From 216773ed556dec83b046e30cca049d0d00fcf548 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 29 Jun 2024 14:28:38 +0800
Subject: [PATCH] init proj

---
 .cproject                                          |  10 +-
 .gitmodules                                        |   5 +-
 .project                                           |   2 +-
 .settings/language.settings.xml                    |   4 +-
 graphite_digester_subboard.cfg                     |  44 ---
 graphite_digester_subboard.ioc                     |   4 +-
 graphite_digester_subboard.launch                  |  98 -----
 hand_acid_mainboard.cfg                            |  44 +++
 hand_acid_mainboard.launch                         |  98 +++++
 usrc/components/zcancmder/basic.cpp                |  56 ---
 usrc/components/zcancmder/basic.hpp                |  64 ----
 .../zcancmder/protocol_event_bus_sender.cpp        |  66 ----
 .../zcancmder/protocol_event_bus_sender.hpp        |  31 --
 usrc/components/zcancmder/zcan_protocol_parser.cpp | 392 -------------------
 usrc/components/zcancmder/zcan_protocol_parser.hpp | 103 -----
 usrc/components/zcancmder/zcanreceiver.cpp         | 418 ---------------------
 usrc/components/zcancmder/zcanreceiver.hpp         |  92 -----
 usrc/project_configs.h                             |   2 +-
 usrc/public_service/common_hardware_init.cpp       |  42 ---
 usrc/public_service/ext_board_impl.cpp             |  53 ---
 usrc/public_service/ext_board_impl.hpp             |  68 ----
 usrc/public_service/gservice.cpp                   |  18 -
 usrc/public_service/gservice.hpp                   |  34 --
 usrc/public_service/public_service.hpp             |   2 -
 24 files changed, 157 insertions(+), 1593 deletions(-)
 delete mode 100644 graphite_digester_subboard.cfg
 delete mode 100644 graphite_digester_subboard.launch
 create mode 100644 hand_acid_mainboard.cfg
 create mode 100644 hand_acid_mainboard.launch
 delete mode 100644 usrc/components/zcancmder/basic.cpp
 delete mode 100644 usrc/components/zcancmder/basic.hpp
 delete mode 100644 usrc/components/zcancmder/protocol_event_bus_sender.cpp
 delete mode 100644 usrc/components/zcancmder/protocol_event_bus_sender.hpp
 delete mode 100644 usrc/components/zcancmder/zcan_protocol_parser.cpp
 delete mode 100644 usrc/components/zcancmder/zcan_protocol_parser.hpp
 delete mode 100644 usrc/components/zcancmder/zcanreceiver.cpp
 delete mode 100644 usrc/components/zcancmder/zcanreceiver.hpp
 delete mode 100644 usrc/public_service/ext_board_impl.cpp
 delete mode 100644 usrc/public_service/ext_board_impl.hpp
 delete mode 100644 usrc/public_service/gservice.cpp
 delete mode 100644 usrc/public_service/gservice.hpp

diff --git a/.cproject b/.cproject
index 2fe8943..70d98d5 100644
--- a/.cproject
+++ b/.cproject
@@ -30,7 +30,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.176411214" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.164943344" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.553838709" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/graphite_digester_subboard}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/hand_acid_mainboard}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.764087106" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1243726437" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.1007535807" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.830905432" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
@@ -152,7 +152,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.506604305" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Core/ThreadSafe ||  ||  || USE_HAL_DRIVER | STM32F407xx | STM32_THREAD_SAFE_STRATEGY=4 ||  || Core/ThreadSafe | Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || FreeRTOS_AllowLockFromIRQ ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.540585524" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="144" valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.959571701" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
-							<builder buildPath="${workspace_loc:/graphite_digester_subboard}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
+							<builder buildPath="${workspace_loc:/hand_acid_mainboard}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.948513973" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1716174684" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.401584422" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1470391345" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -231,7 +231,7 @@
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-		<project id="graphite_digester_subboard.null.1922813466" name="graphite_digester_subboard"/>
+		<project id="hand_acid_mainboard.null.1922813466" name="hand_acid_mainboard"/>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
@@ -252,10 +252,10 @@
 	</storageModule>
 	<storageModule moduleId="refreshScope" versionNumber="2">
 		<configuration configurationName="Debug">
-			<resource resourceType="PROJECT" workspacePath="/graphite_digester_subboard"/>
+			<resource resourceType="PROJECT" workspacePath="/hand_acid_mainboard"/>
 		</configuration>
 		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/graphite_digester_subboard"/>
+			<resource resourceType="PROJECT" workspacePath="/hand_acid_mainboard"/>
 		</configuration>
 	</storageModule>
 </cproject>
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
index 5a82b33..8b143f5 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "protocol"]
 	path = protocol
-	url = zwsd@192.168.1.3:p_graphite_digester_v2/graphite_digester_protocol.git
+	url = zwsd@192.168.1.3:p_chinagoldgroup_hand_acid/hand_acid_ble_protocol.git
+[submodule "sdk"]
+	path = sdk
+	url = zwsd@192.168.1.3:p_chinagoldgroup_hand_acid/chinagoldgroup_hand_acid_stm32_sdk.git
\ No newline at end of file
diff --git a/.project b/.project
index 58b4f8e..e09ccaa 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>graphite_digester_subboard</name>
+	<name>hand_acid_mainboard</name>
 	<comment></comment>
 	<projects>
 	</projects>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 998c292..bc93e9c 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="303785800184097843" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1109424724249891644" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="254981330393498530" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1093930491654736717" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/graphite_digester_subboard.cfg b/graphite_digester_subboard.cfg
deleted file mode 100644
index ef37116..0000000
--- a/graphite_digester_subboard.cfg
+++ /dev/null
@@ -1,44 +0,0 @@
-# This is an genericBoard board with a single STM32F407VETx chip
-#
-# Generated by STM32CubeIDE
-# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
-
-source [find interface/stlink-dap.cfg]
-
-
-set WORKAREASIZE 0x8000
-
-transport select "dapdirect_swd"
-
-set CHIPNAME STM32F407VETx
-set BOARDNAME genericBoard
-
-# Enable debug when in low power modes
-set ENABLE_LOW_POWER 1
-
-# Stop Watchdog counters when halt
-set STOP_WATCHDOG 1
-
-# STlink Debug clock frequency
-set CLOCK_FREQ 8000
-
-# Reset configuration
-# use hardware reset, connect under reset
-# connect_assert_srst needed if low power mode application running (WFI...)
-reset_config srst_only srst_nogate connect_assert_srst
-set CONNECT_UNDER_RESET 1
-set CORE_RESET 0
-
-# ACCESS PORT NUMBER
-set AP_NUM 0
-# GDB PORT
-set GDB_PORT 3333
-
-
-
-
-
-# BCTM CPU variables
-
-source [find target/stm32f4x.cfg]
-
diff --git a/graphite_digester_subboard.ioc b/graphite_digester_subboard.ioc
index d17728a..e94066c 100644
--- a/graphite_digester_subboard.ioc
+++ b/graphite_digester_subboard.ioc
@@ -215,8 +215,8 @@ ProjectManager.MultiThreaded=true
 ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=STM32CubeIDE
 ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=graphite_digester_subboard.ioc
-ProjectManager.ProjectName=graphite_digester_subboard
+ProjectManager.ProjectFileName=hand_acid_mainboard.ioc
+ProjectManager.ProjectName=hand_acid_mainboard
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x1001
diff --git a/graphite_digester_subboard.launch b/graphite_digester_subboard.launch
deleted file mode 100644
index f22ad83..0000000
--- a/graphite_digester_subboard.launch
+++ /dev/null
@@ -1,98 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
-    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/graphite_digester_subboard.elf&quot;,&quot;fProjectName&quot;:&quot;graphite_digester_subboard&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="144000000"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_SIGNAL_HALT" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_RESET_MODE" value="connect_under_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}\openocd.exe&quot;"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset halt&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset init&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\graphite_digester_subboard.cfg"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocdenable_rtos" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\project_boditech_vidas_a8000_v3\graphite_digester_subboard\Debug\st-link_gdbserver_log.txt"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="freertos"/>
-    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="ARM_CM0"/>
-    <intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
-    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
-    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
-    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
-    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
-    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/graphite_digester_subboard.elf"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="graphite_digester_subboard"/>
-    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
-    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1853947771"/>
-    <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
-        <listEntry value="/graphite_digester_subboard"/>
-    </listAttribute>
-    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
-        <listEntry value="4"/>
-    </listAttribute>
-    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
-    <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
-</launchConfiguration>
diff --git a/hand_acid_mainboard.cfg b/hand_acid_mainboard.cfg
new file mode 100644
index 0000000..ef37116
--- /dev/null
+++ b/hand_acid_mainboard.cfg
@@ -0,0 +1,44 @@
+# This is an genericBoard board with a single STM32F407VETx chip
+#
+# Generated by STM32CubeIDE
+# Take care that such file, as generated, may be overridden without any early notice. Please have a look to debug launch configuration setup(s)
+
+source [find interface/stlink-dap.cfg]
+
+
+set WORKAREASIZE 0x8000
+
+transport select "dapdirect_swd"
+
+set CHIPNAME STM32F407VETx
+set BOARDNAME genericBoard
+
+# Enable debug when in low power modes
+set ENABLE_LOW_POWER 1
+
+# Stop Watchdog counters when halt
+set STOP_WATCHDOG 1
+
+# STlink Debug clock frequency
+set CLOCK_FREQ 8000
+
+# Reset configuration
+# use hardware reset, connect under reset
+# connect_assert_srst needed if low power mode application running (WFI...)
