diff --git a/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
new file mode 100644
index 0000000..98a69fc
--- /dev/null
+++ b/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs
@@ -0,0 +1,2 @@
+eclipse.preferences.version=1
+sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}
diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 3070c7c..2ed4be6 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,5 +1,5 @@
 635E684B79701B039C64EA45C3F84D30=4E298DF08B22D87FABACC213C3DEB1B4
 66BE74F758C12D739921AEA421D593D3=0
-8DF89ED150041C4CBC7CB9A9CAA90856=AC75FFA836ABF92D776AF65FD0504403
+8DF89ED150041C4CBC7CB9A9CAA90856=E8FBF268A8CF0E2CBEA3C6C3E8CF39D0
 DC22A860405A8BF2F2C095E5B6529F12=E8FBF268A8CF0E2CBEA3C6C3E8CF39D0
 eclipse.preferences.version=1
diff --git a/Core/Inc/stm32f4xx_it.h b/Core/Inc/stm32f4xx_it.h
index 2dcec8c..73f7d3f 100644
--- a/Core/Inc/stm32f4xx_it.h
+++ b/Core/Inc/stm32f4xx_it.h
@@ -57,7 +57,10 @@ void CAN1_RX0_IRQHandler(void);
 void CAN1_RX1_IRQHandler(void);
 void CAN1_SCE_IRQHandler(void);
 void TIM1_TRG_COM_TIM11_IRQHandler(void);
+void USART1_IRQHandler(void);
 void USART3_IRQHandler(void);
+void TIM6_DAC_IRQHandler(void);
+void TIM7_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/Core/Src/stm32f4xx_it.c b/Core/Src/stm32f4xx_it.c
index f61434f..e08b482 100644
--- a/Core/Src/stm32f4xx_it.c
+++ b/Core/Src/stm32f4xx_it.c
@@ -57,6 +57,9 @@
 /* External variables --------------------------------------------------------*/
 extern CAN_HandleTypeDef hcan1;
 extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim6;
+extern TIM_HandleTypeDef htim7;
+extern UART_HandleTypeDef huart1;
 extern UART_HandleTypeDef huart3;
 extern TIM_HandleTypeDef htim11;
 
@@ -234,6 +237,20 @@ void TIM1_TRG_COM_TIM11_IRQHandler(void)
 }
 
 /**
+  * @brief This function handles USART1 global interrupt.
+  */
+void USART1_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART1_IRQn 0 */
+
+  /* USER CODE END USART1_IRQn 0 */
+  HAL_UART_IRQHandler(&huart1);
+  /* USER CODE BEGIN USART1_IRQn 1 */
+
+  /* USER CODE END USART1_IRQn 1 */
+}
+
+/**
   * @brief This function handles USART3 global interrupt.
   */
 void USART3_IRQHandler(void)
@@ -247,6 +264,34 @@ void USART3_IRQHandler(void)
   /* USER CODE END USART3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM6 global interrupt, DAC1 and DAC2 underrun error interrupts.
+  */
+void TIM6_DAC_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM6_DAC_IRQn 0 */
+
+  /* USER CODE END TIM6_DAC_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim6);
+  /* USER CODE BEGIN TIM6_DAC_IRQn 1 */
+
+  /* USER CODE END TIM6_DAC_IRQn 1 */
+}
+
+/**
+  * @brief This function handles TIM7 global interrupt.
+  */
+void TIM7_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM7_IRQn 0 */
+
+  /* USER CODE END TIM7_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim7);
+  /* USER CODE BEGIN TIM7_IRQn 1 */
+
+  /* USER CODE END TIM7_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/Core/Src/tim.c b/Core/Src/tim.c
index df9da97..f1529a1 100644
--- a/Core/Src/tim.c
+++ b/Core/Src/tim.c
@@ -213,6 +213,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM6_MspInit 0 */
     /* TIM6 clock enable */
     __HAL_RCC_TIM6_CLK_ENABLE();
+
+    /* TIM6 interrupt Init */
+    HAL_NVIC_SetPriority(TIM6_DAC_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
   /* USER CODE BEGIN TIM6_MspInit 1 */
 
