diff --git a/Core/Inc/machine.h b/Core/Inc/machine.h
new file mode 100644
index 0000000..a768400
--- /dev/null
+++ b/Core/Inc/machine.h
@@ -0,0 +1,136 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : machine.h
+  * @brief          : LK540 Machine Stepper Motor Control Header
+  *                   步进电机控制模块头文件
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+#ifndef __MACHINE_H
+#define __MACHINE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* Exported types ------------------------------------------------------------*/
+/**
+  * @brief 步进电机方向枚举
+  */
+typedef enum
+{
+  MOTOR_DIR_CWW = 0,  /* 向左移动 (Counter Clockwise) */
+  MOTOR_DIR_CW  = 1   /* 向右移动 (Clockwise) */
+} Motor_DirectionTypeDef;
+
+/* Exported constants --------------------------------------------------------*/
+/* 电机参数定义 */
+#define MOTOR_PULSE_PER_MM          5.33f    /* 每毫米脉冲数 */
+#define MOTOR_ORIGIN_DISTANCE        215.0f   /* 原点距离 (mm) */
+#define MOTOR_MATERIAL1_DISTANCE     192.4f   /* 1#料距离 (mm) */
+#define MOTOR_MATERIAL2_DISTANCE     65.4f    /* 2#料距离 (mm) */
+#define MOTOR_MATERIAL3_DISTANCE     61.6f    /* 3#料距离 (mm) */
+#define MOTOR_MATERIAL4_DISTANCE     188.6f   /* 4#料距离 (mm) */
+
+/* GPIO引脚定义 */
+#define MOTOR_ORIGIN_PIN_PORT        GPIOB
+#define MOTOR_ORIGIN_PIN             GPIO_PIN_3
+
+#define MOTOR_LIMIT_PIN_PORT         GPIOG
+#define MOTOR_LIMIT_PIN              GPIO_PIN_15
+
+#define MOTOR_DIR_PIN_PORT           GPIOD
+#define MOTOR_DIR_PIN                GPIO_PIN_7
+
+#define MOTOR_STEP_PIN_PORT          GPIOG
+#define MOTOR_STEP_PIN               GPIO_PIN_9
+
+/* Exported macro ------------------------------------------------------------*/
+
+/* Exported functions prototypes ---------------------------------------------*/
+/**
+  * @brief  检测步进电机是否在原点
+  * @retval 1: 在原点, 0: 不在原点
+  */
+uint8_t Machine_IsAtOrigin(void);
+
+/**
+  * @brief  检测步进电机是否在临界点（限位传感器）
+  * @retval 1: 在临界点, 0: 不在临界点
+  */
+uint8_t Machine_IsAtLimit(void);
+
+/**
+  * @brief  设置步进电机方向
+  * @param  dir: 方向 (MOTOR_DIR_CWW: 向左, MOTOR_DIR_CW: 向右)
+  * @retval None
+  */
+void Machine_SetDirection(Motor_DirectionTypeDef dir);
+
+/**
+  * @brief  步进电机移动一步
+  * @note   产生一个脉冲信号，电机移动一步（1/5.33 mm）
+  * @retval None
+  */
+void Machine_Step(void);
+
+/**
+  * @brief  步进电机移动到原点
+  * @note   一直向左移动直到检测到原点传感器（PB3为0）
+  *         如果检测到限位传感器（PG15为0），则停止并返回错误
+  * @retval 0: 成功到达原点, 1: 到达限位点（错误）
+  */
+uint8_t Machine_MoveToOrigin(void);
+
+/**
+  * @brief  步进电机从原点移动到中心点
+  * @note   中心点就是原点位置（215.0mm处）
+  *         如果已经在原点，则不需要移动
+  * @retval 0: 成功, 1: 失败
+  */
+uint8_t Machine_MoveToCenter(void);
+
+/**
+  * @brief  步进电机从中心点移动到1#料位置
+  * @note   从原点（215.0mm）向左移动22.6mm到达1#料（192.4mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial1(void);
+
+/**
+  * @brief  步进电机从中心点移动到2#料位置
+  * @note   从原点（215.0mm）向左移动149.6mm到达2#料（65.4mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial2(void);
+
+/**
+  * @brief  步进电机从中心点移动到3#料位置
+  * @note   从原点（215.0mm）向右移动153.4mm到达3#料（61.6mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial3(void);
+
+/**
+  * @brief  步进电机从中心点移动到4#料位置
+  * @note   从原点（215.0mm）向右移动26.4mm到达4#料（188.6mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial4(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MACHINE_H */
diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index c284138..213c817 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -1,69 +1,69 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAIN_H
-#define __MAIN_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx_hal.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
-
-/* USER CODE END ET */
-
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
-
-/* USER CODE END EC */
-
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
-
-/* USER CODE END EM */
-
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
-
-/* USER CODE BEGIN EFP */
-
-/* USER CODE END EFP */
-
-/* Private defines -----------------------------------------------------------*/
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAIN_H */
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.h
+  * @brief          : Header for main.c file.
