diff --git a/sdk b/sdk
index 8de2a83..967d39b 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 8de2a83d2ad130ac129af84c58b2f587a3f9afe3
+Subproject commit 967d39b1f8cac49b7a1bfd1ca491dd7cc1e4b97e
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 94f480d..603ef3a 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -3,6 +3,11 @@
 
 #include "sdk/os/zos.hpp"
 #include "sdk\components\tmc\ic\ztmc4361A.hpp"
+#include "sdk\components\xy_robot_ctrl_module\xy_robot_ctrl_module.hpp"
+#include "sdk\components\zcancmder\zcanreceiver.hpp"
+#include "sdk\components\zcancmder_module\zcan_basic_order_module.hpp"
+#include "sdk\components\zcancmder_module\zcan_xy_robot_module.hpp"
+
 #define TAG "main"
 using namespace iflytop;
 using namespace std;
@@ -13,12 +18,14 @@ void StartDefaultTask(void const* argument) { umain(); }
 }
 #define TMC_MOTOR_SPI hspi1
 
-
+static TMC4361A              motora;
+static TMC4361A              motorb;
+static ZCanCmder             zcanCmder;
+static ZCanBasicOrderModule  zcanBasicOrderModule;
+static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
+static XYRobotCtrlModule     xyRobotCtrlModule;
 
 void umain() {
-  /*******************************************************************************
-   *                                                                   *
-   *******************************************************************************/
   chip_cfg_t chipcfg;
   chipcfg.us_dleay_tim          = &DELAY_US_TIMER;
   chipcfg.tim_irq_scheduler_tim = &TIM_IRQ_SCHEDULER_TIMER;
@@ -32,9 +39,6 @@ void umain() {
 
   osDelay(1000);
 
-  static TMC4361A motora;
-  static TMC4361A motorb;
-
   {
     TMC4361A::cfg_t cfg = {
         .spi               = &TMC_MOTOR_SPI,             //
@@ -73,10 +77,38 @@ void umain() {
 
   motora.rotate(0);
   motorb.rotate(0);
-  // motorb.rotate(100000);
+  auto zcanCmder_cfg = zcanCmder.createCFG(DEVICE_ID);
+  zcanCmder.init(zcanCmder_cfg);
+
+  /*******************************************************************************
+   *                            zcanBasicOrderModule                             *
+   *******************************************************************************/
+  zcanBasicOrderModule.initialize(&zcanCmder);
+  zcanBasicOrderModule.reg_set_io(1, [](bool val) { ZLOGI(TAG, "write io 1:%d", val); });
+  zcanBasicOrderModule.reg_read_io(1, []() {
+    ZLOGI(TAG, "read io 1");
+    return 1;
+  });
+  zcanBasicOrderModule.reg_read_adc(1, []() {
+    ZLOGI(TAG, "read adc 1");
+    return 123;
+  });
+
+  uint16_t maincmdid = (((uint32_t)kcmd_xy_robot_ctrl_enable) >> 8) & 0xFFFF;
+  uint8_t  subcmdId  = (((uint32_t)kcmd_xy_robot_ctrl_enable)) & 0xFF;
+
+  printf("maincmdid:%d subcmdId:%d\n", maincmdid, subcmdId);
+
+  /*******************************************************************************
+   *                            zcanXYRobotCtrlModule                            *
+   *******************************************************************************/
+  xyRobotCtrlModule.initialize(&motora, &motorb, NULL, NULL, 1.0f);
+  zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
-    osDelay(1);
+    zcanCmder.loop();
+    // zcanCmder.sendPacket(data, 4);
+    // osDelay(100);
   }
 }
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index b8021d6..93b3aa7 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -2,7 +2,7 @@
 
 #define VERSION          "v1.0.0"
 #define MANUFACTURER     "http://www.iflytop.com/"
-#define PROJECT_NAME     "ecom_monitor"
+#define PROJECT_NAME     "filarobot_arm"
 #define DEBUG_UART       huart1
 #define DEBUG_LIGHT_GPIO PE2
 
@@ -13,6 +13,8 @@
 #define IFLYTOP_ENABLE_OS               1
 #define IFLYTOP_PREEMPTPRIORITY_DEFAULT 5
 
+#define DEVICE_ID (2)
+
 /*********************************************************************************/
 
 // MOTOR1