   /* USER CODE END TIM6_MspInit 1 */
@@ -224,6 +228,10 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM7_MspInit 0 */
     /* TIM7 clock enable */
     __HAL_RCC_TIM7_CLK_ENABLE();
+
+    /* TIM7 interrupt Init */
+    HAL_NVIC_SetPriority(TIM7_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(TIM7_IRQn);
   /* USER CODE BEGIN TIM7_MspInit 1 */
 
   /* USER CODE END TIM7_MspInit 1 */
@@ -265,6 +273,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM6_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM6_CLK_DISABLE();
+
+    /* TIM6 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM6_DAC_IRQn);
   /* USER CODE BEGIN TIM6_MspDeInit 1 */
 
   /* USER CODE END TIM6_MspDeInit 1 */
@@ -276,6 +287,9 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
   /* USER CODE END TIM7_MspDeInit 0 */
     /* Peripheral clock disable */
     __HAL_RCC_TIM7_CLK_DISABLE();
+
+    /* TIM7 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM7_IRQn);
   /* USER CODE BEGIN TIM7_MspDeInit 1 */
 
   /* USER CODE END TIM7_MspDeInit 1 */
diff --git a/Core/Src/usart.c b/Core/Src/usart.c
index 09f8ead..5d90b3b 100644
--- a/Core/Src/usart.c
+++ b/Core/Src/usart.c
@@ -140,6 +140,9 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF7_USART1;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 interrupt Init */
+    HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
   /* USER CODE END USART1_MspInit 1 */
@@ -214,6 +217,8 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
 
+    /* USART1 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
 
   /* USER CODE END USART1_MspDeInit 1 */
diff --git a/sdk b/sdk
index 80de216..5314f26 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 80de216afbb14467ae6d21a83bf935fe91b78d2b
+Subproject commit 5314f26b61cf37283c9dfc9caf57b116a590829c
diff --git a/tmc5160_motor_driver_stand_alone.ioc b/tmc5160_motor_driver_stand_alone.ioc
index a4c6b3c..61efe7e 100644
--- a/tmc5160_motor_driver_stand_alone.ioc
+++ b/tmc5160_motor_driver_stand_alone.ioc
@@ -93,8 +93,11 @@ NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
 NVIC.TIM1_TRG_COM_TIM11_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
+NVIC.TIM6_DAC_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.TimeBase=TIM1_TRG_COM_TIM11_IRQn
 NVIC.TimeBaseIP=TIM11
+NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.USART3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 PA10.Mode=Asynchronous
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 0818921..a8cde2a 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -38,6 +38,8 @@ static chip_cfg_t chipcfg = {
     .huart                 = &DEBUG_UART,
     .debuglight            = DEBUG_LIGHT_GPIO,
 };
+TMC5130        m_motor1;
+static int32_t m_velocity;
 
 /*******************************************************************************
  *                                    代码                                     *
@@ -56,7 +58,6 @@ void regfn() {
     osDelay(atoi(argv[1]));
   });
 
