diff --git a/usrc/main.cpp b/usrc/main.cpp
index cc59029..99c5851 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -21,31 +21,51 @@ IflytopCanProtocolStackProcesser m_protocolStack;
 TMC4361A                         m_motora;
 TMC4361A                         m_motorb;
 
+ZGPIO arm_sensor1_gpio;
+ZGPIO arm_sensor2_gpio;
+ZGPIO arm_sensor3_gpio;
+ZGPIO arm_sensor4_gpio;
+ZGPIO arm_sensor5_gpio;
+ZGPIO arm_sensor6_gpio;
+ZGPIO arm_sensor7_gpio;
+ZGPIO arm_sensor8_gpio;
+
+ZGPIO debuglight;
+
+ZGPIO tmc_motor1_spi_select1_io;
+ZGPIO tmc_motor1_nfreeze_io;
+ZGPIO tmc_motor1_nreset_io;
+ZGPIO tmc_motor1_sub_ic_enn_io;
+ZGPIO tmc_motor2_spi_select1_io;
+ZGPIO tmc_motor2_nfreeze_io;
+ZGPIO tmc_motor2_nreset_io;
+ZGPIO tmc_motor2_sub_ic_enn_io;
+
 void input_sensors_init() {
-  ARM_SENSOR1_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
-  ARM_SENSOR2_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
-  ARM_SENSOR3_GPIO.initAsInput();
-  ARM_SENSOR4_GPIO.initAsInput();
-  ARM_SENSOR5_GPIO.initAsInput();
-  ARM_SENSOR6_GPIO.initAsInput();
-  ARM_SENSOR7_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
-  ARM_SENSOR8_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
+  arm_sensor1_gpio.initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  arm_sensor2_gpio.initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  arm_sensor3_gpio.initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  arm_sensor4_gpio.initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  arm_sensor5_gpio.initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  arm_sensor6_gpio.initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  arm_sensor7_gpio.initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
+  arm_sensor8_gpio.initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true);
 }
 uint32_t intput_sensors_get_table0() {
   uint32_t val = 0;
-  val |= ARM_SENSOR1_GPIO.getStateUint32() << 1;
-  val |= ARM_SENSOR2_GPIO.getStateUint32() << 2;
-  val |= ARM_SENSOR3_GPIO.getStateUint32() << 3;
-  val |= ARM_SENSOR4_GPIO.getStateUint32() << 4;
-  val |= ARM_SENSOR5_GPIO.getStateUint32() << 5;
-  val |= ARM_SENSOR6_GPIO.getStateUint32() << 6;
-  val |= ARM_SENSOR7_GPIO.getStateUint32() << 7;
-  val |= ARM_SENSOR8_GPIO.getStateUint32() << 8;
+  val |= arm_sensor1_gpio.getStateUint32() << 1;
+  val |= arm_sensor2_gpio.getStateUint32() << 2;
+  val |= arm_sensor3_gpio.getStateUint32() << 3;
+  val |= arm_sensor4_gpio.getStateUint32() << 4;
+  val |= arm_sensor5_gpio.getStateUint32() << 5;
+  val |= arm_sensor6_gpio.getStateUint32() << 6;
+  val |= arm_sensor7_gpio.getStateUint32() << 7;
+  val |= arm_sensor8_gpio.getStateUint32() << 8;
   return val;
 }
 
-STM32_GPIO *input_sensors_get_arm1_homegpio() { return &ARM_SENSOR8_GPIO; }
-STM32_GPIO *input_sensors_get_arm2_homegpio() { return &ARM_SENSOR7_GPIO; }
+ZGPIO *input_sensors_get_arm1_homegpio() { return &arm_sensor8_gpio; }
+ZGPIO *input_sensors_get_arm2_homegpio() { return &arm_sensor7_gpio; }
 
 icps::error_t Main::onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event) {}
 icps::error_t Main::onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event) {}
@@ -60,8 +80,8 @@ void Main::run() {
 
   ZLOGI(TAG, "robotic_core_xy:%s", VERSION);
 
-  DEBUG_LIGHT_GPIO.initAsOutput(true);
-  ZHAL_CORE_REG(200, { DEBUG_LIGHT_GPIO.toggleState(); });
+  debuglight.initAsOutput(DEBUG_LIGHT_GPIO, ZGPIO::kMode_nopull, false, false);
+  ZHAL_CORE_REG(200, { debuglight.toggleState(); });
 
