diff --git a/README.md b/README.md
index 87a290f..2872c9e 100644
--- a/README.md
+++ b/README.md
@@ -79,6 +79,7 @@ OpenIPC Wiki
 - [Xiaomi Mi Camera 2K (MJSXJ03HL)](https://github.com/OpenIPC/device-mjsxj03hl/)
 - [Wyze V3](en/device-wyze-integration.md)
 - [Digitus DN-16048 Optizoom](en/device-digitus-dn16048.md)
+- [XiongMai IPG-53H20AF](en/device-ipg-53h20af.md)
 
 ### Software
 - [List of Software for Recording Video](en/software-video-recording.md)
diff --git a/en/device-ipg-53h20af.md b/en/device-ipg-53h20af.md
new file mode 100644
index 0000000..441406e
--- /dev/null
+++ b/en/device-ipg-53h20af.md
@@ -0,0 +1,396 @@
+# XiongMai IPG-53H20AF
+
+2.0M Autofocal Module
+![device_ipg-53h20af](/images/device-53h20af.jpg)
+
+## Hardware
+
+| System | Description                          |
+|--------|--------------------------------------|
+| SoC    | HI3516CV100                          |
+| Sensor | IMX322                               |
+| Flash  | 16Mb (MX25L12835F)                   |
+
+### Network
+Ethernet working only with these parameters
+```
+    setenv phyaddru 1
+    setenv phyaddrd 2
+    setenv mdio_intf rmii
+    saveenv
+```
+
+### GPIOs
+
+WARNING!!! Motor gpio pin states incorrect after boot, motor windings may burn out, init with [these](#motor-test) asap, or unplug motors connector before powering up.
+
+| Nr        | Description   | Color   |
+|-----------|---------------|---------|
+| 38        | irCut_1       |         |
+| 39        | irCut_2       |         |
+| 9         | Zoom motor A1 | Green   |
+| 48        | Zoom motor A2 | Orange  |
+| 51        | Zoom motor B1 | Yellow  |
+| 43        | Zoom motor B2 | Violet  |
+| 52        | Foc motor A1  | Black   |
+| 55        | Foc motor A2  | Blue    |
+| 53        | Foc motor B1  | White   |
+| 54        | Foc motor B2  | Red     |
+
+### Motor test
+
+Very slow movement due sysfs gpio manipulation
+
+```
+#!/bin/sh
+
+# motor test for ipg-53h20af
+
+gpio_WT_Am=9
+gpio_WT_Ap=48
+gpio_WT_Bm=51
+gpio_WT_Bp=43
+
+gpio_FN_Am=52
+gpio_FN_Ap=55
+gpio_FN_Bm=53
+gpio_FN_Bp=54
+
+
+sleep_time=100
+
+mux() {
+  ipctool gpio mux $gpio_WT_Am
+  ipctool gpio mux $gpio_WT_Ap
+  ipctool gpio mux $gpio_WT_Bm
+  ipctool gpio mux $gpio_WT_Bp
+  ipctool gpio mux $gpio_FN_Am
+  ipctool gpio mux $gpio_FN_Ap
+  ipctool gpio mux $gpio_FN_Bp
+  ipctool gpio mux $gpio_FN_Bm
+}
+
+unexport() {
+  echo "$gpio_WT_Am" >/sys/class/gpio/unexport
+  echo "$gpio_WT_Ap" >/sys/class/gpio/unexport
+  echo "$gpio_WT_Bm" >/sys/class/gpio/unexport
+  echo "$gpio_WT_Bp" >/sys/class/gpio/unexport
+  echo "$gpio_FN_Am" >/sys/class/gpio/unexport
+  echo "$gpio_FN_Ap" >/sys/class/gpio/unexport
+  echo "$gpio_FN_Bp" >/sys/class/gpio/unexport
+  echo "$gpio_FN_Bm" >/sys/class/gpio/unexport
+}
+
+export_() {
+  echo "$gpio_WT_Am" >/sys/class/gpio/export
+  echo "$gpio_WT_Ap" >/sys/class/gpio/export
+  echo "$gpio_WT_Bm" >/sys/class/gpio/export
+  echo "$gpio_WT_Bp" >/sys/class/gpio/export
+  echo "$gpio_FN_Am" >/sys/class/gpio/export
+  echo "$gpio_FN_Ap" >/sys/class/gpio/export
+  echo "$gpio_FN_Bp" >/sys/class/gpio/export
+  echo "$gpio_FN_Bm" >/sys/class/gpio/export
+}
+
+dir() {
+  echo "out" >/sys/class/gpio/gpio$gpio_WT_Am/direction
+  echo "out" >/sys/class/gpio/gpio$gpio_WT_Ap/direction
+  echo "out" >/sys/class/gpio/gpio$gpio_WT_Bm/direction
+  echo "out" >/sys/class/gpio/gpio$gpio_WT_Bp/direction
+  echo "out" >/sys/class/gpio/gpio$gpio_FN_Am/direction
+  echo "out" >/sys/class/gpio/gpio$gpio_FN_Ap/direction
+  echo "out" >/sys/class/gpio/gpio$gpio_FN_Bp/direction
+  echo "out" >/sys/class/gpio/gpio$gpio_FN_Bm/direction
+}
+
+init() {
+  mux
+  unexport
+  export_
+  dir
+}
+
+set_zero_FN() {
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+}
+set_zero_WT() {
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+}
+set_zero() {
+  set_zero_FN
+  set_zero_WT
+}
+
+far() {
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+  
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+}
+
+near() {
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+  
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Am/value
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+}
+
+tele() {
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+  
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+}
+
+wide() {
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+  
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Am/value
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Am/value
+#  echo "1" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+#  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+}
+
+if [ $# -lt 1 ]; then
+  echo "usage : ./motor <direction> [step]"
+  echo "        -i init gpio"
+  echo "        -f far"
+  echo "        -n near"
+  echo "        -w wide"
+  echo "        -t tele"
+  
+  exit
+fi
+
+if [ $1 = "-i" ]; then
+  init 
+  set_zero
+  exit
+fi
+
+if [ $1 = "-f" ]; then
+  direction="far"
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+elif [ $1 = "-w" ]; then
+  direction="wide"
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+elif [ $1 = "-n" ]; then
+  direction="near"
+  echo "1" >/sys/class/gpio/gpio$gpio_FN_Ap/value
+elif [ $1 = "-t" ]; then
+  direction="tele"
+  echo "1" >/sys/class/gpio/gpio$gpio_WT_Ap/value
+fi
+
+if [ $# -eq 2 ]; then
+  max=$2
+else
+  max=10
+fi
+
+echo $max
+
+i=0
+while [ $i -lt $max ]
+do
+  $direction >/dev/null
+  true $(( i++ ))
+done
+
+
+# turn to full step and disable motor
+if [ $1 = "-f" ]; then
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bm/value
+  usleep $sleep_time
+  set_zero_FN
+elif [ $1 = "-w" ]; then
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bp/value
+  usleep $sleep_time
+  set_zero_WT
+elif [ $1 = "-n" ]; then
+  echo "0" >/sys/class/gpio/gpio$gpio_FN_Bp/value
+  usleep $sleep_time
+  set_zero_FN
+elif [ $1 = "-t" ]; then
+  echo "0" >/sys/class/gpio/gpio$gpio_WT_Bm/value
+  usleep $sleep_time
+  set_zero_WT
+fi
+```
diff --git a/images/device-53h20af.jpg b/images/device-53h20af.jpg
new file mode 100644
index 0000000..21b1a1b
Binary files /dev/null and b/images/device-53h20af.jpg differ