diff --git a/.cproject b/.cproject
index 6058b70..c08840d 100644
--- a/.cproject
+++ b/.cproject
@@ -90,6 +90,7 @@
 									<listOptionValue builtIn="false" value="-Wno-sign-compare"/>
 									<listOptionValue builtIn="false" value="-Wno-unused-variable"/>
 								</option>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti.878350755" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.nortti" value="false" valueType="boolean"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp.54112860" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.input.cpp"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker.163881313" name="MCU GCC Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.linker"/>
diff --git a/sdk b/sdk
index 76ef997..0f5a291 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 76ef997ee4eea38d58ce29a67581e4318ca6f798
+Subproject commit 0f5a291b031589e0f435b7f9faafd514ee032940
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 7a0bce9..4b4996d 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -7,9 +7,9 @@
 #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\zprotocols\zcancmder_v2\protocol_parser.hpp"
 //
 #include "sdk\components\flash\znvs.hpp"
 //
@@ -24,14 +24,13 @@ void StartDefaultTask(void const* argument) { umain(); }
 }
 #define TMC_MOTOR_SPI hspi1
 
-static TMC4361A             motora;
-static TMC4361A             motorb;
-static ZCanCmder            zcanCmder;
-static ZCanBasicOrderModule zcanBasicOrderModule;
+static TMC4361A  motora;
+static TMC4361A  motorb;
+static ZCanCmder zcanCmder;
 
-static StepMotorCtrlModule   stepMotorCtrlModule;
-static XYRobotCtrlModule     xyRobotCtrlModule;
-static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
+static StepMotorCtrlModule stepMotorCtrlModule;
+static XYRobotCtrlModule   xyRobotCtrlModule;
+static ZIProtocolParser    g_ziProtocolParser;
 
 #define XYRobotCtrlModule_1_FLASH_MARK "XYRobotCtrlModule_1"
 
@@ -107,7 +106,6 @@ void umain() {
   /*******************************************************************************
    *                            zcanBasicOrderModule                             *
    *******************************************************************************/
-  zcanBasicOrderModule.initialize(&zcanCmder);
 #if 0
   zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
   zcanBasicOrderModule.reg_read_io(1, []() {
@@ -133,9 +131,12 @@ void umain() {
   input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
   input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
-  xyRobotCtrlModule.initialize(&motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
+  xyRobotCtrlModule.initialize(BOARD_ID, &motora, &motorb, &input[0], 8, XYRobotCtrlModule_1_FLASH_MARK);
   xyRobotCtrlModule.dumpcfg();
-  zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
+  // zcanXYRobotCtrlModule.initialize(&zcanCmder, MODULE_ID, &xyRobotCtrlModule);
+
+  g_ziProtocolParser.initialize(&zcanCmder);
+  g_ziProtocolParser.registerModule(&xyRobotCtrlModule);
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 9d57dd5..7f0e9af 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -14,7 +14,7 @@
 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
 
 #define MODULE_ID (1)
-#define BOARD_ID  (1 + ZCAN_CMD_PUBLIC_DEVICE_ID_XY_ROBOT_BOARD_OFFEST)
+#define BOARD_ID  (1 + XY_MOTOR_ID_OFF)
 
 /****************************************FLASH***************************************/
 #define IFLYTOP_NVS_CONFIG_FLASH_SECTOR 8