-#if 0
 /*******************************************************************************
  *                                  步进电机                                   *
  *******************************************************************************/
@@ -76,52 +77,40 @@ void regfn() {
    */
   cmdScheduler.registerCmd("step_motor_setvelocity", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(2);
-
-    StepMotor* motor = NULL;
-    GET_MOTOR(motor);
-
-    motor->setVelocity(atoi(argv[2]));
+    int motorid = atoi(argv[1]);
+    m_velocity  = atoi(argv[2]);
   });
   cmdScheduler.registerCmd("step_motor_set_acc", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(2);
-
-    StepMotor* motor = NULL;
-    GET_MOTOR(motor);
-
-    motor->setAcc(atoi(argv[2]));
+    m_motor1.setAcceleration(atoi(argv[2]));
   });
   cmdScheduler.registerCmd("step_motor_set_dec", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(2);
-
-    StepMotor* motor = NULL;
-    GET_MOTOR(motor);
-
-    motor->setDec(atoi(argv[2]));
+    m_motor1.setDeceleration(atoi(argv[2]));
   });
   cmdScheduler.registerCmd("step_motor_moveto", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(2);
-
-    StepMotor* motor = NULL;
-    GET_MOTOR(motor);
-
-    motor->moveTo(atoi(argv[2]));
+    ZLOGI(TAG, "step_motor_moveto %d %d", atoi(argv[2]), m_velocity);
+    m_motor1.moveTo(atoi(argv[2]), m_velocity);
   });
   cmdScheduler.registerCmd("step_motor_moveby", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(2);
-
-    StepMotor* motor = NULL;
-    GET_MOTOR(motor);
-
-    motor->moveBy(atoi(argv[2]));
+    ZLOGI(TAG, "step_motor_moveby %d %d", atoi(argv[2]), m_velocity);
+    m_motor1.moveBy(atoi(argv[2]), m_velocity);
   });
   cmdScheduler.registerCmd("step_motor_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(2);
-
-    StepMotor* motor = NULL;
-    GET_MOTOR(motor);
-
-    motor->rotate(atoi(argv[2]));
+    ZLOGI(TAG, "step_motor_rotate %d %d", atoi(argv[2]), m_velocity);
+    if (atoi(argv[2]) > 0) {
+      m_motor1.rotate(m_velocity);
+    } else if (atoi(argv[2]) == 0) {
+      m_motor1.stop();
+    } else {
+      m_motor1.rotate(-m_velocity);
+    }
   });
+#if 0
+
   cmdScheduler.registerCmd("step_motor_movetozero", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     CHECK_ARGC(1);
 
@@ -173,8 +162,6 @@ void regfn() {
 #define MOTOR1_SPI_MODE_SELECT PB4
 // TMC5130HImpl m_tmc5130motor;
 
-TMC5130 m_motor1;
-
 void Main::run() {
   /*******************************************************************************
    *                                 系统初始化                                  *
@@ -197,9 +184,11 @@ void Main::run() {
     m_motor1.setIHOLD_IRUN(1, 20, 0);
     m_motor1.setMotorShaft(true);
 
-    m_motor1.setAcceleration(300000);
-    m_motor1.setDeceleration(300000);
-    
+    m_motor1.setIHOLD_IRUN(MOTOR_IHOLD, MOTOR_IRUN, 0);
+
+    m_motor1.setAcceleration(CFG_ACC);
+    m_motor1.setDeceleration(CFG_DEC);
+    m_velocity = CFG_VELOCITY;
   }
 
   int i = 1;
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 9535089..7d03b43 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -16,3 +16,18 @@
 
 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
 
+
+#define MOTOR_SHAFT                             (false)  // 电机是否反向
+#define MOTOR_IRUN                              (8)
+#define MOTOR_IHOLD                             (1)
+#define CFG_ACC                                 (300000)          // 加速度
+#define CFG_DEC                                 (300000)          // 减速度
+#define CFG_VELOCITY                            (20000)         // 位置模式时运行的速度
+#define CFG_ZERO_SHIFT                          (0)              // 回零时的偏移量
+#define CFG_RUNHOME_VELOCITY                    (50000)          // 回零速度
+#define CFG_RUNTOHOME_DEC                       (100000)         // 回零减速度
+#define CFG_MIN_POS                             (INT32_MIN)      // 最小位置
+#define CFG_MAX_POS                             (INT32_MAX)      // 最大位置
+#define CFG_RUNTOHOME_MAX_DISTANCE              (INT32_MAX)      // 回零时移动的最大位移
+#define CFG_RUNTOHOME_LEAVE_ZERO_POINT_DISTANCE (256 * 200 * 5)  // 回零时离开零点的距离
+#define CFG_RUNTOHOME_KEEP_MOVE_DISTANCE        (256 * 25 * 1)   // 回零时保持运动的距离
\ No newline at end of file