diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index 76a16aa..628e863 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -45,6 +45,29 @@ void StepMotorCtrlModule::create_default_cfg(config_t& cfg) {
  *                                                         EXT                                                         *
  ***********************************************************************************************************************/
 int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
+  int32_t suc = pri_module_xxx_reg(param_id, read, val);
+  if (suc != 0) return suc;
+  switch (param_id) {
+    case kreg_step_motor_shaft:
+    case kreg_step_motor_one_circle_pulse:
+    case kreg_step_motor_one_circle_pulse_denominator:
+    case kreg_step_motor_default_velocity:
+    case kreg_step_motor_default_acc:
+    case kreg_step_motor_default_dec:
+    case kreg_step_motor_run_to_zero_speed:
+    case kreg_step_motor_run_to_zero_dec:
+    case kreg_step_motor_look_zero_edge_speed:
+    case kreg_step_motor_look_zero_edge_dec:
+    case kreg_step_motor_ihold:
+    case kreg_step_motor_irun:
+    case kreg_step_motor_iholddelay:
+    case kreg_step_motor_max_d:
+    case kreg_step_motor_min_d:
+      step_motor_active_cfg();
+  }
+  return suc;
+}
+int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
   switch (param_id) {
     MODULE_COMMON_PROCESS_REG_CB();
     PROCESS_REG(kreg_step_motor_pos, inter_get_pos(val), ACTION_NONE);
@@ -71,6 +94,7 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
   }
   return 0;
 }
+
 int32_t StepMotorCtrlModule::step_motor_enable(int32_t enable) {
   ZLOGI(TAG, "m%d motor_enable %ld", m_id, enable);
   m_stepM1->enable(enable);
@@ -215,11 +239,16 @@ int32_t StepMotorCtrlModule::step_motor_easy_set_current_pos(int32_t pos) {
 }
 
 int32_t StepMotorCtrlModule::step_motor_active_cfg() {
+  ZLOGI(TAG, "m%d motor_active_cfg", m_id);
   m_stepM1->enable(false);
   m_stepM1->setIHOLD_IRUN(m_cfg.stepmotor_ihold, m_cfg.stepmotor_irun, m_cfg.stepmotor_iholddelay);
   m_stepM1->setScale(m_cfg.motor_one_circle_pulse);
   m_stepM1->setScaleDenominator(m_cfg.motor_one_circle_pulse_denominator);
   m_stepM1->setMotorShaft(m_cfg.motor_shaft);
+  if (m_state.enable) {
+    m_stepM1->enable(true);
+  }
+
   return 0;
 }
 
diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
index 05b87d8..694d2db 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -92,5 +92,7 @@ class StepMotorCtrlModule : public ZIModule, public ZIStepMotor {
 
   int32_t exec_move_to_io_task(int32_t ioindex, int32_t direction);
   void    _rotate(int32_t vel, int32_t acc, int32_t dec);
+
+  int32_t pri_module_xxx_reg(int32_t param_id, bool read, int32_t& val);
 };
 }  // namespace iflytop
\ No newline at end of file
diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp
index d2c26ed..465785e 100644
--- a/components/tmc/ic/ztmc5130.cpp
+++ b/components/tmc/ic/ztmc5130.cpp
@@ -284,12 +284,12 @@ int32_t TMC5130::to_motor_vel(int32_t vel) {  //
   return val;
 }  // rpm
 int32_t TMC5130::to_motor_pos(int32_t pos) {  //
-  int32_t val = pos * 1.0 / m_scale * m_scale_deceleration * m_onecirclepulse;
+  int32_t val = pos * 1.0 / m_scale * m_scale_deceleration * m_onecirclepulse + 0.5;
   return val;
 }  //
 
 int32_t TMC5130::to_user_pos(int32_t pos) {  //
-  int32_t val = pos / m_onecirclepulse * m_scale / m_scale_deceleration;
+  int32_t val = pos / m_onecirclepulse * m_scale / m_scale_deceleration + 0.5;
   return val;
 }  //
 int32_t TMC5130::to_user_vel(int32_t vel) {  //