+  *                   This file contains the common defines of the application.
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAIN_H
+#define __MAIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f1xx_hal.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+#include "machine.h"
+/* USER CODE END Includes */
+
+/* Exported types ------------------------------------------------------------*/
+/* USER CODE BEGIN ET */
+
+/* USER CODE END ET */
+
+/* Exported constants --------------------------------------------------------*/
+/* USER CODE BEGIN EC */
+
+/* USER CODE END EC */
+
+/* Exported macro ------------------------------------------------------------*/
+/* USER CODE BEGIN EM */
+
+/* USER CODE END EM */
+
+/* Exported functions prototypes ---------------------------------------------*/
+void Error_Handler(void);
+
+/* USER CODE BEGIN EFP */
+
+/* USER CODE END EFP */
+
+/* Private defines -----------------------------------------------------------*/
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAIN_H */
diff --git a/Core/Src/machine.c b/Core/Src/machine.c
new file mode 100644
index 0000000..71bde7d
--- /dev/null
+++ b/Core/Src/machine.c
@@ -0,0 +1,332 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : machine.c
+  * @brief          : LK540 Machine Stepper Motor Control Implementation
+  *                   步进电机控制模块实现
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+
+/* Includes ------------------------------------------------------------------*/
+#include "machine.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+/* 步进脉冲时序参数（微秒） */
+#define STEP_PULSE_HIGH_TIME_US      10   /* 脉冲高电平时间 */
+#define STEP_PULSE_LOW_TIME_US       10   /* 脉冲低电平时间 */
+
+/* 移动相关参数 */
+#define MAX_STEPS_TO_ORIGIN          50000  /* 移动到原点的最大步数（防止无限循环） */
+#define STEP_DELAY_US                100    /* 每步之间的延时（微秒） */
+
+/* 各料位相对于原点的距离（mm） */
+#define DISTANCE_TO_MATERIAL1        22.6f   /* 215.0 - 192.4 = 22.6mm (向左) */
+#define DISTANCE_TO_MATERIAL2        149.6f  /* 215.0 - 65.4 = 149.6mm (向左) */
+#define DISTANCE_TO_MATERIAL3        153.4f  /* 215.0 - 61.6 = 153.4mm (向右) */
+#define DISTANCE_TO_MATERIAL4        26.4f   /* 215.0 - 188.6 = 26.4mm (向右) */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+/* USER CODE BEGIN PFP */
+static void DelayUs(uint32_t us);
+static uint32_t Machine_MmToSteps(float mm);
+static uint8_t Machine_MoveSteps(Motor_DirectionTypeDef dir, uint32_t steps);
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/**
+  * @brief  微秒级延时函数
+  * @param  us: 延时时间（微秒）
+  * @note   基于系统时钟的简单延时，72MHz系统时钟下
+  *         考虑循环开销，使用约60个周期/微秒
+  * @retval None
+  */
+static void DelayUs(uint32_t us)
+{
+  uint32_t i;
+  /* 72MHz时钟，考虑循环开销，约60个周期/微秒 */
+  for (i = 0; i < us * 60; i++)