   /*******************************************************************************
    *                               GPIO输入初始化                                *
@@ -72,21 +92,22 @@ void Main::run() {
   /*******************************************************************************
    *                                 电机初始化                                  *
    *******************************************************************************/
-  TMC_MOTOR1_SPI_SELECT1_IO.initAsOutput(true);
-  TMC_MOTOR1_nFREEZE_IO.initAsOutput(true);
-  TMC_MOTOR1_nRESET_IO.initAsOutput(true);
-  TMC_MOTOR1_SUB_IC_ENN_IO.initAsOutput(true);
-  TMC_MOTOR2_SPI_SELECT1_IO.initAsOutput(true);
-  TMC_MOTOR2_nFREEZE_IO.initAsOutput(true);
-  TMC_MOTOR2_nRESET_IO.initAsOutput(true);
-  TMC_MOTOR2_SUB_IC_ENN_IO.initAsOutput(true);
+  tmc_motor1_spi_select1_io.initAsOutput(TMC_MOTOR1_SPI_SELECT1_IO, ZGPIO::kMode_nopull, false, true);
+  tmc_motor1_nfreeze_io.initAsOutput(TMC_MOTOR1_nFREEZE_IO, ZGPIO::kMode_nopull, false, true);
+  tmc_motor1_nreset_io.initAsOutput(TMC_MOTOR1_nRESET_IO, ZGPIO::kMode_nopull, false, true);
+  tmc_motor1_sub_ic_enn_io.initAsOutput(TMC_MOTOR1_SUB_IC_ENN_IO, ZGPIO::kMode_nopull, false, true);
+  tmc_motor2_spi_select1_io.initAsOutput(TMC_MOTOR2_SPI_SELECT1_IO, ZGPIO::kMode_nopull, false, true);
+  tmc_motor2_nfreeze_io.initAsOutput(TMC_MOTOR2_nFREEZE_IO, ZGPIO::kMode_nopull, false, true);
+  tmc_motor2_nreset_io.initAsOutput(TMC_MOTOR2_nRESET_IO, ZGPIO::kMode_nopull, false, true);
+  tmc_motor2_sub_ic_enn_io.initAsOutput(TMC_MOTOR2_SUB_IC_ENN_IO, ZGPIO::kMode_nopull, false, true);
+
   {
     TMC4361A::cfg_t motora_cfg = {.spi               = &TMC_MOTOR_SPI,
-                                  .csgpio            = &TMC_MOTOR1_SPI_SELECT1_IO,
-                                  .resetPin          = &TMC_MOTOR1_nRESET_IO,
-                                  .fREEZEPin         = &TMC_MOTOR1_nFREEZE_IO,
+                                  .csgpio            = &tmc_motor1_spi_select1_io,
+                                  .resetPin          = &tmc_motor1_nreset_io,
+                                  .fREEZEPin         = &tmc_motor1_nfreeze_io,
                                   .ennPin            = NULL,
-                                  .driverIC_ennPin   = &TMC_MOTOR1_SUB_IC_ENN_IO,
+                                  .driverIC_ennPin   = &tmc_motor1_sub_ic_enn_io,
                                   .driverIC_resetPin = NULL};
 
     m_motora.initialize(&motora_cfg);
@@ -97,11 +118,11 @@ void Main::run() {
 
   {
     TMC4361A::cfg_t motorb_cfg = {.spi               = &TMC_MOTOR_SPI,
-                                  .csgpio            = &TMC_MOTOR2_SPI_SELECT1_IO,
-                                  .resetPin          = &TMC_MOTOR2_nRESET_IO,
-                                  .fREEZEPin         = &TMC_MOTOR2_nFREEZE_IO,
+                                  .csgpio            = &tmc_motor2_spi_select1_io,
+                                  .resetPin          = &tmc_motor2_nreset_io,
+                                  .fREEZEPin         = &tmc_motor2_nfreeze_io,
                                   .ennPin            = NULL,
-                                  .driverIC_ennPin   = &TMC_MOTOR2_SUB_IC_ENN_IO,
+                                  .driverIC_ennPin   = &tmc_motor2_sub_ic_enn_io,
                                   .driverIC_resetPin = NULL};
 
     m_motorb.initialize(&motorb_cfg);
@@ -114,19 +135,19 @@ void Main::run() {
    *                                扫码枪初始化                                 *
    *******************************************************************************/
   {
-    // static ZUART uart;
-    // PB6.initAsOutput(STM32_GPIO::kOutput_nopull, true, false);
-    // ZUART::cfg_t cfg = {
-    //     .name          = "CODE_SCANER_UART",
-    //     .huart         = &CODE_SCANER_UART,
-    //     .rxbuffersize  = 300,
-    //     .rxovertime_ms = 10,
-    // };
-    // uart.initialize(&cfg,[](){})
-    //     uart.initialize_basic("CODE_SCANER_UART", &m_hardware, &CODE_SCANER_UART);
-    // uart.initialize_setRxBuffer(300);
-    // uart.initialize_setRxOvertime(33);
-    // uart.initialize_finished();
+      // static ZUART uart;
+      // PB6.initAsOutput(STM32_GPIO::kOutput_nopull, true, false);
+      // ZUART::cfg_t cfg = {
+      //     .name          = "CODE_SCANER_UART",
+      //     .huart         = &CODE_SCANER_UART,
+      //     .rxbuffersize  = 300,
+      //     .rxovertime_ms = 10,
+      // };
+      // uart.initialize(&cfg,[](){})
+      //     uart.initialize_basic("CODE_SCANER_UART", &m_hardware, &CODE_SCANER_UART);
+      // uart.initialize_setRxBuffer(300);
+      // uart.initialize_setRxOvertime(33);
+      // uart.initialize_finished();
   }
 
   /*******************************************************************************