+reset_config srst_only srst_nogate connect_assert_srst
+set CONNECT_UNDER_RESET 1
+set CORE_RESET 0
+
+# ACCESS PORT NUMBER
+set AP_NUM 0
+# GDB PORT
+set GDB_PORT 3333
+
+
+
+
+
+# BCTM CPU variables
+
+source [find target/stm32f4x.cfg]
+
diff --git a/hand_acid_mainboard.launch b/hand_acid_mainboard.launch
new file mode 100644
index 0000000..cbf8b36
--- /dev/null
+++ b/hand_acid_mainboard.launch
@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="com.st.stm32cube.ide.mcu.debug.launch.launchConfigurationType">
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.access_port_id" value="0"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.cubeprog_external_loaders" value="[]"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.ip_address_local" value="localhost"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.enabled" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.limit_swo_clock.value" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.loadList" value="{&quot;fItems&quot;:[{&quot;fIsFromMainTab&quot;:true,&quot;fPath&quot;:&quot;Debug/hand_acid_mainboard.elf&quot;,&quot;fProjectName&quot;:&quot;hand_acid_mainboard&quot;,&quot;fPerformBuild&quot;:true,&quot;fDownload&quot;:true,&quot;fLoadSymbols&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.override_start_address_mode" value="default"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.remoteCommand" value="target remote"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startServer" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.divby0" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.exception.unaligned" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.startuptab.haltonexception" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swd_mode" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_port" value="61235"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.swv_trace_hclk" value="144000000"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.useRemoteTarget" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.vector_table" value=""/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.verify_flash_download" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_ALLOW_HALT" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.CTI_SIGNAL_HALT" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_DEVICE_SHAREABLE_ALLOWED" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE" value="Swd"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_INTERFACE_FREQUENCY" value="8000000.0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_LOW_POWER_MODE_ALLOWED" value="true"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_RESET_MODE" value="connect_under_reset"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.DBG_STOP_WATCHDOG_THEN_HALTED_ALLOWED" value="true"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_GENERATOR_OPTION" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_NAME" value="&quot;${stm32cubeide_openocd_path}\openocd.exe&quot;"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_OTHER_OPTIONS" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_RESTART_CONFIGURATIONS" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset halt&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Reset init&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Reset halt&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset halt&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset halt&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;Reset init&quot;,&quot;fLaunchAttribute&quot;:&quot;monitor reset init&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset init&quot;],&quot;fCmdOptions&quot;:[]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT" value="${ProjDirPath}\hand_acid_mainboard.cfg"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.openocd.OPENOCD_SCRIPT_CHOICE" value="automated"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.openocdenable_rtos" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_allow_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.cti_signal_halt" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_logging" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_max_halt_delay" value="false"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.enable_shared_stlink" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.frequency" value="0"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.halt_all_on_reset" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.log_file" value="D:\workspace\project_boditech_vidas_a8000_v3\hand_acid_mainboard\Debug\st-link_gdbserver_log.txt"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.low_power_debug" value="disable"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.enableRtosProxy" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyCustomProperties" value=""/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriver" value="freertos"/>
+    <booleanAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverAuto" value="false"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyDriverPort" value="ARM_CM0"/>
+    <intAttribute key="com.st.stm32cube.ide.mcu.rtosproxy.rtosProxyPort" value="60000"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doHalt" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.doReset" value="false"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.initCommands" value=""/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.ipAddress" value="localhost"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.jtagDeviceId" value="com.st.stm32cube.ide.mcu.debug.stlink"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.pcRegister" value=""/>
+    <intAttribute key="org.eclipse.cdt.debug.gdbjtag.core.portNumber" value="61234"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.runCommands" value=""/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setPcRegister" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setResume" value="true"/>
+    <booleanAttribute key="org.eclipse.cdt.debug.gdbjtag.core.setStopAt" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.debug.gdbjtag.core.stopAt" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="arm-none-eabi-gdb"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
+    <booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
+    <intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
+    <stringAttribute key="org.eclipse.cdt.launch.COREFILE_PATH" value=""/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="remote"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/hand_acid_mainboard.elf"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="hand_acid_mainboard"/>
+    <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="true"/>
+    <stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1853947771"/>
+    <booleanAttribute key="org.eclipse.debug.core.ATTR_FORCE_SYSTEM_CONSOLE_ENCODING" value="false"/>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
+        <listEntry value="/hand_acid_mainboard"/>
+    </listAttribute>
+    <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
+        <listEntry value="4"/>
+    </listAttribute>
+    <stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
+    <stringAttribute key="process_factory_id" value="com.st.stm32cube.ide.mcu.debug.launch.HardwareDebugProcessFactory"/>
+</launchConfiguration>
diff --git a/usrc/components/zcancmder/basic.cpp b/usrc/components/zcancmder/basic.cpp
deleted file mode 100644
index ac8ec59..0000000
--- a/usrc/components/zcancmder/basic.cpp
+++ /dev/null
@@ -1,56 +0,0 @@
-#include "basic.hpp"
-
-#include <stdio.h>
-#include <string.h>
-
-using namespace iflytop;
-using namespace std;
-uint16_t CanPacketRxBuffer::get_packetindex() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->packetindex;
-}
-uint16_t CanPacketRxBuffer::get_cmdid() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-
-  return CMDID(cmdheader->cmdMainId, cmdheader->cmdSubId);
-}
-uint8_t CanPacketRxBuffer::get_cmdSubId() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->cmdSubId;
-}
-uint8_t CanPacketRxBuffer::get_packetType() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->packetType;