+  {
+    __NOP();
+  }
+}
+
+/**
+  * @brief  将毫米距离转换为步数
+  * @param  mm: 距离（毫米）
+  * @retval 步数
+  */
+static uint32_t Machine_MmToSteps(float mm)
+{
+  /* 每毫米5.33个脉冲，向上取整 */
+  return (uint32_t)(mm * MOTOR_PULSE_PER_MM + 0.5f);
+}
+
+/**
+  * @brief  步进电机移动指定步数
+  * @param  dir: 移动方向
+  * @param  steps: 移动步数
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+static uint8_t Machine_MoveSteps(Motor_DirectionTypeDef dir, uint32_t steps)
+{
+  uint32_t i;
+  
+  /* 设置方向 */
+  Machine_SetDirection(dir);
+  DelayUs(STEP_DELAY_US);
+  
+  /* 移动指定步数 */
+  for (i = 0; i < steps; i++)
+  {
+    /* 检查限位传感器 */
+    if (Machine_IsAtLimit())
+    {
+      return 1; /* 到达限位点，返回错误 */
+    }
+    
+    /* 移动一步 */
+    Machine_Step();
+    DelayUs(STEP_DELAY_US);
+  }
+  
+  return 0; /* 成功 */
+}
+
+/* USER CODE END 0 */
+
+/* Exported functions --------------------------------------------------------*/
+
+/**
+  * @brief  检测步进电机是否在原点
+  * @note   PB3状态为0表示检测到步进电机在原点
+  * @retval 1: 在原点, 0: 不在原点
+  */
+uint8_t Machine_IsAtOrigin(void)
+{
+  GPIO_PinState pinState;
+  
+  /* 读取PB3引脚状态 */
+  pinState = HAL_GPIO_ReadPin(MOTOR_ORIGIN_PIN_PORT, MOTOR_ORIGIN_PIN);
+  
+  /* PB3为0表示在原点 */
+  return (pinState == GPIO_PIN_RESET) ? 1 : 0;
+}
+
+/**
+  * @brief  检测步进电机是否在临界点（限位传感器）
+  * @note   PG15状态为0表示检测到步进电机到达临界点，不能再前进了
+  * @retval 1: 在临界点, 0: 不在临界点
+  */
+uint8_t Machine_IsAtLimit(void)
+{
+  GPIO_PinState pinState;
+  
+  /* 读取PG15引脚状态 */
+  pinState = HAL_GPIO_ReadPin(MOTOR_LIMIT_PIN_PORT, MOTOR_LIMIT_PIN);
+  
+  /* PG15为0表示在临界点 */
+  return (pinState == GPIO_PIN_RESET) ? 1 : 0;
+}
+
+/**
+  * @brief  设置步进电机方向
+  * @param  dir: 方向
+  *         MOTOR_DIR_CWW (0): 向左移动 (CWW - Counter Clockwise)
+  *         MOTOR_DIR_CW  (1): 向右移动 (CW - Clockwise)
+  * @note   PD7为0表示向左，1表示向右
+  * @retval None
+  */
+void Machine_SetDirection(Motor_DirectionTypeDef dir)
+{
+  GPIO_PinState pinState;
+  
+  /* 根据方向设置PD7引脚状态 */
+  pinState = (dir == MOTOR_DIR_CWW) ? GPIO_PIN_RESET : GPIO_PIN_SET;
+  
+  /* 设置方向引脚 */
+  HAL_GPIO_WritePin(MOTOR_DIR_PIN_PORT, MOTOR_DIR_PIN, pinState);
+}
+
+/**
+  * @brief  步进电机移动一步
+  * @note   产生一个脉冲信号，电机移动一步
+  *         移动1mm需要5.33个脉冲，所以一步约等于1/5.33 mm
+  *         脉冲时序：低->高->低
+  * @retval None
+  */
+void Machine_Step(void)
+{
+  /* 确保步进引脚初始为低电平 */
+  HAL_GPIO_WritePin(MOTOR_STEP_PIN_PORT, MOTOR_STEP_PIN, GPIO_PIN_RESET);
+  DelayUs(STEP_PULSE_LOW_TIME_US);
+  
+  /* 产生高电平脉冲 */
+  HAL_GPIO_WritePin(MOTOR_STEP_PIN_PORT, MOTOR_STEP_PIN, GPIO_PIN_SET);
+  DelayUs(STEP_PULSE_HIGH_TIME_US);
+  
+  /* 恢复低电平 */
+  HAL_GPIO_WritePin(MOTOR_STEP_PIN_PORT, MOTOR_STEP_PIN, GPIO_PIN_RESET);
+  DelayUs(STEP_PULSE_LOW_TIME_US);
+}
+
+/**
+  * @brief  步进电机移动到原点
+  * @note   一直向左移动直到检测到原点传感器（PB3为0）
+  *         如果检测到限位传感器（PG15为0），则停止并返回错误
