diff --git a/.cproject b/.cproject
index 2fb2360..5d86c67 100644
--- a/.cproject
+++ b/.cproject
@@ -40,7 +40,7 @@
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.546451949" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.782799112" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1115926827" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.1115926827" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g1" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.390305872" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1156405800" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
@@ -66,7 +66,7 @@
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.330299437" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.344817877" name="MCU G++ Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.529642841" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.529642841" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g1" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.345929657" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o1" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.980152850" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
@@ -101,7 +101,7 @@
 							<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"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.13625971" name="MCU G++ Linker" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script.362679060" name="Linker Script (-T)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.script" value="${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld}" valueType="string"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls.1895114880" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls.value.none" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls.1895114880" name="System calls" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.option.systemcalls.value.none" valueType="enumerated"/>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input.254649022" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index ea042dc..20fbfa7 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="275879641112183883" 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="530787724166000187" 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="348948591003739390" 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="603856674057555694" 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/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
index f53a132..5388d35 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h
@@ -26,7 +26,7 @@
  *  
  *----------------------------------------------------------------------------
  *
- * Portions Copyright � 2016 STMicroelectronics International N.V. All rights reserved.
+ * Portions Copyright � 2016 STMicroelectronics International N.V. All rights reserved.
  * Portions Copyright (c) 2013 ARM LIMITED
  * All rights reserved.
  * Redistribution and use in source and binary forms, with or without
@@ -278,7 +278,7 @@ typedef StaticQueue_t              osStaticMessageQDef_t;
 /// Thread Definition structure contains startup information of a thread.
 /// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS.
 typedef struct os_thread_def  {
-  char                   *name;        ///< Thread name 
+  const char                   *name;        ///< Thread name 
   os_pthread             pthread;      ///< start address of thread function
   osPriority             tpriority;    ///< initial thread priority
   uint32_t               instances;    ///< maximum number of instances of that thread function
diff --git a/a8000_protocol b/a8000_protocol
index 5d083e1..38aa5a4 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 5d083e13b654460d9de05192ce9446c9b1d62069
+Subproject commit 38aa5a4b096eee25b062a6f9f49dded87289cb5f
diff --git a/a8000_subboard.launch b/a8000_subboard.launch
index a42d881..71bce7d 100644
--- a/a8000_subboard.launch
+++ b/a8000_subboard.launch
@@ -5,7 +5,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_certif_path" value=""/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_check_enable" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_key_path" value=""/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value="debug_non_secure_L3"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.launch.debug_auth_permission" value=""/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_live_expr" value="true"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.launch.enable_swv" value="false"/>
     <intAttribute key="com.st.stm32cube.ide.mcu.debug.launch.formatVersion" value="2"/>
diff --git a/rst.bat b/rst.bat
new file mode 100644
index 0000000..02bd566
--- /dev/null
+++ b/rst.bat
@@ -0,0 +1,2 @@
+C:\ST\STM32CubeIDE_1.15.0\STM32CubeIDE\plugins\com.st.stm32cube.ide.mcu.externaltools.cubeprogrammer.win32_2.1.200.202311302303\tools\bin\STM32_Programmer_CLI.exe ^
+-c port=SWD  -rst
\ No newline at end of file
diff --git a/sdk/components/tmc/ic/ztmc5130.cpp b/sdk/components/tmc/ic/ztmc5130.cpp
index f19e55f..f34d0b0 100644
--- a/sdk/components/tmc/ic/ztmc5130.cpp
+++ b/sdk/components/tmc/ic/ztmc5130.cpp
@@ -330,7 +330,7 @@ int32_t TMC51X0::to_user_vel(int32_t vel) {  //
 
 void TMC51X0::readMotorState(bool *stoped, int32_t *error) {
   auto state     = getGState();
-  auto devStatus = getDevStatus();
+  // auto devStatus = getDevStatus();
   if (state.reset) {
     *error = (int32_t)err::kstep_motor_subic_reset;
   } else if (state.uv_cp) {
diff --git a/sdk/components/zcancmder/basic.cpp b/sdk/components/zcancmder/basic.cpp
index c6a76d2..c724da7 100644
--- a/sdk/components/zcancmder/basic.cpp
+++ b/sdk/components/zcancmder/basic.cpp
@@ -7,29 +7,29 @@ using namespace iflytop;
 using namespace std;
 uint16_t CanPacketRxBuffer::get_packetindex() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->packetindex;
+  return cmdheader->index;
 }
 uint16_t CanPacketRxBuffer::get_cmdid() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
 