-}
-uint8_t *CanPacketRxBuffer::get_params() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->data;
-}
-uint16_t CanPacketRxBuffer::get_params_len() { return rxdataSize - sizeof(zcr_cmd_header_t); }
-void     CanPacketRxBuffer::clear() {
-  id = 0;
-  memset(&m_canPacket, 0, sizeof(m_canPacket) / sizeof(m_canPacket[0]));
-  m_canPacketNum = 0;
-  m_npacket      = 0;
-  memset(rxdata, 0, sizeof(rxdata));
-  rxdataSize = 0;
-
-  dataIsReady = false;
-  isOnReceive = false;
-  isUsed      = false;
-  lostpacket  = false;
-}
-
-bool CanPacketRxBuffer::iscmd(int32_t id) {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  uint16_t          maincmdid = ((uint32_t)id >> 8) & 0xFFFF;
-  uint8_t           cmdSubId  = ((uint32_t)id) & 0xFF;
-  return cmdheader->cmdMainId == maincmdid && cmdheader->cmdSubId == cmdSubId;
-}
-zcr_cmd_header_t *CanPacketRxBuffer::get_cmdheader() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader;
-}
-
-uint8_t *CanPacketRxBuffer::get_rx_raw() { return rxdata; }
-uint16_t CanPacketRxBuffer::get_rx_raw_len() { return rxdataSize; }
\ No newline at end of file
diff --git a/usrc/components/zcancmder/basic.hpp b/usrc/components/zcancmder/basic.hpp
deleted file mode 100644
index 2bd26ec..0000000
--- a/usrc/components/zcancmder/basic.hpp
+++ /dev/null
@@ -1,64 +0,0 @@
-//
-// Created by zwsd
-//
-
-#pragma once
-#include "sdk/sdk.hpp"
-#include "protocol/protocol.hpp"
-
-namespace iflytop {
-namespace zcr {
-typedef enum {
-  kpacketHeader = 0,
-  kpacketData   = 1,
-  kpacketTail   = 2,
-} packet_type_t;
-
-typedef struct {
-  // CAN_RxHeaderTypeDef pHeader;
-  uint8_t dlc;
-  uint8_t aData[8]; /*8byte table*/
-} CANPacket;
-
-};  // namespace zcr
-using namespace zcr;
-
-class CanPacketRxBuffer {
- public:
-  uint16_t  id               = 0;
-  CANPacket m_canPacket[100] = {0};  // 用于接收can消息
-  uint8_t   m_canPacketNum   = 0;
-  uint8_t   m_npacket        = 0;
-  uint8_t   rxdata[1000]     = {0};
-  int       rxdataSize       = 0;
-
-  bool    dataIsReady     = false;
-  bool    isOnReceive     = false;
-  bool    isUsed          = false;
-  bool    lostpacket      = false;
-  bool    dataIsProcessed = false;
-  int32_t lastrxtime      = 0;
-
- public:
-  uint16_t get_packetindex();
-  uint16_t get_cmdid();
-  uint8_t  get_cmdSubId();
-  uint8_t  get_packetType();
-  uint8_t *get_params();
-  uint16_t get_params_len();
-  void     clear();
-
-  uint8_t* get_rx_raw();
-  uint16_t get_rx_raw_len();
-
-  zcr_cmd_header_t *get_cmdheader();
-
-  bool iscmd(int32_t id);
-
-  template <typename T>
-  T *get_param_as() {
-    return (T *)get_params();
-  }
-};
-
-}  // namespace iflytop
diff --git a/usrc/components/zcancmder/protocol_event_bus_sender.cpp b/usrc/components/zcancmder/protocol_event_bus_sender.cpp
deleted file mode 100644
index 356e527..0000000
--- a/usrc/components/zcancmder/protocol_event_bus_sender.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-#include "protocol_event_bus_sender.hpp"
-namespace iflytop {
-using namespace std;
-
-void ProtocolEventBusSender::initialize(IZCanReceiver* zcanreceiver) {
-  m_zcanreceiver = zcanreceiver;
-  lock_.init();
-}
-
-
-void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval) {
-  zlock_guard l(lock_);
-
-  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
-  int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->subModuleid = moduleid;
-  cmd_header->cmdMainId   = zcr::kevent_bus_reg_change_report >> 8;
-  cmd_header->subModuleid = zcr::kevent_bus_reg_change_report & 0xff;
-
-  data[0] = regindex;
-  data[1] = oldval;
-  data[2] = toval;
-  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 3);
-}
-
-void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t data0) {
-  zlock_guard l(lock_);
-
-  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
-  int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->subModuleid = moduleid;
-  cmd_header->cmdMainId   = cmdindex >> 8;
-  cmd_header->subModuleid = cmdindex & 0xff;
-
-  data[0]       = data0;
-  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 1);
-}
-void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1) {
-  zlock_guard l(lock_);
-
-  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
-  int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->subModuleid = moduleid;
-  cmd_header->cmdMainId   = cmdindex >> 8;
-  cmd_header->subModuleid = cmdindex & 0xff;
-
-  data[0]       = data0;
-  data[1]       = data1;
-  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 1);
-}
-void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1, int32_t data2) {
-  zlock_guard l(lock_);
-
-  zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
-  int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->subModuleid = moduleid;
-  cmd_header->cmdMainId   = cmdindex >> 8;
-  cmd_header->subModuleid = cmdindex & 0xff;
-
-  data[0]       = data0;
-  data[1]       = data1;
-  data[2]       = data2;
-  m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 1);
-}
-
-}  // namespace iflytop
\ No newline at end of file
diff --git a/usrc/components/zcancmder/protocol_event_bus_sender.hpp b/usrc/components/zcancmder/protocol_event_bus_sender.hpp
deleted file mode 100644
index 40c9e20..0000000
--- a/usrc/components/zcancmder/protocol_event_bus_sender.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-#pragma once
-
-#include "basic.hpp"
-
-namespace iflytop {
-using namespace std;
-
-class ProtocolEventBusSender {
-  IZCanReceiver* m_zcanreceiver = nullptr;
-  zmutex         lock_;
-
-  uint8_t          txbuf[128];
-
- public:
-  static ProtocolEventBusSender* inst() {
-    static ProtocolEventBusSender instance;
-    return &instance;
-  }
-
-  void initialize(IZCanReceiver* zcanreceiver);
-
-  void push_reg_state_change_event(int32_t moduleid, int32_t regindex, int32_t oldval, int32_t toval);
-
-  void report(int32_t moduleid, int32_t cmdindex, int32_t data0);
-  void report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1);
-  void report(int32_t moduleid, int32_t cmdindex, int32_t data0, int32_t data1, int32_t data2);
-
- private:
-  void _report(int32_t moduleid, int32_t cmdindex, int32_t ndata, int32_t* data);
-};
-}  // namespace iflytop
diff --git a/usrc/components/zcancmder/zcan_protocol_parser.cpp b/usrc/components/zcancmder/zcan_protocol_parser.cpp
deleted file mode 100644
index 69775c7..0000000
--- a/usrc/components/zcancmder/zcan_protocol_parser.cpp
+++ /dev/null
@@ -1,392 +0,0 @@
-#include "zcan_protocol_parser.hpp"
-
-#include <stdio.h>
-#include <string.h>
-
-
-using namespace iflytop;
-using namespace std;
-#define TAG "PROTO"
-
-#define REGFN(fn) regCmdFn(k##fn, fn);
-
-void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
-  m_cancmder = cancmder;
-  m_cancmder->registerListener(this);
-
-  REGFN(module_ping);
-  REGFN(module_get_status);
-  REGFN(module_set_reg);
-  REGFN(module_get_reg);
-  REGFN(module_get_error);
-  REGFN(module_clear_error);
-  REGFN(module_stop);
-
-  // REGFN(step_motor_enable);
-  // REGFN(step_motor_read_pos);
-  // REGFN(step_motor_easy_rotate);
-  // REGFN(step_motor_easy_move_by);
-  // REGFN(step_motor_easy_move_to);
-  // REGFN(step_motor_easy_move_to_zero);
-  // REGFN(step_motor_easy_set_current_pos);
-  // REGFN(step_motor_easy_move_to_io);
-  // REGFN(step_motor_active_cfg);
-  // REGFN(step_motor_stop);
-  // REGFN(step_motor_read_io_state);
-  // REGFN(step_motor_easy_move_to_end_point);
-
-  // REGFN(step_motor_read_tmc5130_status);
-  // REGFN(step_motor_read_tmc5130_state);
-  // REGFN(step_motor_read_tmc4361a_status);
-  // REGFN(step_motor_read_tmc4361a_state);
-  // REGFN(step_motor_read_tmc2160_status);
-  // REGFN(step_motor_read_tmc2160_state);
-  // REGFN(step_motor_read_io_index_in_stm32);
-
-  // REGFN(mini_servo_enable);
-  // REGFN(mini_servo_read_pos);
-  // REGFN(mini_servo_active_cfg);
-  // REGFN(mini_servo_stop);
-  // REGFN(mini_servo_set_mid_point);
-  // REGFN(mini_servo_read_io_state);
-
-  // REGFN(mini_servo_move_to);
-  // REGFN(mini_servo_rotate);
-  // REGFN(mini_servo_rotate_with_torque);
-
-  // REGFN(extboard_read_inio);
-  // REGFN(extboard_write_outio);
-  // REGFN(extboard_read_muti_inio);
