diff --git a/motorDriver.c b/motorDriver.c
index bb876f8..5dd0bf3 100644
--- a/motorDriver.c
+++ b/motorDriver.c
@@ -6,7 +6,6 @@
  */
 
 #include <msp430.h>
-#include "typedefExtention.h"
 #include "SPI.h"
 #include "motorDriver.h"
 
@@ -14,22 +13,26 @@ const uchar MD_CS = BIT3;
 
 // register 0x00 GCINF
 #define MD_GCONF 0X00
-#define MD_GCONF_singgelMotor   0x00000001
-#define MD_GCONF_stepdir1Enable 0x00000002
-#define MD_GCONF_stepdir2Enable 0x00000004
-#define MD_GCONF_motor1Revers   0x00000010
-#define MD_GCONF_motor1Revers   0x00000010
-#define MD_GCONF_lockGCONF      0x00000020
+#define MD_GCONF_singgelMotor   BIT00
+#define MD_GCONF_stepdir1Enable BIT01
+#define MD_GCONF_stepdir2Enable BIT02
+#define MD_GCONF_motor1Revers   BIT08
+#define MD_GCONF_motor1Revers   BIT09
+#define MD_GCONF_lockGCONF      BIT10
 
 // register 0x01 GSTAT
 #define MD_GSTAT 0X01
+#define MD_GSTAT_recet    BIT00
+#define MD_GSTAT_drv_err1 BIT01
+#define MD_GSTAT_drv_err2 BIT02
+#define MD_GSTAT_un_cp    BIT03
 
 // register 0x30, 0x50 IHOLD_IRUN
 #define MD_IHIR1 0x30
 #define MD_IHIR2 0x50
-#define MD_IHIR_iHold      0
-#define MD_IHIR_iRun       8
-#define md_IHIR_iHoldDelay 16ul
+#define MD_IHIR_iHold      0  // 5 bitts ( (x+1)/32 A )
+#define MD_IHIR_iRun       8  // 5 bits
+#define md_IHIR_iHoldDelay 16 // 4
 
 // register 0x6C, 7C CHOPCONF
 #define MD_CC1 0X6C
@@ -38,8 +41,17 @@ const uchar MD_CS = BIT3;
 #define MD_CC_doubbleEdge       0x20000000
 #define MD_CC_16ustapI          0x10000000
 #define MD_CC_mres              24 // 4 bits; 1/(2^x / 2^8) microstappen
-#define MD_CC_vsens             0x00020000
-#define MD_CC_tbl               15 // 3 bits?
+#define MC_CC_FULLSTEP          8ul << MD_CC_mres
+#define MC_CC_2US               7ul << MD_CC_mres
+#define MC_CC_4US               6ul << MD_CC_mres
+#define MC_CC_8US               5ul << MD_CC_mres
+#define MC_CC_16US              4ul << MD_CC_mres
+#define MC_CC_32US              3ul << MD_CC_mres
+#define MC_CC_64US              2ul << MD_CC_mres
+#define MC_CC_128US             1ul << MD_CC_mres
+#define MC_CC_256US             0ul << MD_CC_mres
+#define MD_CC_vsens             BIT17
+#define MD_CC_tbl               15 // 2 bits
 #define MD_CC_cmh               BIT14
 #define MD_CC_rndtf             0x00002000
 #define MD_CC_disfdcc           0x00001000
@@ -48,21 +60,21 @@ const uchar MD_CS = BIT3;
 #define MD_CC_hstrt             4 // 3 bits
 #define MD_CC_toff              0 // 4 bits
 
-// bool md_checkError(){
-//   unsigned long stat = md_read(MD_GSTAT);
-//   if(stat != 0){
-//     if(stat == 0x1){ // only a recet has occert
-//       // restart the motor driver
-//       md_setup();
-//     }else{ // one of the motorst stopt due to short or overheated or a undervoltage in chargepump
-//       // wait a while for checking again
-//       delay(1000);
-//       md_checkError();
-//     }
-//     return true;
-//   }
-//   return false;
-// }
+enum bool MDStatus(){
+  unsigned long stat = md_read(MD_GSTAT);
+  if(stat != 0){
+    if(stat == 0x1){ // only a recet has occert
+      // restart the motor driver
+      md_setup();
+    }else{ // one of the motors stopt due to short or overheated or a undervoltage in chargepump
+      // wait a while for checking again
+      __delay_cycles(16000000);
+      MDStatus();
+    }
+    return true;
+  }
+  return false;
+}
 
 void MD_write(uchar addr, ulong data) {
   char i;
@@ -116,9 +128,13 @@ void MDInit(){
   P1DIR |= MD_CS; // set MD_CS (pin 3) as output
   P1OUT |= MD_CS; // set MD_CS high
 
+  MDStatus();
+
   MD_write(MD_GCONF, MD_GCONF_stepdir2Enable | MD_GCONF_stepdir1Enable);
-  MD_write(MD_CC1, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | (4ul<<MD_CC_mres) | MD_CC_16ustapI);
-  MD_write(MD_CC2, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | (4ul<<MD_CC_mres) | MD_CC_16ustapI);
+  MD_write(MD_CC1, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | MC_CC_FULLSTEP | MD_CC_16ustapI);
+  MD_write(MD_CC2, 3ul<<MD_CC_toff | (4ul<<MD_CC_hstrt) | (1ul<<MD_CC_hend) | (2ul<<MD_CC_tbl) | MC_CC_FULLSTEP | MD_CC_16ustapI);
   MD_write(MD_IHIR1, 10ul<<MD_IHIR_iHold | 31ul<<MD_IHIR_iRun | 6ul<<md_IHIR_iHoldDelay);
   MD_write(MD_IHIR2, 10ul<<MD_IHIR_iHold | 31ul<<MD_IHIR_iRun | 6ul<<md_IHIR_iHoldDelay);
+
+  MDStatus();
 }
diff --git a/motorDriver.h b/motorDriver.h
index f97403b..7080764 100644
--- a/motorDriver.h
+++ b/motorDriver.h
@@ -8,6 +8,9 @@
 #ifndef MOTORDRIVER_H_
 #define MOTORDRIVER_H_
 
+#include "typedefExtention.h"
+
 void MDInit();
+enum bool MDStatus();
 
 #endif /* MOTORDRIVER_H_ */