diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp
index 415ad71..403cc49 100644
--- a/api/apibasic/cmdid.cpp
+++ b/api/apibasic/cmdid.cpp
@@ -66,12 +66,17 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kstep_motor_easy_move_by),
     CMD_ITERM(kstep_motor_easy_move_to),
     CMD_ITERM(kstep_motor_easy_move_to_zero),
-    CMD_ITERM(kstep_motor_easy_move_to_end_point),
     CMD_ITERM(kstep_motor_easy_set_current_pos),
     CMD_ITERM(kstep_motor_easy_move_to_io),
-    CMD_ITERM(kstep_motor_active_cfg),
     CMD_ITERM(kstep_motor_stop),
+    CMD_ITERM(kstep_motor_active_cfg),
     CMD_ITERM(kstep_motor_read_io_state),
+    CMD_ITERM(kstep_motor_easy_move_to_end_point),
+    CMD_ITERM(kstep_motor_read_tmc5130_status),
+    CMD_ITERM(kstep_motor_read_tmc5130_state),
+    CMD_ITERM(kstep_motor_read_io_index_in_stm32),
+    CMD_ITERM(kstep_motor_set_subdevice_reg),
+    CMD_ITERM(kstep_motor_get_subdevice_reg),
 
     CMD_ITERM(kmini_servo_enable),
     CMD_ITERM(kmini_servo_read_pos),
diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp
index adb9b48..5ed2522 100644
--- a/api/apibasic/cmdid.hpp
+++ b/api/apibasic/cmdid.hpp
@@ -65,11 +65,9 @@ typedef enum {
 
   kstep_motor_read_tmc5130_status    = CMDID(2, 50),  //
   kstep_motor_read_tmc5130_state     = CMDID(2, 51),  // 调试使用
-  kstep_motor_read_tmc4361a_status   = CMDID(2, 52),  // 调试使用
-  kstep_motor_read_tmc4361a_state    = CMDID(2, 53),  // 调试使用
-  kstep_motor_read_tmc2160_status    = CMDID(2, 54),  // 调试使用
-  kstep_motor_read_tmc2160_state     = CMDID(2, 55),  // 调试使用
   kstep_motor_read_io_index_in_stm32 = CMDID(2, 56),  // 调试使用
+  kstep_motor_set_subdevice_reg      = CMDID(2, 57),  // 调试使用
+  kstep_motor_get_subdevice_reg      = CMDID(2, 58),  // 调试使用
 
   /***********************************************************************************************************************
    *                                                     MINI_SERVO                                                      *
diff --git a/api/apibasic/reg_index.cpp b/api/apibasic/reg_index.cpp
index 19a345d..fb6f26d 100644
--- a/api/apibasic/reg_index.cpp
+++ b/api/apibasic/reg_index.cpp
@@ -110,6 +110,8 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_xyrobot_io_state1),
     REG_ITERM(kreg_step_motor_pos),
     REG_ITERM(kreg_step_motor_dpos),
+    REG_ITERM(kreg_step_motor_enc_val),
+    REG_ITERM(kreg_step_motor_denc_val),
     REG_ITERM(kreg_step_motor_shift),
     REG_ITERM(kreg_step_motor_shaft),
     REG_ITERM(kreg_step_motor_one_circle_pulse),
@@ -132,6 +134,8 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_step_motor_d1),
     REG_ITERM(kreg_step_motor_vstop),
     REG_ITERM(kreg_step_motor_tzerowait),
+    REG_ITERM(kreg_step_motor_enc_resolution),
+    REG_ITERM(kreg_step_motor_enable_enc),
     REG_ITERM(kreg_mini_servo_pos),
     REG_ITERM(kreg_mini_servo_limit_velocity),
     REG_ITERM(kreg_mini_servo_limit_torque),
diff --git a/api/apibasic/reg_index.hpp b/api/apibasic/reg_index.hpp
index df958cd..0df7c7f 100644
--- a/api/apibasic/reg_index.hpp
+++ b/api/apibasic/reg_index.hpp
@@ -138,8 +138,10 @@ typedef enum {
   /***********************************************************************************************************************
    *                                                     step_motor                                                      *
    ***********************************************************************************************************************/
-  kreg_step_motor_pos  = REG_INDEX(101, 0, 1),  // 机器人x坐标
-  kreg_step_motor_dpos = REG_INDEX(101, 0, 3),  // 执行完上一条指令后的相对位移
+  kreg_step_motor_pos      = REG_INDEX(101, 0, 1),  // 机器人x坐标
+  kreg_step_motor_dpos     = REG_INDEX(101, 0, 3),  // 执行完上一条指令后的相对位移
+  kreg_step_motor_enc_val  = REG_INDEX(101, 0, 4),
+  kreg_step_motor_denc_val = REG_INDEX(101, 0, 5),
 