-  // REGFN(extboard_read_inio_index_in_stm32);
-  // REGFN(extboard_read_outio_index_in_stm32);
-  // REGFN(extboard_read_outio);
-
-
-}
-void ZCanProtocolParser::_registerModule(uint16_t id, ZIModule* module) { m_modulers[id] = module; }
-void ZCanProtocolParser::registerModule(ZIModule* module) {
-  int32_t moduleid = 0;
-  module->getid(&moduleid);
-  uint16_t id = moduleid;
-  _registerModule(id, module);
-}
-
-void ZCanProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len) {
-  // printf("onRceivePacket cmdid:%d subModuleid:%d cmdSubId:%d\n", rxcmd->cmdMainId, rxcmd->subModuleid, rxcmd->cmdSubId);
-  uint16_t subModuleid = rxcmd->subModuleid;
-  auto     it          = m_modulers.find(subModuleid);
-  if (it == m_modulers.end()) {
-    return;
-  }
-
-  ZIModule* module = it->second;
-  int32_t   cmdid  = CMDID(rxcmd->cmdMainId, rxcmd->cmdSubId);
-  _onRceivePacket(module, rxcmd, cmdid, rxcmd->data, len);
-}
-
-void ZCanProtocolParser::regCmdFn(int32_t cmdid, cmdcb_t cb) {
-  cmdfnlist[cmdfnNum].cmdid = cmdid;
-  cmdfnlist[cmdfnNum].cb    = cb;
-  cmdfnNum++;
-}
-ZCanProtocolParser::cmdfn_t* ZCanProtocolParser::findcmdfn(int32_t cmdid) {
-  for (int i = 0; i < cmdfnNum; i++) {
-    if (cmdfnlist[i].cmdid == cmdid) {
-      return &cmdfnlist[i];
-    }
-  }
-  return nullptr;
-}
-
-void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t cmdid, uint8_t* param, int32_t len) {
-  int      paramNum = (len) / sizeof(int32_t);
-  int32_t* ack      = (int32_t*)&ackbuf[0];
-
-  cmdfn_t* fn = findcmdfn(cmdid);
-  if (!fn) {
-    m_cancmder->sendErrorAck(rxcmd, err::kcmd_not_support);
-    return;
-  }
-  cmdcontxt_t cxt = {0};
-  cxt.module      = module;
-  cxt.rxcmd       = rxcmd;
-  cxt.cmdid       = cmdid;
-  cxt.params      = (int32_t*)param;
-  cxt.paramRaw    = param;
-  cxt.paramlen    = len;
-  cxt.acklen      = 0;
-  cxt.ackbuf      = ackbuf;
-
-  memset(ackbuf, 0, sizeof(ackbuf));
-
-  int32_t ecode = fn->cb(&cxt);
-  if (ecode != 0) {
-    m_cancmder->sendErrorAck(rxcmd, ecode);
-  } else {
-    m_cancmder->sendBufAck(rxcmd, cxt.ackbuf, cxt.acklen);
-  }
-  return;
-}
-
-#define CHECK_AND_GET_MODULE(paraNum)                      \
-  auto* module = dynamic_cast<MODULE_CLASS*>(cxt->module); \
-  if (module == nullptr) return err::kcmd_not_support;     \
-  if (paraNum >= 0 && paraNum != cxt->paramlen / 4) return err::kcmd_param_num_error;
-
-#define GET_MODULE(paraNum)                                \
-  auto* module = dynamic_cast<MODULE_CLASS*>(cxt->module); \
-  if (module == nullptr) return err::kcmd_not_support;
-
-#define MODULE_CLASS ZIModule
-int32_t ZCanProtocolParser::module_ping(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->module_ping();
-}
-int32_t ZCanProtocolParser::module_get_status(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->module_get_status(&ack[0]);
-}
-int32_t ZCanProtocolParser::module_set_reg(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(2);
-  return module->module_set_reg(cxt->params[0], cxt->params[1]);
-}
-int32_t ZCanProtocolParser::module_get_reg(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->module_get_reg(cxt->params[0], &ack[0]);
-}
-
-int32_t ZCanProtocolParser::module_get_error(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->module_get_error(&ack[0]);
-}
-int32_t ZCanProtocolParser::module_clear_error(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->module_clear_error();
-}
-
-int32_t ZCanProtocolParser::module_stop(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->module_stop();
-}
-int32_t ZCanProtocolParser::module_active_cfg(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->module_active_cfg();
-}
-
-#undef MODULE_CLASS
-
-/***********************************************************************************************************************
- *                                                       ZIStepMotor                                                       *
- ***********************************************************************************************************************/
-#if 0
-#define MODULE_CLASS ZIStepMotor
-
-int32_t ZCanProtocolParser::step_motor_enable(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->step_motor_enable(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::step_motor_stop(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->step_motor_stop(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::step_motor_read_pos(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_pos(&ack[0]);
-}
-int32_t ZCanProtocolParser::step_motor_easy_rotate(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->step_motor_easy_rotate(cxt->params[0]);
-}
-
-int32_t ZCanProtocolParser::step_motor_easy_move_by(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->step_motor_easy_move_by(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::step_motor_easy_move_to(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->step_motor_easy_move_to(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::step_motor_easy_move_to_zero(cmdcontxt_t* cxt) {
-  GET_MODULE(0);
-  return module->step_motor_easy_move_to_zero();
-}
-int32_t ZCanProtocolParser::step_motor_easy_set_current_pos(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->step_motor_easy_set_current_pos(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::step_motor_easy_move_to_io(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(2);
-  return module->step_motor_easy_move_to_io(cxt->params[0], cxt->params[1]);
-}
-
-int32_t ZCanProtocolParser::step_motor_active_cfg(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->step_motor_active_cfg();
-}
-int32_t ZCanProtocolParser::step_motor_read_io_state(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_io_state(cxt->params[0], ack);
-}
-
-int32_t ZCanProtocolParser::step_motor_easy_move_to_end_point(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->step_motor_easy_move_to_end_point();
-}
-
-int32_t ZCanProtocolParser::step_motor_read_tmc5130_status(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_tmc5130_status(&ack[0]);
-}
-int32_t ZCanProtocolParser::step_motor_read_tmc5130_state(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_tmc5130_state(&ack[0]);
-}
-int32_t ZCanProtocolParser::step_motor_read_tmc4361a_status(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_tmc4361a_status(&ack[0]);
-}
-int32_t ZCanProtocolParser::step_motor_read_tmc4361a_state(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_tmc4361a_state(&ack[0]);
-}
-int32_t ZCanProtocolParser::step_motor_read_tmc2160_status(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_tmc2160_status(&ack[0]);
-}
-int32_t ZCanProtocolParser::step_motor_read_tmc2160_state(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_tmc2160_state(&ack[0]);
-}
-int32_t ZCanProtocolParser::step_motor_read_io_index_in_stm32(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->step_motor_read_io_index_in_stm32(cxt->params[0], ack);
-}
-
-#undef MODULE_CLASS
-#define MODULE_CLASS ZIMiniServo
-// virtual int32_t mini_servo_enable(int32_t enable)  = 0;
-// virtual int32_t mini_servo_read_pos(int32_t* pos)  = 0;
-// virtual int32_t mini_servo_active_cfg()            = 0;
-// virtual int32_t mini_servo_stop(int32_t breakstop) = 0;
-
-// virtual int32_t mini_servo_rotate(int32_t direction) = 0;
-// virtual int32_t mini_servo_move_to(int32_t position) = 0;
-
-// virtual int32_t mini_servo_set_mid_point()   = 0;
-// virtual int32_t mini_servo_read_io_state(int32_t ioindex) = 0;
-int32_t ZCanProtocolParser::mini_servo_enable(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->mini_servo_enable(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::mini_servo_read_pos(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->mini_servo_read_pos(&ack[0]);
-}
-int32_t ZCanProtocolParser::mini_servo_active_cfg(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->mini_servo_active_cfg();
-}
-int32_t ZCanProtocolParser::mini_servo_stop(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->mini_servo_stop(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::mini_servo_set_mid_point(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  return module->mini_servo_set_mid_point();