+  * @retval 0: 成功到达原点, 1: 到达限位点（错误）
+  */
+uint8_t Machine_MoveToOrigin(void)
+{
+  uint32_t stepCount = 0;
+  
+  /* 设置方向为向左（CWW） */
+  Machine_SetDirection(MOTOR_DIR_CWW);
+  DelayUs(STEP_DELAY_US);
+  
+  /* 如果已经在原点，直接返回 */
+  if (Machine_IsAtOrigin())
+  {
+    return 0;
+  }
+  
+  /* 一直向左移动直到检测到原点 */
+  while (!Machine_IsAtOrigin())
+  {
+    /* 检查限位传感器 */
+    if (Machine_IsAtLimit())
+    {
+      return 1; /* 到达限位点，返回错误 */
+    }
+    
+    /* 防止无限循环 */
+    if (stepCount++ > MAX_STEPS_TO_ORIGIN)
+    {
+      return 1; /* 超时，返回错误 */
+    }
+    
+    /* 移动一步 */
+    Machine_Step();
+    DelayUs(STEP_DELAY_US);
+  }
+  
+  return 0; /* 成功到达原点 */
+}
+
+/**
+  * @brief  步进电机从原点移动到中心点
+  * @note   中心点就是原点位置（215.0mm处）
+  *         如果已经在原点，则不需要移动
+  * @retval 0: 成功, 1: 失败
+  */
+uint8_t Machine_MoveToCenter(void)
+{
+  /* 如果已经在原点（中心点），直接返回成功 */
+  if (Machine_IsAtOrigin())
+  {
+    return 0;
+  }
+  
+  /* 否则移动到原点 */
+  return Machine_MoveToOrigin();
+}
+
+/**
+  * @brief  步进电机从中心点移动到1#料位置
+  * @note   从原点（215.0mm）向左移动22.6mm到达1#料（192.4mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial1(void)
+{
+  uint32_t steps;
+  
+  /* 计算需要的步数 */
+  steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL1);
+  
+  /* 向左移动 */
+  return Machine_MoveSteps(MOTOR_DIR_CWW, steps);
+}
+
+/**
+  * @brief  步进电机从中心点移动到2#料位置
+  * @note   从原点（215.0mm）向左移动149.6mm到达2#料（65.4mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial2(void)
+{
+  uint32_t steps;
+  
+  /* 计算需要的步数 */
+  steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL2);
+  
+  /* 向左移动 */
+  return Machine_MoveSteps(MOTOR_DIR_CWW, steps);
+}
+
+/**
+  * @brief  步进电机从中心点移动到3#料位置
+  * @note   从原点（215.0mm）向右移动153.4mm到达3#料（61.6mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial3(void)
+{
+  uint32_t steps;
+  
+  /* 计算需要的步数 */
+  steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL3);
+  
+  /* 向右移动 */
+  return Machine_MoveSteps(MOTOR_DIR_CW, steps);
+}
+
+/**
+  * @brief  步进电机从中心点移动到4#料位置
+  * @note   从原点（215.0mm）向右移动26.4mm到达4#料（188.6mm）
+  * @retval 0: 成功, 1: 失败（到达限位点）
+  */
+uint8_t Machine_MoveToMaterial4(void)
+{
+  uint32_t steps;
+  
+  /* 计算需要的步数 */
+  steps = Machine_MmToSteps(DISTANCE_TO_MATERIAL4);
+  
+  /* 向右移动 */
+  return Machine_MoveSteps(MOTOR_DIR_CW, steps);
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
diff --git a/Core/Src/main.c b/Core/Src/main.c
index bf05581..77f492d 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -1,315 +1,331 @@
-/* USER CODE BEGIN Header */
-/**
-  ******************************************************************************
-  * @file           : main.c
-  * @brief          : Main program body