   kreg_step_motor_shift                        = REG_INDEX(101, 50, 0),   // x偏移
   kreg_step_motor_shaft                        = REG_INDEX(101, 50, 1),   // x轴是否反转
@@ -156,14 +158,16 @@ typedef enum {
   kreg_step_motor_min_d                        = REG_INDEX(101, 50, 29),  // 最小限制距离
   kreg_step_motor_in_debug_mode                = REG_INDEX(101, 50, 30),  // 驱动器处于调试模式
 
-  kreg_step_motor_vstart    = REG_INDEX(101, 50, 31),  // a1起作用的速度
-  kreg_step_motor_a1        = REG_INDEX(101, 50, 32),  //
-  kreg_step_motor_amax      = REG_INDEX(101, 50, 33),
-  kreg_step_motor_v1        = REG_INDEX(101, 50, 34),
-  kreg_step_motor_dmax      = REG_INDEX(101, 50, 35),
-  kreg_step_motor_d1        = REG_INDEX(101, 50, 36),
-  kreg_step_motor_vstop     = REG_INDEX(101, 50, 37),
-  kreg_step_motor_tzerowait = REG_INDEX(101, 50, 38),
+  kreg_step_motor_vstart         = REG_INDEX(101, 50, 31),  // a1起作用的速度
+  kreg_step_motor_a1             = REG_INDEX(101, 50, 32),  //
+  kreg_step_motor_amax           = REG_INDEX(101, 50, 33),
+  kreg_step_motor_v1             = REG_INDEX(101, 50, 34),
+  kreg_step_motor_dmax           = REG_INDEX(101, 50, 35),
+  kreg_step_motor_d1             = REG_INDEX(101, 50, 36),
+  kreg_step_motor_vstop          = REG_INDEX(101, 50, 37),
+  kreg_step_motor_tzerowait      = REG_INDEX(101, 50, 38),
+  kreg_step_motor_enc_resolution = REG_INDEX(101, 50, 39),  // 编码器分辨率 1000,1024,4000,4096,16384
+  kreg_step_motor_enable_enc     = REG_INDEX(101, 50, 40),  //
 
   /***********************************************************************************************************************
    *                                                   MINI_STEP_MOTOR                                                   *
diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp
index 005dcdb..9662ea9 100644
--- a/api/zi_motor.hpp
+++ b/api/zi_motor.hpp
@@ -138,17 +138,13 @@ class ZIStepMotor {
   virtual int32_t step_motor_active_cfg()                                        = 0;
   virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state)      = 0;
   virtual int32_t step_motor_easy_move_to_end_point()                            = 0;
-
   /***********************************************************************************************************************
    *                                                        DEBUG                                                        *
    ***********************************************************************************************************************/
-  virtual int32_t step_motor_read_tmc5130_status(int32_t* status)  = 0;
-  virtual int32_t step_motor_read_tmc5130_state(int32_t* status)   = 0;
-  virtual int32_t step_motor_read_tmc4361a_status(int32_t* status) = 0;
-  virtual int32_t step_motor_read_tmc4361a_state(int32_t* gstate)  = 0;
-  virtual int32_t step_motor_read_tmc2160_status(int32_t* status)  = 0;
-  virtual int32_t step_motor_read_tmc2160_state(int32_t* status)   = 0;
-
+  virtual int32_t step_motor_read_tmc5130_status(int32_t* status)                             = 0;
+  virtual int32_t step_motor_read_tmc5130_state(int32_t* status)                              = 0;
   virtual int32_t step_motor_read_io_index_in_stm32(int32_t ioindex, int32_t* index_in_stm32) = 0;
+  virtual int32_t step_motor_set_subdevice_reg(int32_t reg_addr, int32_t reg_val)             = 0;
+  virtual int32_t step_motor_get_subdevice_reg(int32_t reg_addr, int32_t* reg_val)            = 0;
 };
 }  // namespace iflytop