-}
-int32_t ZCanProtocolParser::mini_servo_read_io_state(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->mini_servo_read_io_state(cxt->params[0], ack);
-}
-
-int32_t ZCanProtocolParser::mini_servo_move_to(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->mini_servo_move_to(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::mini_servo_rotate(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->mini_servo_rotate(cxt->params[0]);
-}
-int32_t ZCanProtocolParser::mini_servo_rotate_with_torque(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  return module->mini_servo_rotate_with_torque(cxt->params[0]);
-}
-
-#undef MODULE_CLASS
-
-/***********************************************************************************************************************
- *                                                       ZIBoard                                                       *
- ***********************************************************************************************************************/
-#define MODULE_CLASS ZIBoard
-int32_t ZCanProtocolParser::extboard_read_inio(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->extboard_read_inio(cxt->params[0], ack);
-}
-int32_t ZCanProtocolParser::extboard_write_outio(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(2);
-  return module->kextboard_write_outio(cxt->params[0], cxt->params[1]);
-}
-
-int32_t ZCanProtocolParser::extboard_read_muti_inio(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(0);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->extboard_read_muti_inio(ack);
-}
-
-int32_t ZCanProtocolParser::extboard_read_inio_index_in_stm32(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->extboard_read_inio_index_in_stm32(cxt->params[0], ack);
-}
-int32_t ZCanProtocolParser::extboard_read_outio_index_in_stm32(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->extboard_read_outio_index_in_stm32(cxt->params[0], ack);
-}
-
-int32_t ZCanProtocolParser::extboard_read_outio(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(1);
-  int32_t* ack = (int32_t*)cxt->ackbuf;
-  cxt->acklen  = 4;
-  return module->extboard_read_outio(cxt->params[0], ack);
-}
-
-#undef MODULE_CLASS
-#endif
-
-/***********************************************************************************************************************
- *                                                 ZIPipetteCtrlModule                                                 *
- ***********************************************************************************************************************/
diff --git a/usrc/components/zcancmder/zcan_protocol_parser.hpp b/usrc/components/zcancmder/zcan_protocol_parser.hpp
deleted file mode 100644
index 8042f9d..0000000
--- a/usrc/components/zcancmder/zcan_protocol_parser.hpp
+++ /dev/null
@@ -1,103 +0,0 @@
-#pragma once
-#include <map>
-
-#include "basic.hpp"
-
-#define CMDFN(name)      static int32_t name(cmdcontxt_t* cxt)
-#define CMDFN_IMPL(name) int32_t ZCanProtocolParser::name(cmdcontxt_t* cxt)
-
-namespace iflytop {
-class ZCanProtocolParser : public IZCanReceiverListener {
- public:
-  typedef struct {
-    ZIModule*         module;
-    zcr_cmd_header_t* rxcmd;
-    int32_t           cmdid;
-    int32_t*          params;
-    uint8_t*          paramRaw;
-    int32_t           paramlen;
-    int32_t           acklen;
-    uint8_t*          ackbuf;
-  } cmdcontxt_t;
-
-  typedef int32_t (*cmdcb_t)(cmdcontxt_t* cxt);
-
-  typedef struct {
-    int32_t cmdid;
-    cmdcb_t cb;
-  } cmdfn_t;
-
- private:
-  IZCanReceiver*           m_cancmder = nullptr;
-  map<uint16_t, ZIModule*> m_modulers;
-
-  uint8_t ackbuf[ZCANCMD_READ_BUF_MAX_SIZE + 10];
-  int32_t acklen = 0;
-
-  cmdfn_t cmdfnlist[100];
-  int32_t cmdfnNum = 0;
-
- public:
-  void         initialize(IZCanReceiver* cancmder);
-  virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len);
-  void         registerModule(ZIModule* module);
-  ZIModule*    getModule(int id) { return m_modulers[id]; }
-
- private:
-  void     _registerModule(uint16_t id, ZIModule* module);
-  void     _onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t cmdid, uint8_t* param, int32_t len);
-  void     regCmdFn(int32_t cmdid, cmdcb_t cb);
-  cmdfn_t* findcmdfn(int32_t cmdid);
-
- private:
-  CMDFN(module_ping);
-  CMDFN(module_get_status);
-  CMDFN(module_set_reg);
-  CMDFN(module_get_reg);
-  CMDFN(module_get_error);
-  CMDFN(module_clear_error);
-  CMDFN(module_stop);
-  CMDFN(module_active_cfg);
-
-  CMDFN(step_motor_enable);
-  CMDFN(step_motor_stop);
-  CMDFN(step_motor_read_pos);
-  CMDFN(step_motor_easy_rotate);
-  CMDFN(step_motor_easy_move_by);
-  CMDFN(step_motor_easy_move_to);
-  CMDFN(step_motor_easy_move_to_zero);
-  CMDFN(step_motor_easy_set_current_pos);
-  CMDFN(step_motor_easy_move_to_io);
-  CMDFN(step_motor_active_cfg);
-  CMDFN(step_motor_read_io_state);
-  CMDFN(step_motor_easy_move_to_end_point);
-  CMDFN(step_motor_read_tmc5130_status);
-  CMDFN(step_motor_read_tmc5130_state);
-  CMDFN(step_motor_read_tmc4361a_status);
-  CMDFN(step_motor_read_tmc4361a_state);
-  CMDFN(step_motor_read_tmc2160_status);
-  CMDFN(step_motor_read_tmc2160_state);
-  CMDFN(step_motor_read_io_index_in_stm32);
-
-  CMDFN(mini_servo_enable);
-  CMDFN(mini_servo_read_pos);
-  CMDFN(mini_servo_active_cfg);
-  CMDFN(mini_servo_stop);
-  CMDFN(mini_servo_set_mid_point);
-  CMDFN(mini_servo_read_io_state);
-
-  CMDFN(mini_servo_move_to);
-  CMDFN(mini_servo_rotate);
-  CMDFN(mini_servo_rotate_with_torque);
-
-  CMDFN(extboard_read_inio);
-  CMDFN(extboard_write_outio);
-  CMDFN(extboard_read_muti_inio);
-  CMDFN(extboard_read_inio_index_in_stm32);
-  CMDFN(extboard_read_outio_index_in_stm32);
-  CMDFN(extboard_read_outio);
-
-
-};
-
-}  // namespace iflytop
\ No newline at end of file
diff --git a/usrc/components/zcancmder/zcanreceiver.cpp b/usrc/components/zcancmder/zcanreceiver.cpp
deleted file mode 100644
index a6c0ec2..0000000
--- a/usrc/components/zcancmder/zcanreceiver.cpp
+++ /dev/null
@@ -1,418 +0,0 @@
-#include "zcanreceiver.hpp"
-
-#ifdef HAL_CAN_MODULE_ENABLED
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-using namespace iflytop;
-using namespace zcr;
-
-#define TAG "ZCanCmder"
-
-#define OVER_TIME_MS 5
-
-ZCanReceiver *g_receiver;
-
-extern "C" {
-
-void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
-  if (g_receiver) g_receiver->STM32_HAL_onCAN_RxFifo0MsgPending(hcan);
-}
-void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan) {}
-void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) {}
-}
-
-ZCanReceiver::CFG *ZCanReceiver::createCFG(uint8_t deviceId) {
-  CFG *cfg = new CFG();
-  ZASSERT(cfg != NULL);
-  cfg->deviceId = deviceId;
-#ifdef STM32F103xB
-  cfg->canHandle = &hcan;
-#else
-  cfg->canHandle = &hcan1;
-#endif
-  cfg->canFilterIndex0 = 0;
-  cfg->maxFilterNum    = 7;
-  cfg->rxfifoNum       = CAN_RX_FIFO0;
-  return cfg;
-}
-void ZCanReceiver::initialize(CFG *cfg) {
-  HAL_StatusTypeDef hal_status;
-  m_config = cfg;
-  m_lock.init();
-
-  /**
-   * @brief 初始化CAN
-   */
-
-  /**
-   * @brief 初始化消息接收buf
-   */
-  m_canPacketRxBuffer[0].dataIsReady    = false;
-  m_canPacketRxBuffer[0].id             = 0;  // 只接收来自主机的消息
-  m_canPacketRxBuffer[0].m_canPacketNum = 0;
-
-  /**
-   * @brief 初始化过滤器
-   */
-  hal_status = initializeFilter();
-  if (hal_status != HAL_OK) {
-    ZLOGE(TAG, "start can initializeFilter fail\r\n");
-    return;
-  }
-  /**
-   * @brief 启动CAN
-   */
-  hal_status = HAL_CAN_Start(m_config->canHandle);  // 开启CAN
-  if (hal_status != HAL_OK) {
-    ZLOGE(TAG, "start can fail\r\n");
-    return;
-  }
-  /**
-   * @brief 监听回调
-   */
-  HAL_StatusTypeDef status = activateRxIT();
-  if (status != HAL_OK) {
-    ZLOGE(TAG, "activateRxIT fail\r\n");
-    return;
-  }
-  g_receiver = this;
-  // ZHALCORE::getInstance()->regPeriodJob([this](ZHALCORE::Context &context) { loop(); }, 0);
-}
-HAL_StatusTypeDef ZCanReceiver::initializeFilter() {
-  /**
-   * @brief ID区帧格式
-   *  [                27:0                  ]
-   *  [    STDID        ] [      EXTID       ]
-   *  [11 :9] [8:6] [5:0] [17:16] [15:8] [7:0]
-   *   优先级  属性     帧类型      目标ID  源ID