-  return CMDID(cmdheader->cmdMainId, cmdheader->cmdSubId);
-}
-uint8_t CanPacketRxBuffer::get_cmdSubId() {
-  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->cmdSubId;
+  return cmdheader->cmdid;
 }
+
 uint8_t CanPacketRxBuffer::get_packetType() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
   return cmdheader->packetType;
 }
 uint8_t *CanPacketRxBuffer::get_params() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->data;
+  return (cmdheader->data);
+}
+uint16_t CanPacketRxBuffer::get_params_len() {
+  zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
+  return cmdheader->datalen;
 }
-uint16_t CanPacketRxBuffer::get_params_len() { return rxdataSize - sizeof(zcr_cmd_header_t); }
-void     CanPacketRxBuffer::clear() {
+void CanPacketRxBuffer::clear() {
   id = 0;
-  memset(&m_canPacket, 0, sizeof(m_canPacket)); //fix 
+  memset(&m_canPacket, 0, sizeof(m_canPacket));  // fix
   m_canPacketNum = 0;
   m_npacket      = 0;
   memset(rxdata, 0, sizeof(rxdata));
@@ -43,9 +43,7 @@ void     CanPacketRxBuffer::clear() {
 
 bool CanPacketRxBuffer::iscmd(int32_t id) {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  uint16_t          maincmdid = ((uint32_t)id >> 8) & 0xFFFF;
-  uint8_t           cmdSubId  = ((uint32_t)id) & 0xFF;
-  return cmdheader->cmdMainId == maincmdid && cmdheader->cmdSubId == cmdSubId;
+  return cmdheader->cmdid == id;
 }
 zcr_cmd_header_t *CanPacketRxBuffer::get_cmdheader() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
diff --git a/sdk/components/zcancmder/basic.hpp b/sdk/components/zcancmder/basic.hpp
index 9152b5c..b08e4e7 100644
--- a/sdk/components/zcancmder/basic.hpp
+++ b/sdk/components/zcancmder/basic.hpp
@@ -3,8 +3,8 @@
 //
 
 #pragma once
-#include "sdk/os/zos.hpp"
 #include "a8000_protocol\protocol.hpp"
+#include "sdk/os/zos.hpp"
 
 namespace iflytop {
 namespace zcr {
@@ -25,12 +25,12 @@ using namespace zcr;
 
 class CanPacketRxBuffer {
  public:
-  uint16_t  id               = 0;
-  CANPacket m_canPacket[100] = {0};  // 用于接收can消息
-  uint8_t   m_canPacketNum   = 0;
-  uint8_t   m_npacket        = 0;
-  uint8_t   rxdata[1000]     = {0};
-  int       rxdataSize       = 0;
+  uint16_t  id              = 0;
+  CANPacket m_canPacket[20] = {0};  // 用于接收can消息
+  uint8_t   m_canPacketNum  = 0;
+  uint8_t   m_npacket       = 0;
+  uint8_t   rxdata[256]     = {0};
+  int       rxdataSize      = 0;
 
   bool    dataIsReady     = false;
   bool    isOnReceive     = false;
@@ -42,13 +42,12 @@ class CanPacketRxBuffer {
  public:
   uint16_t get_packetindex();
   uint16_t get_cmdid();
-  uint8_t  get_cmdSubId();
   uint8_t  get_packetType();
   uint8_t *get_params();
   uint16_t get_params_len();
   void     clear();
 
-  uint8_t* get_rx_raw();
+  uint8_t *get_rx_raw();
   uint16_t get_rx_raw_len();
 
   zcr_cmd_header_t *get_cmdheader();
diff --git a/sdk/components/zcancmder/protocol_event_bus_sender.cpp b/sdk/components/zcancmder/protocol_event_bus_sender.cpp
index c11034a..865445b 100644
--- a/sdk/components/zcancmder/protocol_event_bus_sender.cpp
+++ b/sdk/components/zcancmder/protocol_event_bus_sender.cpp
@@ -12,9 +12,8 @@ void ProtocolEventBusSender::push_reg_state_change_event(int32_t moduleid, int32
 
   zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
   int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->moduleid         = moduleid;
-  cmd_header->cmdMainId        = zcr::kevent_bus_reg_change_report >> 8;
-  cmd_header->cmdSubId         = zcr::kevent_bus_reg_change_report & 0xff;
+  cmd_header->moduleId         = moduleid;
+  cmd_header->cmdid            = zcr::kevent_bus_reg_change_report;
 