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2026 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-#include "cmsis_os.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-/* Definitions for motorTask */
-osThreadId_t motorTaskHandle;
-const osThreadAttr_t motorTask_attributes = {
-  .name = "motorTask",
-  .stack_size = 256 * 4,
-  .priority = (osPriority_t) osPriorityAboveNormal,
-};
-/* USER CODE BEGIN PV */
-
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-void SystemClock_Config(void);
-static void MX_GPIO_Init(void);
-void StartMotorTask(void *argument);
-
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* Private user code ---------------------------------------------------------*/
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-/**
-  * @brief  The application entry point.
-  * @retval int
-  */
-int main(void)
-{
-
-  /* USER CODE BEGIN 1 */
-
-  /* USER CODE END 1 */
-
-  /* MCU Configuration--------------------------------------------------------*/
-
-  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-  HAL_Init();
-
-  /* USER CODE BEGIN Init */
-
-  /* USER CODE END Init */
-
-  /* Configure the system clock */
-  SystemClock_Config();
-
-  /* USER CODE BEGIN SysInit */
-
-  /* USER CODE END SysInit */
-
-  /* Initialize all configured peripherals */
-  MX_GPIO_Init();
-  /* USER CODE BEGIN 2 */
-
-  /* USER CODE END 2 */
-
-  /* Init scheduler */
-  osKernelInitialize();
-
-  /* USER CODE BEGIN RTOS_MUTEX */
-  /* add mutexes, ... */
-  /* USER CODE END RTOS_MUTEX */
-
-  /* USER CODE BEGIN RTOS_SEMAPHORES */
-  /* add semaphores, ... */
-  /* USER CODE END RTOS_SEMAPHORES */
-
-  /* USER CODE BEGIN RTOS_TIMERS */
-  /* start timers, add new ones, ... */
-  /* USER CODE END RTOS_TIMERS */
-
-  /* USER CODE BEGIN RTOS_QUEUES */
-  /* add queues, ... */
-  /* USER CODE END RTOS_QUEUES */
-
-  /* Create the thread(s) */
-  /* creation of motorTask */
-  motorTaskHandle = osThreadNew(StartMotorTask, NULL, &motorTask_attributes);
-
-  /* USER CODE BEGIN RTOS_THREADS */
-  /* add threads, ... */
-  /* USER CODE END RTOS_THREADS */
-
-  /* USER CODE BEGIN RTOS_EVENTS */
-  /* add events, ... */
-  /* USER CODE END RTOS_EVENTS */
-
-  /* Start scheduler */
-  osKernelStart();
-
-  /* We should never get here as control is now taken by the scheduler */
-
-  /* Infinite loop */
-  /* USER CODE BEGIN WHILE */
-  while (1)
-  {
-    /* USER CODE END WHILE */
-
-    /* USER CODE BEGIN 3 */
-  }
-  /* USER CODE END 3 */
-}
-
-/**
-  * @brief System Clock Configuration
-  * @retval None
-  */
-void SystemClock_Config(void)
-{
-  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
-  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
-
-  /** Initializes the RCC Oscillators according to the specified parameters
-  * in the RCC_OscInitTypeDef structure.
