No
Close the initialization task and start the normal task
Yes
RUN_CMD
Move up to zero (0 position)
Close the H Bridge
The stall detection flag bit is cleared
Read the SR1 register
Enable the stall detection function
Close the H-bridge and start the motor initialization task?
Stall initialization complete flag position 1
Is the actual number of steps completed?
The timer interrupts each action
Actual running steps =20 microsteps?
Start step the interrupt process
Whether the ReFrnc reset work?（0x1FF/0x20D）
The motor status changes to the status of stall management
Actual steps = target steps?
Motor on upward movement to zero position (0 position)
Stall detection marker position?
Start step the interrupt process
Motor state = Idle state?
Enable Start step the interrupt process
Actual steps < target steps?
Enable a traffic blocking management task
INIT_CMD
Timer task
Start
End
Is Position changed and the last position command ended?（0x201）
Turn off motor interrupt timer
Close the H Bridge.
Initialize task
Enable a traffic blocking Management Task?
Set the enable stall detection flag bit
Start the motor initialization task
Stall initialization complete flag bit?
Read the SR5 register
Traffic blocking management task
Is the stall initialization complete flag sent?
Turn on the motor interrupt timer?
Actual running steps =20 microsteps?