   data[0] = regindex;
   data[1] = oldval;
@@ -27,9 +26,9 @@ void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex) {
 
   zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
   int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->moduleid         = moduleid;
-  cmd_header->cmdMainId        = cmdindex >> 8;
-  cmd_header->cmdSubId         = cmdindex & 0xff;
+  cmd_header->moduleId         = moduleid;
+  cmd_header->cmdid            = cmdindex;
+  
 
   m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 0);
 }
@@ -39,9 +38,9 @@ void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t
 
   zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
   int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->moduleid         = moduleid;
-  cmd_header->cmdMainId        = cmdindex >> 8;
-  cmd_header->cmdSubId         = cmdindex & 0xff;
+  cmd_header->moduleId         = moduleid;
+  cmd_header->cmdid            = cmdindex;
+  
 
   data[0] = data0;
   m_zcanreceiver->triggerEvent(cmd_header, (uint8_t*)data, 4 * 1);
@@ -51,9 +50,9 @@ void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t
 
   zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
   int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->moduleid         = moduleid;
-  cmd_header->cmdMainId        = cmdindex >> 8;
-  cmd_header->cmdSubId         = cmdindex & 0xff;
+  cmd_header->moduleId         = moduleid;
+  cmd_header->cmdid            = cmdindex;
+  
 
   data[0] = data0;
   data[1] = data1;
@@ -64,9 +63,9 @@ void ProtocolEventBusSender::report(int32_t moduleid, int32_t cmdindex, int32_t
 
   zcr_cmd_header_t* cmd_header = (zcr_cmd_header_t*)txbuf;
   int32_t*          data       = (int32_t*)cmd_header->data;
-  cmd_header->moduleid         = moduleid;
-  cmd_header->cmdMainId        = cmdindex >> 8;
-  cmd_header->cmdSubId         = cmdindex & 0xff;
+  cmd_header->moduleId         = moduleid;
+  cmd_header->cmdid            = cmdindex;
+  
 
   data[0] = data0;
   data[1] = data1;
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index 593c0a2..f90164a 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -16,6 +16,15 @@ using namespace std;
 
 #define REGFN(fn) regCmdFn(k##fn, fn);
 
+static const char* hex2str(const char* hex, size_t len) {
+  static char buf[256];
+  memset(buf, 0, sizeof(buf));
+  for (size_t i = 0; i < len; i++) {
+    sprintf(buf + i * 2, "%02X", hex[i]);
+  }
+  return buf;
+}
+
 void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   m_cancmder = cancmder;
   m_cancmder->registerListener(this);
@@ -167,17 +176,17 @@ void ZCanProtocolParser::registerModule(ZIModule* module) {
   _registerModule(id, module);
 }
 
-void ZCanProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len) {
-  // printf("onRceivePacket cmdid:%d moduleid:%d cmdSubId:%d\n", rxcmd->cmdMainId, rxcmd->moduleid, rxcmd->cmdSubId);
-  uint16_t moduleid = rxcmd->moduleid;
+void ZCanProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, int32_t len) {
+  // printf("onRceivePacket cmdid:%d moduleid:%d\n", rxcmd->cmdid, rxcmd->moduleId);
+  uint16_t moduleid = rxcmd->moduleId;
   auto     it       = m_modulers.find(moduleid);
   if (it == m_modulers.end()) {
     return;
   }
 
   ZIModule* module = it->second;
-  int32_t   cmdid  = CMDID(rxcmd->cmdMainId, rxcmd->cmdSubId);
-  _onRceivePacket(module, rxcmd, cmdid, rxcmd->data, len);
+  int32_t   cmdid  = rxcmd->cmdid;
+  _onRceivePacket(module, rxcmd, len);
 }
 
 void ZCanProtocolParser::regCmdFn(int32_t cmdid, cmdcb_t cb) {
@@ -194,30 +203,58 @@ ZCanProtocolParser::cmdfn_t* ZCanProtocolParser::findcmdfn(int32_t cmdid) {
   return nullptr;
 }
 