-  */
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
-  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
-  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
-  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
-  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
-  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
-    Error_Handler();
-  }
-
-  /** Initializes the CPU, AHB and APB buses clocks
-  */
-  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
-                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
-  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
-  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
-
-  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
-  {
-    Error_Handler();
-  }
-}
-
-/**
-  * @brief GPIO Initialization Function
-  * @param None
-  * @retval None
-  */
-static void MX_GPIO_Init(void)
-{
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-  /* USER CODE BEGIN MX_GPIO_Init_1 */
-
-  /* USER CODE END MX_GPIO_Init_1 */
-
-  /* GPIO Ports Clock Enable */
-  __HAL_RCC_GPIOD_CLK_ENABLE();
-  __HAL_RCC_GPIOG_CLK_ENABLE();
-  __HAL_RCC_GPIOB_CLK_ENABLE();
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, GPIO_PIN_RESET);
-
-  /*Configure GPIO pin : PD7 */
-  GPIO_InitStruct.Pin = GPIO_PIN_7;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : PG9 */
-  GPIO_InitStruct.Pin = GPIO_PIN_9;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
-  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : PG15 */
-  GPIO_InitStruct.Pin = GPIO_PIN_15;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : PB3 */
-  GPIO_InitStruct.Pin = GPIO_PIN_3;
-  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
-
-  /* USER CODE BEGIN MX_GPIO_Init_2 */
-
-  /* USER CODE END MX_GPIO_Init_2 */
-}
-
-/* USER CODE BEGIN 4 */
-
-/* USER CODE END 4 */
-
-/* USER CODE BEGIN Header_StartMotorTask */
-/**
-  * @brief  Function implementing the motorTask thread.
-  * @param  argument: Not used
-  * @retval None
-  */
-/* USER CODE END Header_StartMotorTask */
-void StartMotorTask(void *argument)
-{
-  /* USER CODE BEGIN 5 */
-  /* Infinite loop */
-  for(;;)
-  {
-    osDelay(1);
-  }
-  /* USER CODE END 5 */
-}
-
-/**
-  * @brief  Period elapsed callback in non blocking mode
-  * @note   This function is called  when TIM6 interrupt took place, inside
-  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
-  * a global variable "uwTick" used as application time base.
-  * @param  htim : TIM handle
-  * @retval None
-  */
-void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
-{
-  /* USER CODE BEGIN Callback 0 */
-
-  /* USER CODE END Callback 0 */
-  if (htim->Instance == TIM6)
-  {
-    HAL_IncTick();
-  }
-  /* USER CODE BEGIN Callback 1 */
-
-  /* USER CODE END Callback 1 */
-}
-
-/**
-  * @brief  This function is executed in case of error occurrence.
-  * @retval None
-  */
-void Error_Handler(void)
-{
-  /* USER CODE BEGIN Error_Handler_Debug */
-  /* User can add his own implementation to report the HAL error return state */
-  __disable_irq();
-  while (1)
-  {
-  }
-  /* USER CODE END Error_Handler_Debug */
-}
-#ifdef USE_FULL_ASSERT
-/**
-  * @brief  Reports the name of the source file and the source line number
-  *         where the assert_param error has occurred.
