diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp
index ebb775c..ff4541d 100644
--- a/components/tmc/ic/ztmc5130.cpp
+++ b/components/tmc/ic/ztmc5130.cpp
@@ -30,17 +30,21 @@ void TMC5130::initialize(cfg_t *cfg) {
   // m_port                      = config->m_port;
   m_registerAccessTable       = &tmc5130_defaultRegisterAccess[0];
   m_defaultRegisterResetState = &tmc5130_defaultRegisterResetState[0];
-  if (cfg->csn_pin != PinNull) {
+  if (cfg->csgpio != PinNull) {
     m_csnpin = new ZGPIO();
-    m_csnpin->initAsOutput(cfg->csn_pin, ZGPIO::kMode_nopull, false, true);
+    m_csnpin->initAsOutput(cfg->csgpio, ZGPIO::kMode_nopull, false, true);
     ZASSERT(m_csnpin);
   }
-  if (cfg->enn_pin != PinNull) {
+  if (cfg->ennPin != PinNull) {
     m_ennpin = new ZGPIO();
-    m_ennpin->initAsOutput(cfg->enn_pin, ZGPIO::kMode_nopull, false, true);
+    m_ennpin->initAsOutput(cfg->ennPin, ZGPIO::kMode_nopull, false, true);
     ZASSERT(m_ennpin);
   }
-  m_hspi = cfg->hspi;
+  if (cfg->spi_mode_select != PinNull) {
+    m_spi_mode_select_gpio = new ZGPIO();
+    m_spi_mode_select_gpio->initAsOutput(cfg->spi_mode_select, ZGPIO::kMode_nopull, false, false);
+  }
+  m_hspi = cfg->spi;
 
   enableIC(false);
   // tmc5130_init(&m_TMC5130, channel, &m_tmc_api_config, &tmc5130_defaultRegisterResetState[0]);
@@ -93,16 +97,14 @@ uint8_t TMC5130::reset() {
   }
   return 0;
 }
-int32_t TMC5130::getXACTUAL() { return readInt(TMC5130_XACTUAL) / m_scale; }
-void    TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, value * m_scale); }
-int32_t TMC5130::getVACTUAL() { return readInt(TMC5130_VACTUAL) / m_scale; }
-void    TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(accelerationpps2 * m_scale)); }  // 设置最大加速度
-void    TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(accelerationpps2 * m_scale)); }  // 设置最大减速度
-void    TMC5130::setMotorShaft(bool reverse) { PRV_FIELD_WRITE(TMC5130_GCONF, TMC5130_SHAFT_MASK, TMC5130_SHAFT_SHIFT, reverse); }
-void    TMC5130::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) {
-  writeInt(TMC5130_IHOLD_IRUN, (iholddelay << TMC5130_IHOLDDELAY_SHIFT) | (irun << TMC5130_IRUN_SHIFT) | (ihold << TMC5130_IHOLD_SHIFT));
-}
-uint32_t TMC5130::readChipVERSION() {
+int32_t  TMC5130::getXACTUAL() { return readInt(TMC5130_XACTUAL) / m_scale; }
+void     TMC5130::setXACTUAL(int32_t value) { writeInt(TMC5130_XACTUAL, value * m_scale); }
+int32_t  TMC5130::getVACTUAL() { return readInt(TMC5130_VACTUAL) / m_scale; }
+void     TMC5130::setAcceleration(float accelerationpps2) { writeInt(TMC5130_AMAX, (int32_t)(accelerationpps2 * m_scale)); }  // 设置最大加速度
+void     TMC5130::setDeceleration(float accelerationpps2) { writeInt(TMC5130_DMAX, (int32_t)(accelerationpps2 * m_scale)); }  // 设置最大减速度
+void     TMC5130::setMotorShaft(bool reverse) { PRV_FIELD_WRITE(TMC5130_GCONF, TMC5130_SHAFT_MASK, TMC5130_SHAFT_SHIFT, reverse); }
+void     TMC5130::setIHOLD_IRUN(uint8_t ihold, uint8_t irun, uint16_t iholddelay) { writeInt(TMC5130_IHOLD_IRUN, (iholddelay << TMC5130_IHOLDDELAY_SHIFT) | (irun << TMC5130_IRUN_SHIFT) | (ihold << TMC5130_IHOLD_SHIFT)); }
+uint32_t TMC5130::readICVersion() {
   uint32_t chipID = PRV_FIELD_READ(TMC5130_IOIN, TMC5130_VERSION_MASK, TMC5130_VERSION_SHIFT);
   return chipID;
 }
diff --git a/components/tmc/ic/ztmc5130.hpp b/components/tmc/ic/ztmc5130.hpp
index c8caebd..a4b0df1 100644
--- a/components/tmc/ic/ztmc5130.hpp
+++ b/components/tmc/ic/ztmc5130.hpp
@@ -62,9 +62,12 @@ class Tmc5130RampStat {
 class TMC5130 : public IStepperMotor {
  public:
   typedef struct {
-    SPI_HandleTypeDef *hspi;
-    Pin_t              enn_pin;
-    Pin_t              csn_pin;
+    SPI_HandleTypeDef *spi;
+    Pin_t              csgpio          = PinNull;  //
+    Pin_t              resetPin        = PinNull;  //
+    Pin_t              fREEZEPin       = PinNull;  //
+    Pin_t              ennPin          = PinNull;  //
+    Pin_t              spi_mode_select = PinNull;  //
   } cfg_t;
 
  protected:
@@ -73,9 +76,10 @@ class TMC5130 : public IStepperMotor {
 
   cfg_t m_cfg;
 
-  ZGPIO             *m_csnpin = NULL;
-  ZGPIO             *m_ennpin = NULL;
-  SPI_HandleTypeDef *m_hspi   = NULL;
+  ZGPIO             *m_csnpin          = NULL;
+  ZGPIO             *m_ennpin          = NULL;
+  ZGPIO             *m_spi_mode_select_gpio = NULL;
+  SPI_HandleTypeDef *m_hspi            = NULL;
 
   // uint8_t  m_channel;
   uint32_t m_lastCallPeriodicJobTick;
@@ -101,7 +105,7 @@ class TMC5130 : public IStepperMotor {
    *                             常用寄存器读写方法                              *
    *******************************************************************************/
 
-  uint32_t        readChipVERSION();          // 5130:0x11
+  uint32_t        readICVersion();            // 5130:0x11 5160:0x30
   virtual int32_t getXACTUAL();               // 读取电机当前位置,与编码器的位置值不同，该值是电机在不丢步的情况下的位置
   virtual void    setXACTUAL(int32_t value);  // 设置电机当前位置,与编码器的位置值不同，该值是电机在不丢步的情况下的位置