-void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t cmdid, uint8_t* param, int32_t len) {
+static bool checkpacket(const zcr_cmd_header_t* header, int len) {
+  if (len < sizeof(zcr_cmd_header_t)) {
+    return false;
+  }
+  if ((header->datalen + sizeof(zcr_cmd_header_t) + 1) != len) {
+    return false;
+  }
+
+  uint8_t* rawpacket = (uint8_t*)header;
+  uint8_t  checksum  = 0;
+  for (int i = 0; i < len - 1; i++) {
+    checksum += rawpacket[i];
+  }
+
+  if (checksum != rawpacket[len - 1]) {
+    return false;
+  }
+
+  return true;
+}
+
+void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t len) {
   int      paramNum = (len) / sizeof(int32_t);
   int32_t* ack      = (int32_t*)&ackbuf[0];
 
-  cmdfn_t* fn = findcmdfn(cmdid);
+  cmdfn_t* fn = findcmdfn(rxcmd->cmdid);
   if (!fn) {
+    ZLOGE(TAG, "cmd not support:%d,rx:%s", rxcmd->cmdid, hex2str((const char*)rxcmd, len));
     m_cancmder->sendErrorAck(rxcmd, err::kcmd_not_support);
     return;
   }
+
+  if (!checkpacket(rxcmd, len)) {
+    ZLOGE(TAG, "check sum error,rx:%s(%d)", hex2str((const char*)rxcmd, len), len);
+    m_cancmder->sendErrorAck(rxcmd, err::kcheck_sum_error);
+    return;
+  }
+
   cmdcontxt_t cxt = {0};
   cxt.module      = module;
   cxt.rxcmd       = rxcmd;
-  cxt.cmdid       = cmdid;
-  cxt.params      = (int32_t*)param;
-  cxt.paramRaw    = param;
-  cxt.paramlen    = len;
+  cxt.cmdid       = rxcmd->cmdid;
+  cxt.params      = (int32_t*)rxcmd->data;
+  cxt.paramRaw    = rxcmd->data;
+  cxt.paramlen    = rxcmd->datalen;
   cxt.acklen      = 0;
   cxt.ackbuf      = ackbuf;
 
   memset(ackbuf, 0, sizeof(ackbuf));
-
-  int32_t ecode = module->bfcall(cmdid, param, len);
+  int32_t ecode = module->bfcall(cxt.cmdid, cxt.paramRaw, cxt.paramlen);
   if (ecode == 0) ecode = fn->cb(&cxt);
-  module->aftercall(cmdid, param, len, cxt.ackbuf, cxt.acklen, ecode);
+  module->aftercall(cxt.cmdid, cxt.paramRaw, cxt.paramlen, cxt.ackbuf, cxt.acklen, ecode);
 
   if (ecode != 0) {
     m_cancmder->sendErrorAck(rxcmd, ecode);
@@ -940,4 +977,4 @@ int32_t ZCanProtocolParser::pipette_lld_is_detect_liquid(cmdcontxt_t* cxt) {
   return module->pipette_lld_is_detect_liquid(&ack[0]);
 }
 
-#undef MODULE_CLASS
\ No newline at end of file
+#undef MODULE_CLASS
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.hpp b/sdk/components/zcancmder/zcan_protocol_parser.hpp
index 674bf7b..fd41a48 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.hpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.hpp
@@ -40,13 +40,13 @@ class ZCanProtocolParser : public IZCanReceiverListener {
 
  public:
   void         initialize(IZCanReceiver* cancmder);
-  virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, int32_t len);
+  virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, int32_t len);
   void         registerModule(ZIModule* module);
   ZIModule*    getModule(int id) { return m_modulers[id]; }
 
  private:
   void     _registerModule(uint16_t id, ZIModule* module);
-  void     _onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t cmdid, uint8_t* param, int32_t len);
+  void     _onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t len);
   void     regCmdFn(int32_t cmdid, cmdcb_t cb);
   cmdfn_t* findcmdfn(int32_t cmdid);
 
@@ -173,8 +173,6 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(pipette_zmotor_move_by);
   CMDFN(pipette_zmotor_move_to);
 
-
-
   CMDFN(liquid_operation_clear_params);
   CMDFN(liquid_operation_set_gun_runparams);
   CMDFN(liquid_operation_set_zmotor_runparams);
diff --git a/sdk/components/zcancmder/zcanreceiver.cpp b/sdk/components/zcancmder/zcanreceiver.cpp
index 581e398..dd3c26e 100644
--- a/sdk/components/zcancmder/zcanreceiver.cpp
+++ b/sdk/components/zcancmder/zcanreceiver.cpp
@@ -11,6 +11,14 @@ using namespace zcr;
 