-   */
-  HAL_StatusTypeDef HAL_Status;
-  CAN_FilterTypeDef sFilterConfig;
-
-  uint32_t filterId;
-  uint32_t mask;
-
-  memset(&sFilterConfig, 0, sizeof(sFilterConfig));
-  sFilterConfig.FilterMode           = CAN_FILTERMODE_IDMASK;   // 设为MASK模式
-  sFilterConfig.FilterScale          = CAN_FILTERSCALE_32BIT;   // CAN_FILTERSCALE_16BIT
-  sFilterConfig.FilterFIFOAssignment = m_config->rxfifoNum;     // 关联过滤器到rxfifoNum
-  sFilterConfig.FilterActivation     = ENABLE;                  // 激活过滤器
-  sFilterConfig.SlaveStartFilterBank = m_config->maxFilterNum;  // slave filter start index
-
-  /*******************************************************************************
-   *                        接收所有消息                                          *
-   *******************************************************************************/
-  filterId                       = (0);                            //
-  mask                           = (0);                            //
-  sFilterConfig.FilterBank       = m_config->canFilterIndex0;      //
-  sFilterConfig.FilterMaskIdLow  = mask & 0xffff;                  //
-  sFilterConfig.FilterMaskIdHigh = (mask & 0xffff0000) >> 16;      //
-  sFilterConfig.FilterIdLow      = filterId & 0xffff;              //
-  sFilterConfig.FilterIdHigh     = (filterId & 0xffff0000) >> 16;  //
-  HAL_Status                     = HAL_CAN_ConfigFilter(m_config->canHandle, &sFilterConfig);
-  if (HAL_Status != HAL_OK) {
-    ZLOGE(TAG, "HAL_CAN_ConfigFilter filter0 fail");
-    return HAL_Status;
-  }
-  ZLOGI(TAG, "HAL_CAN_ConfigFilter filterID1 %08x", filterId >> 3);
-  return HAL_Status;
-}
-
-void ZCanReceiver::registerListener(IZCanReceiverListener *listener) { m_listenerList.push_back(listener); }
-
-// static inline const char *dumphex(uint8_t *packet, size_t len) {
-//   static char buf[1024];
-//   memset(buf, 0, sizeof(buf));
-//   for (size_t i = 0; i < len; i++) {
-//     sprintf(buf + i * 2, "%02x", packet[i]);
-//   }
-//   return buf;
-// }
-void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
-  /**
-   * @brief
-   */
-  int npacket = len / 8 + (len % 8 == 0 ? 0 : 1);
-  if (npacket > 255) {
-    ZLOGE(TAG, "sendPacket fail, len:%d", len);
-    return;
-  }
-  int finalpacketlen = len % 8 == 0 ? 8 : len % 8;
-
-  for (uint8_t i = 0; i < npacket; i++) {
-    bool suc = false;
-    if (i == npacket - 1) {
-      suc = sendPacketSub(npacket, i, packet + i * 8, finalpacketlen, OVER_TIME_MS);
-    } else {
-      suc = sendPacketSub(npacket, i, packet + i * 8, 8, OVER_TIME_MS);
-    }
-    if (!suc) {
-      ZLOGE(TAG, "sendPacket fail, packet(%d:%d)", npacket, i);
-      return;
-    }
-  }
-}
-#if 0
-void ZCanReceiver::sendAck(zcr_cmd_header_t *cmdheader, uint8_t *data, size_t len) {
-  zlock_guard       l(m_lock);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, cmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_ack;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-}
-void ZCanReceiver::sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t errcode) {
-  zlock_guard l(m_lock);
-
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, cmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType              = kptv2_error_ack;
-  zcanreceiver_error_ack_t *error_ack = (zcanreceiver_error_ack_t *)txheader->data;
-  error_ack->id                     = id;
-  error_ack->errorcode              = errcode;
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(zcanreceiver_error_ack_t));
-}
-
-void ZCanReceiver::sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
-  zlock_guard l(m_lock);
-
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, rxcmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_cmd_exec_status_report;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-}
-void ZCanReceiver::sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
-  zlock_guard l(m_lock);
-
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, rxcmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_report;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-}
-#endif
-int32_t ZCanReceiver::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
-  zlock_guard l(m_lock);
-  ZASSERT(sizeof(txbuff) > sizeof(zcr_cmd_header_t) + len);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_ack;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-  return 0;
-}
-int32_t ZCanReceiver::triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) {
-  zlock_guard l(m_lock);
-  m_reportIndex++;
-  ZASSERT(sizeof(txbuff) > sizeof(zcr_cmd_header_t) + len);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, cmd_header, sizeof(zcr_cmd_header_t));
-  txheader->packetType  = kptv2_event;
-  txheader->packetindex = m_reportIndex;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-  return 0;
-}
-
-int32_t ZCanReceiver::sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) {
-  zlock_guard       l(m_lock);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_ack;
-
-  int32_t *txackcache = (int32_t *)txheader->data;
-  for (int i = 0; i < nack; i++) {
-    txackcache[i] = ackvar[i];
-  }
-
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(int32_t) * nack);
-  return 0;
-}
-int32_t ZCanReceiver::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) {
-  zlock_guard       l(m_lock);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_error_ack;
-
-  int32_t *txackcache = (int32_t *)txheader->data;
-  txackcache[0]       = errorcode;
-
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(int32_t));
-  return 0;
-}
-
-bool ZCanReceiver::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
-  zlock_guard l(m_lock);
-
-  // ZLOGI(TAG, "sendPacketSub(%d:%d)", npacket, packetIndex);
-  CAN_TxHeaderTypeDef pHeader;
-  uint8_t             aData[8] /*8byte table*/;
-  uint32_t            txMailBox = 0;
-
-  uint32_t enterticket = zos_get_tick();
-
-  memset(&pHeader, 0, sizeof(pHeader));
-  memset(aData, 0, sizeof(aData));
-  pHeader.StdId              = 0x00;
-  pHeader.ExtId              = (m_config->deviceId << 16) | (npacket << 8) | packetIndex;
-  pHeader.IDE                = CAN_ID_EXT;
-  pHeader.RTR                = CAN_RTR_DATA;
-  pHeader.DLC                = len;
-  pHeader.TransmitGlobalTime = DISABLE;
-
-  memcpy(aData, packet, len);
-
-  m_lastTransmitStatus = HAL_CAN_AddTxMessage(m_config->canHandle, &pHeader, aData, &txMailBox);
-  if (m_lastTransmitStatus != HAL_OK) {
-    ZLOGE(TAG, "HAL_CAN_AddTxMessage fail");
-    return false;
-  }
-
-  while (HAL_CAN_IsTxMessagePending(m_config->canHandle, txMailBox)) {
-    if (zos_haspassedms(enterticket) > (uint32_t)overtimems) {
-      m_lastTransmitStatus = HAL_TIMEOUT;
-      HAL_CAN_AbortTxRequest(m_config->canHandle, txMailBox);
-      return false;
-    }
-    // m_os->sleepMS(1);
-  }
-  if (txPacketInterval_ms > 0) {
-    osDelay(txPacketInterval_ms);
-  }
-  return true;
-}
-
-bool ZCanReceiver::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
-  /**
-   * @brief 读取当前FIFO中缓存了多少帧的数据
-   */
-  uint32_t level = HAL_CAN_GetRxFifoFillLevel(m_config->canHandle, m_config->rxfifoNum);
-  if (level == 0) {
-    return false;
-  }
-  HAL_StatusTypeDef HAL_RetVal;
-  HAL_RetVal = HAL_CAN_GetRxMessage(m_config->canHandle, m_config->rxfifoNum, pHeader, aData);
-  if (HAL_OK == HAL_RetVal) {
-    // 处理接收到的can总线数据
-    return true;
-  }
-  return false;
-}
-void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) {
-  /**
-   * @brief 中断上下文
-   */
-  // ZLOG_INFO("%s\n", __FUNCTION__);
-  // printf("------------------%s\n", __FUNCTION__);
-  if (canHandle != m_config->canHandle) {
-    return;
-  }
-  /**
-   * @brief 处理can接收到消息
-   */
-  CAN_RxHeaderTypeDef pHeader;
-  uint8_t             aData[8] /*8byte table*/;
-  while (getRxMessage(&pHeader, aData)) {
-    /**
-     * @brief 消息格式
-     *
-     * [2] [3bit]     [8bit]   [8bit]     [8bit]
-     *          ,      from   frameNum    frameId
-     */
-    uint8_t            from    = (pHeader.ExtId >> 16 & 0xFF);
-    uint8_t            nframe  = (pHeader.ExtId & 0xFF00) >> 8;
-    uint8_t            frameId = (pHeader.ExtId & 0x00FF);
-    CanPacketRxBuffer *rxbuf   = &m_canPacketRxBuffer[0];
-    if (from != rxbuf->id) {