-  * @param  file: pointer to the source file name
-  * @param  line: assert_param error line source number
-  * @retval None
-  */
-void assert_failed(uint8_t *file, uint32_t line)
-{
-  /* USER CODE BEGIN 6 */
-  /* User can add his own implementation to report the file name and line number,
-     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
-  /* USER CODE END 6 */
-}
-#endif /* USE_FULL_ASSERT */
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file           : main.c
+  * @brief          : Main program body
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2026 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+#include "cmsis_os.h"
+
+/* Private includes ----------------------------------------------------------*/
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* Private typedef -----------------------------------------------------------*/
+/* USER CODE BEGIN PTD */
+
+/* USER CODE END PTD */
+
+/* Private define ------------------------------------------------------------*/
+/* USER CODE BEGIN PD */
+
+/* USER CODE END PD */
+
+/* Private macro -------------------------------------------------------------*/
+/* USER CODE BEGIN PM */
+
+/* USER CODE END PM */
+
+/* Private variables ---------------------------------------------------------*/
+/* Definitions for motorTask */
+osThreadId_t motorTaskHandle;
+const osThreadAttr_t motorTask_attributes = {
+  .name = "motorTask",
+  .stack_size = 256 * 4,
+  .priority = (osPriority_t) osPriorityAboveNormal,
+};
+/* USER CODE BEGIN PV */
+
+/* USER CODE END PV */
+
+/* Private function prototypes -----------------------------------------------*/
+void SystemClock_Config(void);
+static void MX_GPIO_Init(void);
+void StartMotorTask(void *argument);
+
+/* USER CODE BEGIN PFP */
+
+/* USER CODE END PFP */
+
+/* Private user code ---------------------------------------------------------*/
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/**
+  * @brief  The application entry point.
+  * @retval int
+  */
+int main(void)
+{
+
+  /* USER CODE BEGIN 1 */
+
+  /* USER CODE END 1 */
+
+  /* MCU Configuration--------------------------------------------------------*/
+
+  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
+  HAL_Init();
+
+  /* USER CODE BEGIN Init */
+
+  /* USER CODE END Init */
+
+  /* Configure the system clock */
+  SystemClock_Config();
+
+  /* USER CODE BEGIN SysInit */
+
+  /* USER CODE END SysInit */
+
+  /* Initialize all configured peripherals */
+  MX_GPIO_Init();
+  /* USER CODE BEGIN 2 */
+  
+  /* 上电后步进电机初始化：从任何位置移动到原点 */
+  /* Power-on initialization: Move stepper motor to origin from any position */
+  if (Machine_MoveToOrigin() == 0)
+  {
+    /* 成功到达原点，移动到中心点（中心点就是原点位置） */
+    /* Successfully reached origin, move to center (center is the origin position) */
+    Machine_MoveToCenter();
+  }
+  else
+  {
+    /* 移动到原点失败，可能是到达限位点或超时 */
+    /* Failed to move to origin, may have reached limit or timeout */
+    /* 这里可以添加错误处理，例如LED闪烁或蜂鸣器报警 */
+    /* Error handling can be added here, such as LED blinking or buzzer alarm */
+  }
+  
+  /* USER CODE END 2 */
+
+  /* Init scheduler */
+  osKernelInitialize();
+
+  /* USER CODE BEGIN RTOS_MUTEX */
+  /* add mutexes, ... */
+  /* USER CODE END RTOS_MUTEX */
+
+  /* USER CODE BEGIN RTOS_SEMAPHORES */
+  /* add semaphores, ... */
+  /* USER CODE END RTOS_SEMAPHORES */
+
+  /* USER CODE BEGIN RTOS_TIMERS */
+  /* start timers, add new ones, ... */
+  /* USER CODE END RTOS_TIMERS */
+
+  /* USER CODE BEGIN RTOS_QUEUES */
+  /* add queues, ... */
