diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index cddd77d..1ae201f 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="1430425756487897093" 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="535466854641709359" 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="1443161613449012598" 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="548202711602824864" 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/a8000_protocol b/a8000_protocol
index 6486ccf..d7a693c 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 6486ccf75f3e6bd05c7454ff994d8c003d908227
+Subproject commit d7a693c2c9a71a2e3b2aa3b7aefc22c8e97d4a11
diff --git a/sdk b/sdk
index e86c7ff..4f33055 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit e86c7fff197ea63a9956962ec91f172206d07d6d
+Subproject commit 4f33055c7ff0d353006f4ab10d497fbd978b6bf9
diff --git a/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp b/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
index b2187e5..ea45658 100644
--- a/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
+++ b/usrc/subboards/subboard10_hbot/subboard10_hbot.cpp
@@ -82,7 +82,7 @@ void Subboard10Hbot::initialize() {
   input[2].initAsInput(ARM_X_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
   input[3].initAsInput(ARM_Y_LIMIT, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
 
-  static XYRobotCtrlModule::flash_config_t xy_defaultcfg;
+  static XYRobotCtrlModule::config_t xy_defaultcfg;
   XYRobotCtrlModule::create_default_cfg(xy_defaultcfg);
   xy_defaultcfg.configInited       = true;
   xy_defaultcfg.robot_type = 1;
@@ -100,22 +100,15 @@ void Subboard10Hbot::initialize() {
   // limit
   xy_defaultcfg.acc      = 800;
   xy_defaultcfg.dec      = 800;
-  xy_defaultcfg.breakdec = 1600;
-  xy_defaultcfg.maxspeed = 600;
   xy_defaultcfg.min_x    = 0;
   xy_defaultcfg.max_x    = 0;
   xy_defaultcfg.min_y    = 0;
   xy_defaultcfg.max_y    = 0;
 
-  xy_defaultcfg.run_to_zero_max_d    = 10000 * 100;
   xy_defaultcfg.run_to_zero_speed    = 80;
-  xy_defaultcfg.run_to_zero_dec      = 1600;
-  xy_defaultcfg.look_zero_edge_max_d = 10000 * 3;
   xy_defaultcfg.look_zero_edge_speed = 10;
-  xy_defaultcfg.look_zero_edge_dec   = 1600;
 
-  xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg, nullptr);
-  xyRobotCtrlModule.dumpcfg();
+  xyRobotCtrlModule.initialize(getmoduleId(1), &motora, &motorb, &input[0], 4, xy_defaultcfg);
 
   GService::inst()->registerModule(&xyRobotCtrlModule);
 
diff --git a/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl.cpp b/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl.cpp
index ba5d6a8..5dc2809 100644
--- a/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl.cpp
+++ b/usrc/subboards/subboard40_and_50_temperature_ctrl/subboard40_and_50_temperature_ctrl.cpp
@@ -26,19 +26,19 @@ static PWMSpeedCtrlModule fan1;
 static PumpCtrlModule     pump;
 static PeltierCtrlModule  peltier;
 
-static int32_t getPeltierNum() {
-  static bool  init = false;
-  static ZGPIO ID4;
-  if (!init) {
-    ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    init = true;
-  }
-  if (ID4.getState() == 0) {
-    return 1;
-  } else {
-    return 2;
-  }
-}
+// static int32_t getPeltierNum() {
+//   static bool  init = false;
+//   static ZGPIO ID4;
+//   if (!init) {
+//     ID4.initAsInput(ID4_IO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+//     init = true;
+//   }
+//   if (ID4.getState() == 0) {
+//     return 1;
+//   } else {
+//     return 2;
+//   }
+// }
 
 void Subboard40And50TemperatureCtrl::initialize() {
   ZLOGI(TAG, "suboard %d initialize", getmoduleId(0));