 #define OVER_TIME_MS 5
 
+static void assign_packet_checksum(uint8_t *packet, int len) {
+  uint8_t checksum = 0;
+  for (int i = 0; i < len - 1; i++) {
+    checksum += packet[i];
+  }
+  packet[len - 1] = checksum;
+}
+
 ZCanReceiver::CFG *ZCanReceiver::createCFG(uint8_t deviceId) {
   CFG *cfg = new CFG();
   ZASSERT(cfg != NULL);
@@ -71,10 +79,6 @@ void ZCanReceiver::initialize(CFG *cfg) {
 HAL_StatusTypeDef ZCanReceiver::initializeFilter() {
   /**
    * @brief ID区帧格式
-   *  [                27:0                  ]
-   *  [    STDID        ] [      EXTID       ]
-   *  [11 :9] [8:6] [5:0] [17:16] [15:8] [7:0]
-   *   优先级  属性     帧类型      目标ID  源ID
    */
   HAL_StatusTypeDef HAL_Status;
   CAN_FilterTypeDef sFilterConfig;
@@ -118,23 +122,34 @@ void ZCanReceiver::registerListener(IZCanReceiverListener *listener) { m_listene
 //   }
 //   return buf;
 // }
+
+static const char* hex2str(const char* hex, size_t len) {
+  static char buf[256];
+  memset(buf, 0, sizeof(buf));
+  for (size_t i = 0; i < len; i++) {
+    sprintf(buf + i * 2, "%02X", hex[i]);
+  }
+  return buf;
+}
+
 void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
+  ZLOGI(TAG, "sendPacket %s(%d)", hex2str((const char *)packet, len), len);
   /**
    * @brief
    */
-  int npacket = len / 8 + (len % 8 == 0 ? 0 : 1);
+  int npacket = len / 7 + (len % 7 == 0 ? 0 : 1);
   if (npacket > 255) {
     ZLOGE(TAG, "sendPacket fail, len:%d", len);
     return;
   }
-  int finalpacketlen = len % 8 == 0 ? 8 : len % 8;
+  int finalpacketlen = len % 7 == 0 ? 7 : len % 7;
 
   for (uint8_t i = 0; i < npacket; i++) {
     bool suc = false;
     if (i == npacket - 1) {
-      suc = sendPacketSub(npacket, i, packet + i * 8, finalpacketlen, OVER_TIME_MS);
+      suc = sendPacketSub(npacket, i, packet + i * 7, finalpacketlen, OVER_TIME_MS);
     } else {
-      suc = sendPacketSub(npacket, i, packet + i * 8, 8, OVER_TIME_MS);
+      suc = sendPacketSub(npacket, i, packet + i * 7, 7, OVER_TIME_MS);
     }
     if (!suc) {
       ZLOGE(TAG, "sendPacket fail, packet(%d:%d)", npacket, i);
@@ -142,93 +157,74 @@ void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
     }
   }
 }
-#if 0
-void ZCanReceiver::sendAck(zcr_cmd_header_t *cmdheader, uint8_t *data, size_t len) {
-  zlock_guard       l(m_lock);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, cmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_ack;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-}
-void ZCanReceiver::sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t errcode) {
-  zlock_guard l(m_lock);
-
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, cmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType              = kptv2_error_ack;
-  zcanreceiver_error_ack_t *error_ack = (zcanreceiver_error_ack_t *)txheader->data;
-  error_ack->id                     = id;
-  error_ack->errorcode              = errcode;
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(zcanreceiver_error_ack_t));
-}
 
-void ZCanReceiver::sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
-  zlock_guard l(m_lock);
+int32_t ZCanReceiver::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
+  zlock_guard       l(m_lock);
+  zcr_cmd_header_t *txheader  = (zcr_cmd_header_t *)txbuff;
+  int               packetlen = sizeof(zcr_cmd_header_t) + len + 1;
 
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, rxcmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_cmd_exec_status_report;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-}
-void ZCanReceiver::sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
-  zlock_guard l(m_lock);
+  ZASSERT(sizeof(txbuff) > packetlen);
 
