diff --git a/README.md b/README.md
index 574fe99..9aea5c1 100644
--- a/README.md
+++ b/README.md
@@ -15,6 +15,9 @@
       1.修复电机错误的停止方式
       2.将所有依赖更新到最新版本
       3.支持外置过氧化氢传感器
+    V110:
+      1. 修改电机旋转使用接口
+      2. 增加电机refreshcfg接口
 
 ```
 
diff --git a/stm32components b/stm32components
index c329787..09a2e4d 160000
--- a/stm32components
+++ b/stm32components
@@ -1 +1 @@
-Subproject commit c3297878099d6ab606c91c0cd29c37ebadcd035a
+Subproject commit 09a2e4d56041cc988ddb766185f323ede4d713b4
diff --git a/usrc/module/tmc_motor_group.cpp b/usrc/module/tmc_motor_group.cpp
index 2dc26c3..d7d76eb 100644
--- a/usrc/module/tmc_motor_group.cpp
+++ b/usrc/module/tmc_motor_group.cpp
@@ -180,8 +180,9 @@ void TmcMotorGroup::fn_pump_rotate(ProcessContext* cxt) {
   ZLOGI(TAG, "pump_rotate: %d %d", GET_PARAM(0), velocity);
 
   motor(GET_PARAM(0))->enable(false);
+  motor(GET_PARAM(0))->refreshcfg();
   motor(GET_PARAM(0))->enable(true);
-  motor(GET_PARAM(0))->moveToEnd(velocity > 0 ? 1 : -1, abs(velocity));
+  motor(GET_PARAM(0))->rotate(velocity);
 
   zcanbus_send_ack(cxt->packet, NULL, 0);
   motorErrorFlag_set(GET_PARAM(0), false);
diff --git a/usrc/module/tmc_motor_group.hpp b/usrc/module/tmc_motor_group.hpp
index 2669525..105bd1d 100644
--- a/usrc/module/tmc_motor_group.hpp
+++ b/usrc/module/tmc_motor_group.hpp
@@ -30,7 +30,7 @@ class TmcMotorGroup {
   void fn_pump_set_acc(ProcessContext* cxt);
   void fn_pump_set_ramp(ProcessContext* cxt);
   void fn_pump_set_tzw(ProcessContext* cxt);
-  
+
   void fn_pump_set_subic_reg(ProcessContext* cxt);
   void fn_pump_get_subic_reg(ProcessContext* cxt);
   void fn_pump_ping(ProcessContext* cxt);
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 03b92b9..bf3b188 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -15,7 +15,7 @@
  * @brief 基础配置
  *
  */
-#define SOFTWARE_VERSION                   106                            // 软件版本
+#define SOFTWARE_VERSION                   110                            // 软件版本
 #define HARDWARE_VERSION                   1                              // 硬件版本
 #define PROJECT                            "transmit_disinfection_micro_re"  // 工程名称
 #define SN_HEADER                          "SN"                           // SN号前缀