-      // 目前只接收来自主机的消息
-      continue;
-    }
-
-    if (rxbuf->dataIsReady) {
-      // 上次接收到的消息还没有来的急处理
-      continue;
-    }
-    /**
-     * @TODO:判断是否丢包
-     */
-    if (frameId == 0) {
-      rxbuf->m_canPacketNum = 0;
-    }
-
-    if (rxbuf->m_canPacketNum != frameId) {
-      rxbuf->m_canPacketNum = 0;
-      continue;
-    }
-
-    if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
-      rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC;
-      memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);
-      rxbuf->m_canPacketNum++;
-    }
-    if (nframe == frameId + 1) {
-      rxbuf->dataIsReady = true;
-    }
-  }
-
-  //   deactivateRxIT();
-}
-void ZCanReceiver::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
-  if (canHandle != m_config->canHandle) {
-    return;
-  }
-  ZLOGE(TAG, "onCAN_Error\r\n");
-}
-void ZCanReceiver::loop() {
-  CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer[0];
-  if (rxbuf->dataIsReady) {
-    int dataoff = 0;
-    for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) {
-      memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].dlc);
-      dataoff += rxbuf->m_canPacket[i].dlc;
-    }
-    rxbuf->rxdataSize = dataoff;
-    // ZLOGI(TAG,"rx packet");
-    for (auto &var : m_listenerList) {
-      if (var) var->onRceivePacket(rxbuf->get_cmdheader(), rxbuf->get_params(), rxbuf->get_params_len());
-    }
-    rxbuf->dataIsReady = false;
-  }
-}
-HAL_StatusTypeDef ZCanReceiver::activateRxIT() {
-  HAL_StatusTypeDef hal_status = HAL_ERROR;
-  if (m_config->rxfifoNum == CAN_RX_FIFO0) {
-    hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
-  } else if (m_config->rxfifoNum == CAN_RX_FIFO1) {
-    hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
-  } else {
-    ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n");
-    return hal_status;
-  }
-  return hal_status;
-}
-HAL_StatusTypeDef ZCanReceiver::deactivateRxIT() {
-  HAL_StatusTypeDef hal_status = HAL_ERROR;
-  if (m_config->rxfifoNum == CAN_RX_FIFO0) {
-    hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
-  } else if (m_config->rxfifoNum == CAN_RX_FIFO1) {
-    hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO1_MSG_PENDING);
-  } else {
-    ZLOGE(TAG, "start can HAL_CAN_ActivateNotification CAN_IT_RX_FIFO0_MSG_PENDING fail\r\n");
-    return hal_status;
-  }
-  return hal_status;
-}
-
-#endif
diff --git a/usrc/components/zcancmder/zcanreceiver.hpp b/usrc/components/zcancmder/zcanreceiver.hpp
deleted file mode 100644
index dfd8e6e..0000000
--- a/usrc/components/zcancmder/zcanreceiver.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-//
-// Created by zwsd
-//
-
-#pragma once
-#include "basic.hpp"
-#include <list>
-
-#ifdef HAL_CAN_MODULE_ENABLED
-namespace iflytop {
-using namespace zcr;
-using namespace std;
-
-
-typedef function<void(CanPacketRxBuffer *rxcmd)> zcanreceiver_listener_t;
-
-class ZCanReceiver : public IZCanReceiver {
- public:
-  class CFG {
-   public:
-    uint8_t deviceId;  //
-    /*******************************************************************************
-     *                                  CANConfig                                  *
-     *******************************************************************************/
-    CAN_HandleTypeDef *canHandle;            // 默认使用CAN1
-    int                canFilterIndex0;      // 过滤器0 接收，发给自身的消息
-    int                maxFilterNum;         // 使用的过滤器数量，最大值14，默认为7
-    int                rxfifoNum;            // 使用的FIFO,默认使用FIFO0
-    int                packetRxOvertime_ms;  //
-  };
-
-  uint8_t txbuff[2100];
-
- public:
-  class LoopJobContext {
-   public:
-    bool hasDoneSomething;
-  };
-
- private:
-  CFG              *m_config           = NULL;   // 配置
-  bool              m_canOnRxDataFlag  = false;  // 是否有数据接收，用于从中断上下文转移到MainLoop上下文
-  uint32_t          m_lastPacketTicket = 0;      // 上一次接收到消息的时间，用于判断与主机是否断开连接
-  HAL_StatusTypeDef m_lastTransmitStatus;        // 上次调用can发送方法的返回值
-
-  list<IZCanReceiverListener *> m_listenerList;
-  CanPacketRxBuffer          m_canPacketRxBuffer[1];
-
-  int    txPacketInterval_ms = 0;
-  zmutex m_lock;
-
-  int32_t m_reportIndex = 0;
-
- public:
-  ZCanReceiver() {}
-  CFG *createCFG(uint8_t deviceId);
-  void initialize(CFG *cfg);
-
-#if 0
-  void    sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
-  void    sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
-  void    sendAck(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
-  void    sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t errcode);
-#endif
-
-  uint8_t getDeviceId() { return m_config->deviceId; }
-  void    setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
-
-  virtual void    registerListener(IZCanReceiverListener *listener) override;
-  virtual int32_t sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) override;
-  virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) override;
-  virtual int32_t sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) override;
-  virtual int32_t triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) override;
-
-  void loop();
-
- public:
-  void STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *can);
-  void STM32_HAL_onCAN_Error(CAN_HandleTypeDef *can);
-
- private:
-  void sendPacket(uint8_t *packet, size_t len);
-  bool sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems);
-
-  HAL_StatusTypeDef initializeFilter();
-  HAL_StatusTypeDef activateRxIT();
-  HAL_StatusTypeDef deactivateRxIT();
-  bool              getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/);
-};
-
-}  // namespace iflytop
-#endif
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index d19c4b0..f3acf54 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,7 +1,7 @@
 #pragma once
 #define PC_VERSION           400
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
-#define PC_PROJECT_NAME      "graphite_digester_subboard"
+#define PC_PROJECT_NAME      "hand_acid_mainboard"
 #define PC_IFLYTOP_ENABLE_OS 1
 
 #define PC_DEBUG_UART                huart1
diff --git a/usrc/public_service/common_hardware_init.cpp b/usrc/public_service/common_hardware_init.cpp
index 20c0df1..85a548d 100644
--- a/usrc/public_service/common_hardware_init.cpp
+++ b/usrc/public_service/common_hardware_init.cpp
@@ -116,45 +116,7 @@ static void debug_uart_init() {
   hdma2_stream2_enable = true;
 }
 
-static void can1_init() {
-  __HAL_RCC_GPIOA_CLK_ENABLE();
-  __HAL_RCC_CAN1_CLK_ENABLE();
-  GPIO_InitTypeDef GPIO_InitStruct = {0};
-
-  GPIO_InitStruct.Pin       = GPIO_PIN_11 | GPIO_PIN_12;
-  GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
-  GPIO_InitStruct.Pull      = GPIO_NOPULL;
-  GPIO_InitStruct.Speed     = GPIO_SPEED_FREQ_VERY_HIGH;
-  GPIO_InitStruct.Alternate = GPIO_AF9_CAN1;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
-  /* CAN1 interrupt Init */
-  HAL_NVIC_SetPriority(CAN1_TX_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
-  HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
-  HAL_NVIC_SetPriority(CAN1_RX1_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(CAN1_RX1_IRQn);
-  HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 5, 0);
-  HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn);
-
-  hcan1.Instance                  = CAN1;
-  hcan1.Init.Prescaler            = 4;
-  hcan1.Init.Mode                 = CAN_MODE_NORMAL;
-  hcan1.Init.SyncJumpWidth        = CAN_SJW_3TQ;
-  hcan1.Init.TimeSeg1             = CAN_BS1_14TQ;
-  hcan1.Init.TimeSeg2             = CAN_BS2_3TQ;
-  hcan1.Init.TimeTriggeredMode    = ENABLE;
-  hcan1.Init.AutoBusOff           = ENABLE;
-  hcan1.Init.AutoWakeUp           = DISABLE;
-  hcan1.Init.AutoRetransmission   = ENABLE;
-  hcan1.Init.ReceiveFifoLocked    = ENABLE;
-  hcan1.Init.TransmitFifoPriority = DISABLE;
-  if (HAL_CAN_Init(&hcan1) != HAL_OK) {
-    Error_Handler();
-  }
-  hcan1_enable = true;
-}
 
 void common_hardware_init() {
   /***********************************************************************************************************************
@@ -168,8 +130,4 @@ void common_hardware_init() {
    *                                                   调试串口初始化                                                    *