+  /* USER CODE END RTOS_QUEUES */
+
+  /* Create the thread(s) */
+  /* creation of motorTask */
+  motorTaskHandle = osThreadNew(StartMotorTask, NULL, &motorTask_attributes);
+
+  /* USER CODE BEGIN RTOS_THREADS */
+  /* add threads, ... */
+  /* USER CODE END RTOS_THREADS */
+
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
+  /* Start scheduler */
+  osKernelStart();
+
+  /* We should never get here as control is now taken by the scheduler */
+
+  /* Infinite loop */
+  /* USER CODE BEGIN WHILE */
+  while (1)
+  {
+    /* USER CODE END WHILE */
+
+    /* USER CODE BEGIN 3 */
+  }
+  /* USER CODE END 3 */
+}
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}
+
+/**
+  * @brief GPIO Initialization Function
+  * @param None
+  * @retval None
+  */
+static void MX_GPIO_Init(void)
+{
+  GPIO_InitTypeDef GPIO_InitStruct = {0};
+  /* USER CODE BEGIN MX_GPIO_Init_1 */
+
+  /* USER CODE END MX_GPIO_Init_1 */
+
+  /* GPIO Ports Clock Enable */
+  __HAL_RCC_GPIOD_CLK_ENABLE();
+  __HAL_RCC_GPIOG_CLK_ENABLE();
+  __HAL_RCC_GPIOB_CLK_ENABLE();
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOD, GPIO_PIN_7, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin Output Level */
+  HAL_GPIO_WritePin(GPIOG, GPIO_PIN_9, GPIO_PIN_RESET);
+
+  /*Configure GPIO pin : PD7 */
+  GPIO_InitStruct.Pin = GPIO_PIN_7;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PG9 */
+  GPIO_InitStruct.Pin = GPIO_PIN_9;
+  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
+  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
+  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PG15 */
+  GPIO_InitStruct.Pin = GPIO_PIN_15;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOG, &GPIO_InitStruct);
+
+  /*Configure GPIO pin : PB3 */
+  GPIO_InitStruct.Pin = GPIO_PIN_3;
+  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = GPIO_PULLUP;
+  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+
+  /* USER CODE BEGIN MX_GPIO_Init_2 */
+
+  /* USER CODE END MX_GPIO_Init_2 */
+}
+
+/* USER CODE BEGIN 4 */
+
+/* USER CODE END 4 */
+
+/* USER CODE BEGIN Header_StartMotorTask */
+/**
+  * @brief  Function implementing the motorTask thread.
+  * @param  argument: Not used
+  * @retval None
+  */
+/* USER CODE END Header_StartMotorTask */
+void StartMotorTask(void *argument)
+{
+  /* USER CODE BEGIN 5 */
+  /* Infinite loop */
+  for(;;)
+  {
+    osDelay(1);
+  }
+  /* USER CODE END 5 */
+}
+
+/**
+  * @brief  Period elapsed callback in non blocking mode
+  * @note   This function is called  when TIM6 interrupt took place, inside
+  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
+  * a global variable "uwTick" used as application time base.
+  * @param  htim : TIM handle
+  * @retval None
+  */
+void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
+{
+  /* USER CODE BEGIN Callback 0 */
+
+  /* USER CODE END Callback 0 */
+  if (htim->Instance == TIM6)
+  {
+    HAL_IncTick();
+  }
+  /* USER CODE BEGIN Callback 1 */
+
+  /* USER CODE END Callback 1 */
+}
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @retval None
+  */
+void Error_Handler(void)
+{
+  /* USER CODE BEGIN Error_Handler_Debug */
+  /* User can add his own implementation to report the HAL error return state */
+  __disable_irq();
+  while (1)
+  {
+  }
+  /* USER CODE END Error_Handler_Debug */
+}
+#ifdef USE_FULL_ASSERT
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t *file, uint32_t line)
+{
+  /* USER CODE BEGIN 6 */
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+  /* USER CODE END 6 */
+}
+#endif /* USE_FULL_ASSERT */