service/DeviceParamConfigService.java
index 1baad52..a2dfa09 100644
--- a/src/main/java/com/iflytop/handacid/app/service/DeviceParamConfigService.java
+++ b/src/main/java/com/iflytop/handacid/common/service/DeviceParamConfigService.java
@@ -1,4 +1,4 @@
-package com.iflytop.handacid.app.service;
+package com.iflytop.handacid.common.service;
 
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
diff --git a/src/main/java/com/iflytop/handacid/hardware/controller/StepMotorController.java b/src/main/java/com/iflytop/handacid/hardware/controller/StepMotorController.java
index 64077e0..582e46b 100644
--- a/src/main/java/com/iflytop/handacid/hardware/controller/StepMotorController.java
+++ b/src/main/java/com/iflytop/handacid/hardware/controller/StepMotorController.java
@@ -1,7 +1,7 @@
 package com.iflytop.handacid.hardware.controller;
 
-import com.iflytop.handacid.app.service.DeviceParamConfigService;
 import com.iflytop.handacid.common.result.Result;
+import com.iflytop.handacid.common.service.DeviceParamConfigService;
 import com.iflytop.handacid.hardware.exception.HardwareException;
 import com.iflytop.handacid.hardware.service.StepMotorService;
 import com.iflytop.handacid.hardware.type.StepMotor.DeviceStepMotorId;
@@ -32,7 +32,7 @@ public class StepMotorController {
     @Operation(summary = "获取设备列表")
     public Map<String, String> getDeviceList() {
         Map<String, String> map = new HashMap<>();
-        for(DeviceStepMotorId id : DeviceStepMotorId.values()) {
+        for (DeviceStepMotorId id : DeviceStepMotorId.values()) {
             map.put(id.name(), id.getDescription());
         }
         return map;
@@ -43,7 +43,7 @@ public class StepMotorController {
     @Operation(summary = "获取寄存器列表")
     public List<String> getRegList() {
         List<String> list = new ArrayList<>();
-        for(StepMotorRegIndex reg : StepMotorRegIndex.values()) {
+        for (StepMotorRegIndex reg : StepMotorRegIndex.values()) {
             list.add(reg.name());
         }
         return list;
@@ -144,7 +144,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer mres) throws HardwareException {
         stepMotorService.setMres(deviceId, mres);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_mres.regIndex.name(),mres);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_mres.regIndex.name(), mres);
         return Result.success();
     }
 
@@ -154,7 +154,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer irun) throws HardwareException {
         stepMotorService.setIRUN(deviceId, irun);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_irun.regIndex.name(),irun);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_irun.regIndex.name(), irun);
         return Result.success();
     }
 
@@ -164,7 +164,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer ihold) throws HardwareException {
         stepMotorService.setIHOLD(deviceId, ihold);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_ihold.regIndex.name(),ihold);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_ihold.regIndex.name(), ihold);
         return Result.success();
     }
 
@@ -175,9 +175,9 @@ public class StepMotorController {
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setStartAndStopVel(deviceId, v);
         //开始速度参数保存到数据库
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_vstart.regIndex.name(),v);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_vstart.regIndex.name(), v);
         //停止速度参数保存到数据库
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_vstop.regIndex.name(),v);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_vstop.regIndex.name(), v);
         return Result.success();
     }
 
@@ -188,7 +188,7 @@ public class StepMotorController {
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setV1(deviceId, v);
         //参数保存到数据库
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_v1.regIndex.name(),v);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_v1.regIndex.name(), v);
         return Result.success();
     }
 
@@ -198,8 +198,8 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer acc) throws HardwareException {
         stepMotorService.setA1AndD1(deviceId, acc);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_a1.regIndex.name(),acc);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_d1.regIndex.name(),acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_a1.regIndex.name(), acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_d1.regIndex.name(), acc);
         return Result.success();
     }
 
@@ -209,8 +209,8 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer acc) throws HardwareException {
         stepMotorService.setAmaxAndDmax(deviceId, acc);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_amax.regIndex.name(),acc);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_dmax.regIndex.name(),acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_amax.regIndex.name(), acc);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_dmax.regIndex.name(), acc);
         return Result.success();
     }
 
