diff --git a/Hyt2/APP/Device/Device_speed/speed_to_step.c b/Hyt2/APP/Device/Device_speed/speed_to_step.c
index 17240cb..f42857f 100644
--- a/Hyt2/APP/Device/Device_speed/speed_to_step.c
+++ b/Hyt2/APP/Device/Device_speed/speed_to_step.c
@@ -153,19 +153,6 @@ static void ptz_hori_step_speed_task()
           g_ptz.hori_tmc2160.f = 0;
         }
     }
-//    else
-//    {
-//      if(GetDcstepPulseFlag())
-//      {
-//        ptz_hori_timer_start(4000);//水平DC0长时间未输出有效高电平，使STEP引脚输出一段125us的脉冲
-//        SetDcstepPulseFlag();
-//      }
-//      else 
-//      {
-//        ptz_hori_timer_stop();
-//      }
-//      
-//    }
      OSTimeDlyHMSM(0u, 0u, 0u, PTZ_HORI_ACC_DEC_INC_T);
     
   }
diff --git a/Hyt2/BSP/Driver/tmc2160/tmc2160.h b/Hyt2/BSP/Driver/tmc2160/tmc2160.h
index 2dc4d9e..82ae489 100644
--- a/Hyt2/BSP/Driver/tmc2160/tmc2160.h
+++ b/Hyt2/BSP/Driver/tmc2160/tmc2160.h
@@ -41,6 +41,7 @@
   #define TMC2160_PWM_SCALE     0x71  //只读,斩波调幅结果
   #define TMC2160_PWM_AUTO      0x72  //只读，自动标定的偏移值
   #define TMC2160_LOST_STEPS    0x73  //只读，
+  #define TMC2160_SW_MODE       0x34  //只读，
 
 
 
diff --git a/Hyt2/BSP/Driver/usart/Usart.c b/Hyt2/BSP/Driver/usart/Usart.c
index 92b27f5..8b1b134 100644
--- a/Hyt2/BSP/Driver/usart/Usart.c
+++ b/Hyt2/BSP/Driver/usart/Usart.c
@@ -237,7 +237,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
    if(device == uart_485_handle)
    {
      PTZ_UART_485_TX;
-     OSTimeDlyHMSM(0u, 0u, 0u, 10u);
+     OSTimeDlyHMSM(0u, 0u, 0u, 1u);
    
      for (int i = 0; i<len; i++)
      {
@@ -254,7 +254,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
        }
      }
     
-     OSTimeDlyHMSM(0u, 0u, 0u, 10u);
+     OSTimeDlyHMSM(0u, 0u, 0u, 1u);
      PTZ_UART_485_RX;
    }