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
-  memcpy(txheader, rxcmdheader, sizeof(zcr_cmd_header_t));
-  txheader->packetType = kptv2_report;
-  memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
-}
-#endif
-int32_t ZCanReceiver::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
-  zlock_guard l(m_lock);
-  ZASSERT(sizeof(txbuff) > sizeof(zcr_cmd_header_t) + len);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
   memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
   txheader->packetType = kptv2_ack;
+  txheader->datalen    = len;
   memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
+  assign_packet_checksum(txbuff, packetlen);
+
+  sendPacket(txbuff, packetlen);
   return 0;
 }
 int32_t ZCanReceiver::triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) {
-  zlock_guard l(m_lock);
-  m_reportIndex++;
-  ZASSERT(sizeof(txbuff) > sizeof(zcr_cmd_header_t) + len);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
+  zlock_guard       l(m_lock);
+  zcr_cmd_header_t *txheader  = (zcr_cmd_header_t *)txbuff;
+  int               packetlen = sizeof(zcr_cmd_header_t) + len + 1;
+
+  ZASSERT(sizeof(txbuff) > packetlen);
+
   memcpy(txheader, cmd_header, sizeof(zcr_cmd_header_t));
-  txheader->packetType  = kptv2_event;
-  txheader->packetindex = m_reportIndex;
+  txheader->packetType = kptv2_event;
+  txheader->index      = m_reportIndex;
+  txheader->datalen    = len;
   memcpy(txheader->data, data, len);
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
+  assign_packet_checksum(txbuff, packetlen);
+
+  sendPacket(txbuff, packetlen);
+
+  m_reportIndex++;
   return 0;
 }
 
 int32_t ZCanReceiver::sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) {
-  zlock_guard       l(m_lock);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
+  zlock_guard l(m_lock);
+
+  zcr_cmd_header_t *txheader  = (zcr_cmd_header_t *)txbuff;
+  int               packetlen = sizeof(zcr_cmd_header_t) + sizeof(int32_t) * nack + 1;
+
   memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
   txheader->packetType = kptv2_ack;
-
-  int32_t *txackcache = (int32_t *)txheader->data;
+  int32_t *txackcache  = (int32_t *)txheader->data;
+  txheader->datalen    = nack * sizeof(int32_t);
   for (int i = 0; i < nack; i++) {
     txackcache[i] = ackvar[i];
   }
+  assign_packet_checksum(txbuff, packetlen);
 
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(int32_t) * nack);
+  sendPacket(txbuff, packetlen);
   return 0;
 }
 int32_t ZCanReceiver::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) {
   zlock_guard       l(m_lock);
-  zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
+  zcr_cmd_header_t *txheader   = (zcr_cmd_header_t *)txbuff;
+  int32_t          *txackcache = (int32_t *)txheader->data;
+  int               packetlen  = sizeof(zcr_cmd_header_t) + sizeof(int32_t) * 1 + 1;
+
   memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
   txheader->packetType = kptv2_error_ack;
+  txheader->datalen    = sizeof(int32_t);
+  txackcache[0]        = errorcode;
 
-  int32_t *txackcache = (int32_t *)txheader->data;
-  txackcache[0]       = errorcode;
-
-  sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(int32_t));
+  assign_packet_checksum(txbuff, packetlen);
+  sendPacket(txbuff, packetlen);
   return 0;
 }
 
@@ -244,14 +240,15 @@ bool ZCanReceiver::sendPacketSub(int npacket, int packetIndex, uint8_t *packet,
 
   memset(&pHeader, 0, sizeof(pHeader));
   memset(aData, 0, sizeof(aData));
-  pHeader.StdId              = 0x00;
-  pHeader.ExtId              = (m_config->deviceId << 16) | (npacket << 8) | packetIndex;
-  pHeader.IDE                = CAN_ID_EXT;
+  pHeader.StdId              = m_config->deviceId;
+  pHeader.ExtId              = 0;
+  pHeader.IDE                = CAN_ID_STD;
   pHeader.RTR                = CAN_RTR_DATA;
-  pHeader.DLC                = len;
+  pHeader.DLC                = len + 1;
   pHeader.TransmitGlobalTime = DISABLE;
 
-  memcpy(aData, packet, len);
+  aData[0] = (npacket << 4) | packetIndex;
+  memcpy(aData + 1, packet, len);
 
