diff --git a/usrc/main.cpp b/usrc/main.cpp
index ee647ce..cc59029 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -7,6 +7,7 @@
 #include "project.hpp"
 //
 #include "sdk/hal/zhal.hpp"
+#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
 
 #define TAG "main"
@@ -15,6 +16,41 @@ Main gmain;
 };
 
 using namespace iflytop;
+
+IflytopCanProtocolStackProcesser m_protocolStack;
+TMC4361A                         m_motora;
+TMC4361A                         m_motorb;
+
+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);
+}
+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;
+  return val;
+}
+
+STM32_GPIO *input_sensors_get_arm1_homegpio() { return &ARM_SENSOR8_GPIO; }
+STM32_GPIO *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) {}
+void          Main::onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event) {}
+
 void Main::run() {
   iflytop_no_os_cfg_t oscfg = {
       .delayhtim = &DELAY_US_TIMER,
@@ -27,12 +63,15 @@ void Main::run() {
   DEBUG_LIGHT_GPIO.initAsOutput(true);
   ZHAL_CORE_REG(200, { DEBUG_LIGHT_GPIO.toggleState(); });
 
-  // while (true) {
-  //   chip_delay_us(1000 * 1000);
-  //   ZLOGI(TAG, ".....");
-  // }
-  TMC4361A motora;
-  TMC4361A motorb;
+  /*******************************************************************************
+   *                               GPIO输入初始化                                *
+   *******************************************************************************/
+  input_sensors_init();
+  intput_sensors_get_table0();
+
+  /*******************************************************************************
+   *                                 电机初始化                                  *
+   *******************************************************************************/
   TMC_MOTOR1_SPI_SELECT1_IO.initAsOutput(true);
   TMC_MOTOR1_nFREEZE_IO.initAsOutput(true);
   TMC_MOTOR1_nRESET_IO.initAsOutput(true);
@@ -50,10 +89,10 @@ void Main::run() {
                                   .driverIC_ennPin   = &TMC_MOTOR1_SUB_IC_ENN_IO,
                                   .driverIC_resetPin = NULL};
 
-    motora.initialize(&motora_cfg);
-    int32_t ic4361Version = motora.readICVersion();
-    int32_t ic2160Version = motora.readSubICVersion();
-    ZLOGI(TAG, "motora:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
+    m_motora.initialize(&motora_cfg);
+    int32_t ic4361Version = m_motora.readICVersion();
+    int32_t ic2160Version = m_motora.readSubICVersion();
+    ZLOGI(TAG, "m_motora:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
   }
 
   {
@@ -65,20 +104,50 @@ void Main::run() {
                                   .driverIC_ennPin   = &TMC_MOTOR2_SUB_IC_ENN_IO,
                                   .driverIC_resetPin = NULL};
 
-    motorb.initialize(&motorb_cfg);
-    int32_t ic4361Version = motorb.readICVersion();
-    int32_t ic2160Version = motorb.readSubICVersion();
-    ZLOGI(TAG, "motorb:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
+    m_motorb.initialize(&motorb_cfg);
+    int32_t ic4361Version = m_motorb.readICVersion();
+    int32_t ic2160Version = m_motorb.readSubICVersion();
+    ZLOGI(TAG, "m_motorb:TMC4361Version:%lx  TMC2160VERSION:%lx", ic4361Version, ic2160Version);
+  }
+
+  /*******************************************************************************
+   *                                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();
+  }
+
+  /*******************************************************************************
+   *                                协议栈初始化                                 *
+   *******************************************************************************/
+  {
+    auto *cfg = IflytopCanProtocolStackProcesser::createDefaultConfig(DEVICE_ID, 128);
+    m_protocolStack.initialize(cfg);
+    m_protocolStack.setDumpPacketFlag(false);
+    m_protocolStack.registerListener(this);
+    m_protocolStack.activeReg(REG_GPIO_INPUT0, icps::kwr, 0);
   }
 
-  motora.setIHOLD_IRUN(1, 12, 0);  // 小臂
-  motora.setMotorShaft(0);
+  m_motora.setIHOLD_IRUN(1, 12, 0);  // 小臂
+  m_motora.setMotorShaft(0);
 
-  motorb.setIHOLD_IRUN(1, 12, 0);  // 小臂
-  motorb.setMotorShaft(0);
+  m_motorb.setIHOLD_IRUN(1, 12, 0);  // 小臂
+  m_motorb.setMotorShaft(0);
 
-  motora.rotate(1200000);
-  motorb.rotate(1200000);
+  m_motora.rotate(1200000);
+  m_motorb.rotate(1200000);
 
   while (1) {
     ZHALCORE::getInstance()->loop();
diff --git a/usrc/main.hpp b/usrc/main.hpp
index b319733..c9224c9 100644
--- a/usrc/main.hpp
+++ b/usrc/main.hpp
@@ -1,14 +1,21 @@
 #pragma once
-#include <stdio.h>
 #include <stdint.h>
+#include <stdio.h>
 
 #include <functional>
+
+#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
+
 namespace iflytop {
 using namespace std;
-class Main {
+class Main : public IflytopCanProtocolStackProcesserListener {
  private:
   /* data */
  public:
+  virtual icps::error_t onHostRegisterWriteEvent(IflytopCanProtocolStackProcesser *processer, icps::WriteEvent *event);
+  virtual icps::error_t onHostRegisterReadEvent(IflytopCanProtocolStackProcesser *processer, icps::ReadEvent *event);
+  virtual void          onHostRegisterReportEvent(IflytopCanProtocolStackProcesser *processer, icps::ReportEvent *event);
+
   Main(/* args */){};
   ~Main(){};
   void run();
diff --git a/usrc/project.hpp b/usrc/project.hpp
index 397f3b6..770283c 100644
--- a/usrc/project.hpp
+++ b/usrc/project.hpp
@@ -47,8 +47,6 @@
 
 #define DEVICE_BASIC_CTRL_ADD_BASE 0
 #define GPIO_INPUT_ADD_BASE        1000   // GPIO输入
-#define REG_MOTOR1_CTRL_ADD_BASE   10000  // 机械臂电机1控制基地址
-#define REG_MOTOR2_CTRL_ADD_BASE   10100  // 机械臂电机2控制基地址
 #define REG_SCARA_CTRL_ADD_BASE    11200  // 机械臂控制基地址
 #define REG_BARCODE_CTRL_ADD_BASE  20000  // 扫码器控制基地址