@@ -220,7 +220,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer v) throws HardwareException {
         stepMotorService.setDefaultVel(deviceId, v);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_default_velocity.regIndex.name(),v);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_default_velocity.regIndex.name(), v);
         return Result.success();
     }
 
@@ -232,9 +232,9 @@ public class StepMotorController {
             @RequestParam Integer mid,
             @RequestParam Integer high) throws HardwareException {
         stepMotorService.setSpeed(deviceId, low, mid, high);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_low_velocity.regIndex.name(),low);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_mid_velocity.regIndex.name(),mid);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_high_velocity.regIndex.name(),high);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_low_velocity.regIndex.name(), low);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_mid_velocity.regIndex.name(), mid);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_high_velocity.regIndex.name(), high);
         return Result.success();
     }
 
@@ -245,8 +245,8 @@ public class StepMotorController {
             @RequestParam Integer pulse,
             @RequestParam Integer denominator) throws HardwareException {
         stepMotorService.setOneCirclePulse(deviceId, pulse, denominator);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_one_circle_pulse.regIndex.name(),pulse);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_one_circle_pulse_denominator.regIndex.name(),denominator);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_one_circle_pulse.regIndex.name(), pulse);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_one_circle_pulse_denominator.regIndex.name(), denominator);
         return Result.success();
     }
 
@@ -256,7 +256,7 @@ public class StepMotorController {
             @RequestParam DeviceStepMotorId deviceId,
             @RequestParam Integer dzero) throws HardwareException {
         stepMotorService.setDZero(deviceId, dzero);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),StepMotorRegIndex.kreg_step_motor_dzero_pos.regIndex.name(),dzero);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), StepMotorRegIndex.kreg_step_motor_dzero_pos.regIndex.name(), dzero);
         return Result.success();
     }
 
@@ -275,7 +275,7 @@ public class StepMotorController {
             @RequestParam StepMotorRegIndex reg,
             @RequestParam Integer val) throws HardwareException {
         stepMotorService.setReg(deviceId, reg, val);
-        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(),reg.regIndex.name(),val);
+        deviceParamConfigService.setModuleAndReg(deviceId.getStepMotorMId().mid.name(), reg.regIndex.name(), val);
         return Result.success();
     }
 
@@ -303,6 +303,7 @@ public class StepMotorController {
     public Boolean readZeroSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
         return stepMotorService.readIoState(deviceId, 0);
     }
+
     @PostMapping("/read-limit-sensor")
     @Operation(summary = "读取限位光电")
     public Boolean readLimitSensor(@RequestParam DeviceStepMotorId deviceId) throws HardwareException {
diff --git a/src/main/resources/application-dev.yml b/src/main/resources/application-dev.yml
index 789841b..c6fc5f3 100644
--- a/src/main/resources/application-dev.yml
+++ b/src/main/resources/application-dev.yml
@@ -14,7 +14,7 @@ logging:
 device.enableCanBus: true
 
 iflytophald:
-  ip: 127.0.0.1
+  ip: 192.168.73.10
   cmdch.port: 19004
   datach.port: 19005
 
diff --git a/src/main/resources/sql/init.sql b/src/main/resources/sql/init.sql
index 73047f4..7886565 100644
--- a/src/main/resources/sql/init.sql
+++ b/src/main/resources/sql/init.sql
@@ -114,10 +114,16 @@ INSERT OR IGNORE INTO user ( id, username, nickname, password, role, fixed_user,
     (1, 'admin', 'Admin', '9973', 'ADMIN', 'ENABLE', 'DISABLE'),
     (2, 'test',  'test',  '9973', 'ADMIN', 'ENABLE', 'DISABLE');
 
+-- drop table IF EXISTS zapp_sub_module_reg_initial_value;
+
+-- 设备参数 表
+CREATE TABLE IF NOT EXISTS device_param_config
+(
+    id          INTEGER PRIMARY KEY AUTOINCREMENT,
+    mid         text,
+    reg_index   text,
+    reg_val     INTEGER,
+    create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+    update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 
-CREATE TABLE IF NOT EXISTS zapp_sub_module_reg_initial_value (
-    id                      INTEGER PRIMARY KEY AUTOINCREMENT,
-    mid                     TEXT,
-    regIndex                TEXT,
-    regInitVal              INTEGER
 );