diff --git a/tmcdriver/tmc51x0/tmc51x0.cpp b/tmcdriver/tmc51x0/tmc51x0.cpp
index 126006a..1e81a9d 100644
--- a/tmcdriver/tmc51x0/tmc51x0.cpp
+++ b/tmcdriver/tmc51x0/tmc51x0.cpp
@@ -42,7 +42,8 @@ static const uint8_t tmc5130_defaultRegisterAccess[TMC5130_REGISTER_COUNT] = {
 
 #define TMC51x0_ADDRESS(x) ((x) & (TMC5130_ADDRESS_MASK))
 #define TAG                "TMC51X0"
-void TMC51X0::initialize(TMC51X0Cfg cfg) {
+void TMC51X0::initialize(int mid, TMC51X0Cfg cfg) {
+  m_mid  = mid;
   m_cfg  = cfg;
   m_hspi = cfg.hspi;
 
@@ -211,6 +212,10 @@ void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
 void TMC51X0::moveBy(int32_t relativePosition, uint32_t velocityMax) {  // determine actual position and add numbers of ticks to move
   zlock_guard lkg(m_mutex);
 
+  // m_mid
+
+  // ZLOGI(TAG, "m[%d] moveBy %d,%d", m_mid, relativePosition, velocityMax);
+
   int32_t pos    = getXACTUAL();
   int32_t target = pos + relativePosition;
   moveTo(target, velocityMax);
@@ -264,7 +269,7 @@ bool TMC51X0::isTMC5130() {
   return chipId == kTMC5130;
 }
 
-TMC5130DevStatusReg_t TMC51X0::getDevStatus() {  // R 
+TMC5130DevStatusReg_t TMC51X0::getDevStatus() {  // R
   zlock_guard lkg(m_mutex);
   static_assert(sizeof(TMC5130DevStatusReg_t) == 4);
   uint32_t              value = readInt(TMC5130_DRVSTATUS);
@@ -272,7 +277,7 @@ TMC5130DevStatusReg_t TMC51X0::getDevStatus() {  // R
   memcpy(&val, &value, sizeof(TMC5130DevStatusReg_t));
   return val;
 }
-TMC5130GState_t TMC51X0::getGState() {  // R+C 
+TMC5130GState_t TMC51X0::getGState() {  // R+C
   zlock_guard lkg(m_mutex);
   static_assert(sizeof(TMC5130GState_t) == 4);
   uint32_t        value = readInt(TMC5130_GSTAT);
@@ -370,9 +375,6 @@ bool TMC51X0::setEncResolution(int32_t enc_resolution) {
   /**
    * @brief
    *
-   *      1.假�?�电机是256细分
-   *      2.假�?�TMC5130_ENC_CONST�?十进制模�?
-   *      3.�?�?持指定分辨率的编码器
    */
 
   int32_t enc_resolution_tmp   = enc_resolution * 4;
diff --git a/tmcdriver/tmc51x0/tmc51x0.hpp b/tmcdriver/tmc51x0/tmc51x0.hpp
index d9b97ac..34dab70 100644
--- a/tmcdriver/tmc51x0/tmc51x0.hpp
+++ b/tmcdriver/tmc51x0/tmc51x0.hpp
@@ -31,21 +31,21 @@ class TMC51X0 {
   SPI_HandleTypeDef *m_hspi = NULL;
   ZGPIO              m_csnpin;
   ZGPIO              m_ennpin;
+  int                m_mid = 0;
 
   int32_t     m_scale              = 10000;
   int32_t     m_scale_deceleration = 1;
   mres_type_t m_MRES               = kmres_256;
   double      m_onecirclepulse     = 51200;
-  int32_t     m_enc_resolution     = 0;  // 
+  int32_t     m_enc_resolution     = 0;  //
 
   zmutex m_mutex  = {"TMC51X0"};
   bool   m_driErr = false;
 
  public:
-  void initialize(TMC51X0Cfg cfg);
+  void initialize(int mid, TMC51X0Cfg cfg);
 
  private:
-
   void     readWriteArray(uint8_t *data, size_t length);
   void     writeDatagram(uint8_t address, uint8_t x1, uint8_t x2, uint8_t x3, uint8_t x4);
   void     writeInt(uint8_t address, int32_t value);
@@ -78,7 +78,7 @@ class TMC51X0 {
   TMC5130GState_t       getGState();     // R+C read and clear
   int32_t               readICVersion();
 
-  int32_t getXactualRAW();// now pos 51200
+  int32_t getXactualRAW();  // now pos 51200
 
   bool isReachTarget(TMC5130RampStat *state);  // is reach target
   bool isTMC5130();