    ***********************************************************************************************************************/
   debug_uart_init();
-  /***********************************************************************************************************************
-   *                                                      CAN初始化                                                      *
-   ***********************************************************************************************************************/
-  can1_init();
 }
diff --git a/usrc/public_service/ext_board_impl.cpp b/usrc/public_service/ext_board_impl.cpp
deleted file mode 100644
index 083072b..0000000
--- a/usrc/public_service/ext_board_impl.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-#include "ext_board_impl.hpp"
-using namespace iflytop;
-
-ExtBoardImpl::ExtBoardImpl(/* args */) {}
-ExtBoardImpl::~ExtBoardImpl() {}
-
-int32_t ExtBoardImpl::getmoduleId(int off) { return zdevice_id_mgr_get_device_id() + off; }
-/***********************************************************************************************************************
- *                                                         PRI                                                         *
- ***********************************************************************************************************************/
-int32_t ExtBoardImpl::getid(int32_t *id) {
-  *id = getmoduleId(0);
-  return 0;
-}
-int32_t ExtBoardImpl::module_xxx_reg(int32_t param_id, bool read, int32_t &val) { return err::kmodule_not_find_reg; }
-int32_t ExtBoardImpl::extboard_read_inio(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
-  *val = IO[ioindex].getState();
-  return 0;
-}
-
-int32_t ExtBoardImpl::extboard_read_muti_inio(int32_t *val) {
-  *val = 0;
-  for (int i = 0; i < ZARRAY_SIZE(IO); i++) {
-    *val |= IO[i].getState() << i;
-    // ZLOGI("BOARD", "IO %d %d", i, IO[i].getState());
-  }
-
-  return 0;
-}
-int32_t ExtBoardImpl::extboard_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
-  *val = IO[ioindex].getPin();
-  return 0;
-}
-
-
-int32_t ExtBoardImpl::kextboard_write_outio(int32_t ioindex, int32_t val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
-  OutputIO[ioindex].setState(val);
-  return 0;
-}
-int32_t ExtBoardImpl::extboard_read_outio_index_in_stm32(int32_t ioindex, int32_t *val) {
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
-  *val = OutputIO[ioindex].getPin();
-  return 0;
-}
-int32_t ExtBoardImpl::extboard_read_outio(int32_t ioindex, int32_t *val) {
-  // ZLOGI("BOARD", "extboard_read_outio %d", ioindex);
-  if (ioindex < 0 || ioindex >= ZARRAY_SIZE(IO)) return err::kparam_out_of_range;
-  *val = OutputIO[ioindex].getState();
-  return 0;
-}
diff --git a/usrc/public_service/ext_board_impl.hpp b/usrc/public_service/ext_board_impl.hpp
deleted file mode 100644
index 431a0dc..0000000
--- a/usrc/public_service/ext_board_impl.hpp
+++ /dev/null
@@ -1,68 +0,0 @@
-#include <stddef.h>
-#include <stdint.h>
-#include <stdio.h>
-
-//
-#include "protocol/protocol.hpp"
-#include "sdk/sdk.hpp"
-//
-#include "configs/device_id_mgr.hpp"
-
-#define EXT_READ_IO_NUM  10
-#define EXT_WRITE_IO_NUM 10
-
-#define IO_INIT()                           \
-  IO[0].initAsInput(EXT_INPUT_IO0);         \
-  IO[1].initAsInput(EXT_INPUT_IO1);         \
-  IO[2].initAsInput(EXT_INPUT_IO2);         \
-  IO[3].initAsInput(EXT_INPUT_IO3);         \
-  IO[4].initAsInput(EXT_INPUT_IO4);         \
-  IO[5].initAsInput(EXT_INPUT_IO5);         \
-  IO[6].initAsInput(EXT_INPUT_IO6);         \
-  IO[7].initAsInput(EXT_INPUT_IO7);         \
-  IO[8].initAsInput(EXT_INPUT_IO8);         \
-  IO[9].initAsInput(EXT_INPUT_IO9);         \
-  OutputIO[0].initAsOutput(EXT_OUTPUT_IO0); \
-  OutputIO[1].initAsOutput(EXT_OUTPUT_IO1); \
-  OutputIO[2].initAsOutput(EXT_OUTPUT_IO2); \
-  OutputIO[3].initAsOutput(EXT_OUTPUT_IO3); \
-  OutputIO[4].initAsOutput(EXT_OUTPUT_IO4); \
-  OutputIO[5].initAsOutput(EXT_OUTPUT_IO5); \
-  OutputIO[6].initAsOutput(EXT_OUTPUT_IO6); \
-  OutputIO[7].initAsOutput(EXT_OUTPUT_IO7); \
-  OutputIO[8].initAsOutput(EXT_OUTPUT_IO8); \
-  OutputIO[9].initAsOutput(EXT_OUTPUT_IO9);
-
-namespace iflytop {
-class ExtBoardImpl : public ZIBoard, public ZIModule {
-  ENABLE_MODULE(ExtBoardImpl, kboard, PC_VERSION);
-
- protected:
-  /* data */
-  ZGPIO IO[EXT_READ_IO_NUM];
-  ZGPIO OutputIO[EXT_WRITE_IO_NUM];
-
- public:
-  ExtBoardImpl(/* args */);
-  ~ExtBoardImpl();
-
- public:
-  /***********************************************************************************************************************
-   *                                                      ZIModule                                                       *
-   ***********************************************************************************************************************/
-  virtual int32_t getid(int32_t *id) override;
-  virtual int32_t module_xxx_reg(int32_t param_id, bool read, int32_t &val) override;
-  /***********************************************************************************************************************
-   *                                                       ZIBoard                                                       *
-   ***********************************************************************************************************************/
-  virtual int32_t extboard_read_inio(int32_t ioindex, int32_t *val) override;
-  virtual int32_t kextboard_write_outio(int32_t ioindex, int32_t val) override;
-  virtual int32_t extboard_read_muti_inio(int32_t *val) override;
-  virtual int32_t extboard_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) override;
-  virtual int32_t extboard_read_outio_index_in_stm32(int32_t ioindex, int32_t *val) override;
-  virtual int32_t extboard_read_outio(int32_t ioindex, int32_t *val) override;
-
-  virtual int32_t getmoduleId(int off);
-};
-
-}  // namespace iflytop
diff --git a/usrc/public_service/gservice.cpp b/usrc/public_service/gservice.cpp
deleted file mode 100644
index 957aeae..0000000
--- a/usrc/public_service/gservice.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "gservice.hpp"
-
-#include "configs/device_id_mgr.hpp"
-
-using namespace iflytop;
-
-void GService::initialize() {  //
-
-  ZCanReceiver::CFG* zcanreceiver_cfg = zcanreceiver.createCFG(zdevice_id_mgr_get_device_id());
-  zcanreceiver.initialize(zcanreceiver_cfg);
-  zcan_protocol_parser.initialize(&zcanreceiver);
-  ProtocolEventBusSender::inst()->initialize(&zcanreceiver);
-}
-
-GService* GService::inst() {
-  static GService gservice;
-  return &gservice;
-}
diff --git a/usrc/public_service/gservice.hpp b/usrc/public_service/gservice.hpp
deleted file mode 100644
index 4ba1c53..0000000
--- a/usrc/public_service/gservice.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-#include <stddef.h>
-#include <stdio.h>
-
-#include "sdk/sdk.hpp"
-#include "protocol/protocol.hpp"
-//
-#include "components/zcancmder/zcanreceiver.hpp"
-#include "components/zcancmder/zcan_protocol_parser.hpp"
-#include "components/zcancmder/protocol_event_bus_sender.hpp"
-
-namespace iflytop {
-
-class GService {
-  ZCanReceiver           zcanreceiver;
-  ZCanProtocolParser     zcan_protocol_parser;
-  ProtocolEventBusSender evenSender;
-
- public:
-  void initialize();
-
-  static GService* inst();
-
-  ZCanReceiver*       getZCanReceiver() { return &zcanreceiver; }
-  ZCanProtocolParser* getZCanProtocolParser() { return &zcan_protocol_parser; }
-
-  void registerModule(ZIModule* module) { zcan_protocol_parser.registerModule(module); }
-
-  template <typename T>
-  T* getModule(uint32_t moduleId) {
-    return dynamic_cast<T*>(zcan_protocol_parser.getModule(moduleId));
-  }
-};
-
-}  // namespace iflytop
diff --git a/usrc/public_service/public_service.hpp b/usrc/public_service/public_service.hpp
index fdeaf9f..1d5494b 100644
--- a/usrc/public_service/public_service.hpp
+++ b/usrc/public_service/public_service.hpp
@@ -1,6 +1,4 @@
 #pragma once
 
 #include "common_hardware_init.hpp"
-#include "gservice.hpp"
-#include "ext_board_impl.hpp"
 #include "sdk/sdk.hpp"
\ No newline at end of file