diff --git a/chip/chip.c b/chip/chip.c
index d2a6366..1ef7567 100644
--- a/chip/chip.c
+++ b/chip/chip.c
@@ -1,19 +1,25 @@
 
+#include "chip.h"
+
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdlib.h>
 
 uint8_t g_port_exit_critical_count;
-
-void sys_critical_enter(void) {
+// NVIC_EnableIRQ
+// NVIC_GetEnableIRQ
+// NVIC_DisableIRQ
+void chip_critical_enter(void) {
   if (g_port_exit_critical_count == 0) {
     __disable_irq();
+    // NVIC_DisableIRQ();
   }
   g_port_exit_critical_count++;
 }
-void sys_critical_exit(void) {
+void chip_critical_exit(void) {
   g_port_exit_critical_count--;
   if (g_port_exit_critical_count == 0) {
+    // NVIC_EnableIRQ();
     __enable_irq();
   }
 }
diff --git a/chip/delay.c b/chip/delay.c
index 6d10c2c..d3c385c 100644
--- a/chip/delay.c
+++ b/chip/delay.c
@@ -6,8 +6,9 @@
 static TIM_HandleTypeDef *m_dhtim;
 
 void chip_delay_init(TIM_HandleTypeDef *htim) { m_dhtim = htim; }
-void chip_delay_us(uint32_t n) {
-  uint16_t counter = 0;
+
+void _chip_delay_us(uint32_t n) {
+  volatile uint32_t counter = 0;
   __HAL_TIM_SET_COUNTER(m_dhtim, 0);
   HAL_TIM_Base_Start(m_dhtim);
   while (counter < n) {
@@ -15,6 +16,16 @@ void chip_delay_us(uint32_t n) {
   }
   HAL_TIM_Base_Stop(m_dhtim);
 }
+void chip_delay_us(uint32_t n) {
+  uint32_t us = n % 1000;
+  uint32_t ms = n / 1000;
+  if (us > 0) {
+    _chip_delay_us(us);
+  }
+  for (uint32_t i = 0; i < ms; i++) {
+    _chip_delay_us(1000);
+  }
+}
 void chip_delay_ms(uint32_t n) {
   uint32_t i;
   for (i = 0; i < n; i++) {
diff --git a/chip/iflytop_no_os.c b/chip/iflytop_no_os.c
index 582a423..bd44565 100644
--- a/chip/iflytop_no_os.c
+++ b/chip/iflytop_no_os.c
@@ -1,6 +1,8 @@
 #include "iflytop_no_os.h"
-
 void iflytop_no_os_init(iflytop_no_os_cfg_t* os) {
   chip_delay_init(os->delayhtim);
   ifly_loggger_init(os->debuguart);
+
+
+
 }
diff --git a/chip/log.c b/chip/log.c
index abfa496..81f6c4b 100644
--- a/chip/log.c
+++ b/chip/log.c
@@ -6,7 +6,7 @@
 
 static UART_HandleTypeDef *m_huart;
 
-bool g_enable_log;
+bool g_enable_log = true;
 
 /*********************************************************************
  * @fn      _write
diff --git a/components/tmc/ic/ztmc4361A.cpp b/components/tmc/ic/ztmc4361A.cpp
index 6736d01..2f70301 100644
--- a/components/tmc/ic/ztmc4361A.cpp
+++ b/components/tmc/ic/ztmc4361A.cpp
@@ -179,8 +179,8 @@ void TMC4361A::initialize(cfg_t *cfg) {
 
   driverIC_reset();
 
-  setAcceleration(100000);
-  setDeceleration(100000);
+  setAcceleration(500000);
+  setDeceleration(500000);
 
   enableIC(true);
   chip_delay_us(300 * 1000);
@@ -351,5 +351,13 @@ void TMC4361A::driverIC_setMotorShaft(bool reverse) {
   DRIVER_ID_FIELD_WRITE(TMC2160_GCONF, TMC2160_SHAFT_MASK, TMC2160_SHAFT_SHIFT, val);
 }
 
+uint32_t TMC4361A::driverIC_readICVersion() {
+  int32_t value = driverIC_readInt(TMC2160_IOIN___OUTPUT);
+  return (value & TMC2160_VERSION_MASK) >> TMC2160_VERSION_SHIFT;
+}
+void TMC4361A::driverIC_setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) {
+  driverIC_writeInt(TMC2160_IHOLD_IRUN, (iholddelay << TMC2160_IHOLDDELAY_SHIFT) | (irun << TMC2160_IRUN_SHIFT) | (ihold << TMC2160_IHOLD_SHIFT));
+}
+
+#endif
 #endif
-#endif
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc4361A.hpp b/components/tmc/ic/ztmc4361A.hpp
index 4a2b87d..fbead25 100644
--- a/components/tmc/ic/ztmc4361A.hpp
+++ b/components/tmc/ic/ztmc4361A.hpp
@@ -128,6 +128,9 @@ class TMC4361A : public IStepperMotor {
   void tmc4361AConfigCallback(ConfigState state);
   void readWriteArray(uint8_t *data, size_t length);
 
+  void setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { driverIC_setIHOLD_IRUN(ihold, irun, iholddelay); }
+  void setMotorShaft(bool reverse) { driverIC_setMotorShaft(reverse); }
+
  private:
   uint32_t haspassedms(uint32_t now, uint32_t last);
   // void     callOnEventCallback(StepperMotorEvent event);
@@ -135,11 +138,11 @@ class TMC4361A : public IStepperMotor {
   void     driverIC_reset();
   void     driverIC_enableIC(bool enable);
   void     driverIC_setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
-  uint32_t driverIC_readICVersion();
   void     driverIC_writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
   void     driverIC_writeInt(uint8_t address, int32_t value);
   int32_t  driverIC_readInt(uint8_t address);
   void     driverIC_setMotorShaft(bool reverse);
+  uint32_t driverIC_readICVersion();
 };
 }  // namespace iflytop