diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index b52317d..93bee9f 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="1069001987885984253" 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="1902476025430760114" 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="1057391452571803630" 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="1890865490116579491" 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/sdk b/sdk
index 5f412fc..245a8e3 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 5f412fc13617a87778caecdfcc7847038536ed7b
+Subproject commit 245a8e32a993dd2e9c17a64eed522d22841b3928
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 380cd6c..b12eac4 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -2,15 +2,14 @@
 #include <stdio.h>
 
 #include "sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp"
-#include "sdk/components/zcancmder_module/zcan_step_motor_ctrl_module.hpp"
 #include "sdk/os/zos.hpp"
 #include "sdk\components\flash\zsimple_flash.hpp"
 #include "sdk\components\mini_servo_motor\feite_servo_motor.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
 #include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
+#include "sdk\components\xy_robot_ctrl_module\zcan_xy_robot_module.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
-#include "sdk\components\zcancmder_module\zcan_xy_robot_module.hpp"
 //
 #include "sdk\components\flash\znvs.hpp"
 //
@@ -30,9 +29,7 @@ static TMC4361A             motorb;
 static ZCanCmder            zcanCmder;
 static ZCanBasicOrderModule zcanBasicOrderModule;
 
-static StepMotorCtrlModule     stepMotorCtrlModule;
-static ZCanStepMotorCtrlModule zcanStepMotorCtrlModule;
-
+static StepMotorCtrlModule   stepMotorCtrlModule;
 static XYRobotCtrlModule     xyRobotCtrlModule;
 static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
 
@@ -50,6 +47,8 @@ void umain() {
   zos_cfg_t zoscfg;
   zos_init(&zoscfg);
 
+  ZLOGI(TAG, "boardid:%d moduleid:%d", BOARD_ID, MODULE_ID);
+
   /*******************************************************************************
    *                                   NVSINIT                                   *
    *******************************************************************************/
@@ -92,17 +91,17 @@ void umain() {
     ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.readSubICVersion());
   }
 
-  motora.setAcceleration(300000);
-  motora.setDeceleration(300000);
+  motora.setAcceleration(300);
+  motora.setDeceleration(300);
   motora.setIHOLD_IRUN(0, 2, 10);
 
-  motorb.setAcceleration(300000);
-  motorb.setDeceleration(300000);
+  motorb.setAcceleration(300);
+  motorb.setDeceleration(300);
   motorb.setIHOLD_IRUN(0, 2, 10);
 
   motora.rotate(0);
   motorb.rotate(0);
-  auto zcanCmder_cfg = zcanCmder.createCFG(DEVICE_ID);
+  auto zcanCmder_cfg = zcanCmder.createCFG(BOARD_ID);
   zcanCmder.init(zcanCmder_cfg);
 
   /*******************************************************************************
@@ -136,7 +135,7 @@ void umain() {
 
   xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], XYRobotCtrlModule_1_FLASH_MARK);
   xyRobotCtrlModule.dumpcfg();
-  zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
+  zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index cd711fa..9d57dd5 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -1,9 +1,8 @@
 #pragma once
 
-
 #define VERSION          "v1.0.0"
 #define MANUFACTURER     "http://www.iflytop.com/"
-#define PROJECT_NAME     "filarobot_arm"
+#define PROJECT_NAME     "xy_robot_board"
 #define DEBUG_UART       huart1
 #define DEBUG_LIGHT_GPIO PE2
 
@@ -14,8 +13,8 @@
 #define IFLYTOP_ENABLE_OS               1
 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
 
-
-#define DEVICE_ID (2)
+#define MODULE_ID (1)
+#define BOARD_ID  (1 + ZCAN_CMD_PUBLIC_DEVICE_ID_XY_ROBOT_BOARD_OFFEST)
 
 /****************************************FLASH***************************************/
 #define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8