   m_lastTransmitStatus = HAL_CAN_AddTxMessage(m_config->canHandle, &pHeader, aData, &txMailBox);
   if (m_lastTransmitStatus != HAL_OK) {
@@ -266,6 +263,7 @@ bool ZCanReceiver::sendPacketSub(int npacket, int packetIndex, uint8_t *packet,
       return false;
     }
     // m_os->sleepMS(1);
+    osDelay(1);
   }
   if (txPacketInterval_ms > 0) {
     osDelay(txPacketInterval_ms);
@@ -294,7 +292,6 @@ void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandl
    * @brief 中断上下文
    */
   // ZLOG_INFO("%s\n", __FUNCTION__);
-  // printf("------------------%s\n", __FUNCTION__);
   if (canHandle != m_config->canHandle) {
     return;
   }
@@ -302,45 +299,46 @@ void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandl
    * @brief 处理can接收到消息
    */
   CAN_RxHeaderTypeDef pHeader;
-  uint8_t             aData[8] /*8byte table*/;
+  uint8_t             aData[8] = {0};
+  CanPacketRxBuffer  *rxbuf    = &m_canPacketRxBuffer[0];
   while (getRxMessage(&pHeader, aData)) {
-    /**
-     * @brief 消息格式
-     *
-     * [2] [3bit]     [8bit]   [8bit]     [8bit]
-     *          ,      from   frameNum    frameId
-     */
-    uint8_t            from    = (pHeader.ExtId >> 16 & 0xFF);
-    uint8_t            nframe  = (pHeader.ExtId & 0xFF00) >> 8;
-    uint8_t            frameId = (pHeader.ExtId & 0x00FF);
-    CanPacketRxBuffer *rxbuf   = &m_canPacketRxBuffer[0];
-    if (from != rxbuf->id) {
-      // 目前只接收来自主机的消息
-      continue;
-    }
+    // 过滤掉非标准帧和远程帧，和DLC为0的帧
+    if (pHeader.RTR != CAN_RTR_DATA || pHeader.IDE != CAN_ID_STD) continue;
+    if (pHeader.DLC == 0) continue;
+
+    // 上次接收到的消息还没有来的急处理
+    if (rxbuf->dataIsReady) continue;
 
-    if (rxbuf->dataIsReady) {
-      // 上次接收到的消息还没有来的急处理
-      continue;
-    }
     /**
-     * @TODO:判断是否丢包
+     * @brief 处理接收到的数据
      */
-    if (frameId == 0) {
+
+    uint8_t from     = (pHeader.StdId & 0xFF);
+    uint8_t nframe   = (aData[0] & 0xF0) >> 4;
+    uint8_t frameoff = (aData[0] & 0x0F);
+
+    // 只接收来自主机的消息
+    if (from != rxbuf->id) continue;
+
+    // 当frameoff==0,重置接收缓存
+    if (frameoff == 0) {
       rxbuf->m_canPacketNum = 0;
     }
 
-    if (rxbuf->m_canPacketNum != frameId) {
+    // 当接收到非期望frameoff的数据时，说明发生了丢包，重置接收缓存
+    if (rxbuf->m_canPacketNum != frameoff) {
       rxbuf->m_canPacketNum = 0;
       continue;
     }
 
+    // 接收到有效包
     if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
       rxbuf->m_canPacket[rxbuf->m_canPacketNum].dlc = pHeader.DLC;
       memcpy(rxbuf->m_canPacket[rxbuf->m_canPacketNum].aData, aData, 8);
       rxbuf->m_canPacketNum++;
     }
-    if (nframe == frameId + 1) {
+
+    if (nframe == frameoff + 1) {
       rxbuf->m_npacket   = nframe;
       rxbuf->dataIsReady = true;
     }
@@ -362,13 +360,15 @@ void ZCanReceiver::loop() {
     } else {
       int dataoff = 0;
       for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) {
-        memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].dlc);
-        dataoff += rxbuf->m_canPacket[i].dlc;
+        if (rxbuf->m_canPacket[i].dlc == 0) continue;
+
+        memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData + 1, rxbuf->m_canPacket[i].dlc - 1);
+        dataoff += rxbuf->m_canPacket[i].dlc - 1;
       }
       rxbuf->rxdataSize = dataoff;
       // ZLOGI(TAG,"rx packet");
       for (auto &var : m_listenerList) {
-        if (var) var->onRceivePacket(rxbuf->get_cmdheader(), rxbuf->get_params(), rxbuf->get_params_len());
+        if (var) var->onRceivePacket(rxbuf->get_cmdheader(), rxbuf->get_rx_raw_len());
       }
     }
 
diff --git a/sdk/components/zcancmder/zcanreceiver.hpp b/sdk/components/zcancmder/zcanreceiver.hpp
index 0a9fc09..e0df792 100644
--- a/sdk/components/zcancmder/zcanreceiver.hpp
+++ b/sdk/components/zcancmder/zcanreceiver.hpp
@@ -3,14 +3,13 @@
 //
 
