diff --git a/README.md b/README.md
index 2a8c11a..719608b 100644
--- a/README.md
+++ b/README.md
@@ -56,4 +56,11 @@ ID
 
 
 
+```
+
+```
+修改
+1. 去除掉input_reg，修改驱动读取gpio的寄存器为kreg_step_motor_io_state
+2. 增加舵机专用寄存器和方法
+
 ```
\ No newline at end of file
diff --git a/a8000_protocol b/a8000_protocol
index fa6b716..46658dd 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit fa6b7167d244887835eeaf416c4ae4474744b5f0
+Subproject commit 46658ddf81dbfebd9fb37c18c77d16c16022015b
diff --git a/sdk b/sdk
index 9f1aed5..bfb5613 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 9f1aed567d31daee1d122e5e41857a400822c7ed
+Subproject commit bfb5613725442b208dd485d5c184741e370781fd