 #pragma once
+#include "a8000_protocol\protocol.hpp"
 #include "basic.hpp"
 #include "sdk/os/zos.hpp"
-#include "a8000_protocol\protocol.hpp"
 #ifdef HAL_CAN_MODULE_ENABLED
 namespace iflytop {
 using namespace zcr;
 
-
 typedef function<void(CanPacketRxBuffer *rxcmd)> zcanreceiver_listener_t;
 
 class ZCanReceiver : public ZCanIRQListener, public IZCanReceiver {
@@ -28,7 +27,7 @@ class ZCanReceiver : public ZCanIRQListener, public IZCanReceiver {
     int                packetRxOvertime_ms;  //
   };
 
-  uint8_t txbuff[2100];
+  uint8_t txbuff[128];
 
  public:
   class LoopJobContext {
@@ -43,24 +42,18 @@ class ZCanReceiver : public ZCanIRQListener, public IZCanReceiver {
   HAL_StatusTypeDef m_lastTransmitStatus;        // 上次调用can发送方法的返回值
 
   list<IZCanReceiverListener *> m_listenerList;
-  CanPacketRxBuffer          m_canPacketRxBuffer[1];
+  CanPacketRxBuffer             m_canPacketRxBuffer[1];
 
   int    txPacketInterval_ms = 0;
   zmutex m_lock;
 
-  int32_t m_reportIndex = 0;
+  int8_t m_reportIndex = 0;
 
  public:
   ZCanReceiver() {}
   CFG *createCFG(uint8_t deviceId);
   void initialize(CFG *cfg);
 
-#if 0
-  void    sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
-  void    sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
-  void    sendAck(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);
-  void    sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t errcode);
-#endif
 
   uint8_t getDeviceId() { return m_config->deviceId; }
   void    setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
diff --git a/usrc/public_service/stm32irq.c b/usrc/public_service/stm32irq.c
index ce4456f..8c36be4 100644
--- a/usrc/public_service/stm32irq.c
+++ b/usrc/public_service/stm32irq.c
@@ -3,13 +3,13 @@
 #include "gins.h"
 #include "main.h"
 #include "stm32f4xx_it.h"
-static stm32_irq_cb_t irqcb[100];
+extern void SysMgr_on_NMI_Handler(void);
+extern void SysMgr_on_HardFault_Handler(void);
+extern void SysMgr_on_MemManage_Handler(void);
+extern void SysMgr_on_BusFault_Handler(void);
+extern void SysMgr_on_UsageFault_Handler(void);
+
 
-static void callirqcb(stm32irq_type_t type) {
-  if (irqcb[type] != NULL) {
-    irqcb[type]();
-  }
-}
 void NMI_Handler(void) {
   SysMgr_on_NMI_Handler();
   while (1) {
@@ -86,4 +86,3 @@ void UART4_IRQHandler(void) { HAL_UART_IRQHandler(&huart4); }
  *                                                         EXT                                                         *
  ***********************************************************************************************************************/
 
-void stm32irq_reg(stm32irq_type_t type, stm32_irq_cb_t cb) { irqcb[type] = cb; }
diff --git a/usrc/public_service/stm32irq.h b/usrc/public_service/stm32irq.h
index ed094b2..ca3e57d 100644
--- a/usrc/public_service/stm32irq.h
+++ b/usrc/public_service/stm32irq.h
@@ -3,21 +3,3 @@
 
 // typedef
 // void stm32irq_reg();
-
-typedef void (*stm32_irq_cb_t)();
-
-typedef enum {
-  kDMA1_Stream1_IRQ,
-  kDMA1_Stream3_IRQ,
-  kDMA2_Stream2_IRQ,
-  kCAN1_TX_IRQ,
-  kCAN1_RX0_IRQ,
-  kCAN1_RX1_IRQ,
-  kCAN1_SCE_IRQ,
-  kTIM1_TRG_COM_TIM11_IRQ,
-  kUSART1_IRQ,
-  kTIM6_DAC_IRQ,
-  kTIM7_IRQ,
-} stm32irq_type_t;
-
-void stm32irq_reg(stm32irq_type_t type, stm32_irq_cb_t cb);
diff --git a/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl_board.c b/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl_board.c
index c63facc..70c8672 100644
--- a/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl_board.c
+++ b/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl_board.c
@@ -1,5 +1,6 @@
 #include "main.h"
 #include "public_service/public_service.h"
+#include <stdio.h>
 /* TIM2 init function */
 void MX_TIM2_Init(void) {
   __HAL_RCC_GPIOA_CLK_ENABLE();