diff --git a/a8000_protocol b/a8000_protocol
index cab27e0..62762ee 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit cab27e09a7e78e662b55de7b72e6b232988d5b27
+Subproject commit 62762eee6e2c0cda5971dffe58d68bc10a5207cb
diff --git a/sdk b/sdk
index 8691aac..b316b30 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 8691aaccb11538496a6898eacebb031048d4a324
+Subproject commit b316b30462b063f2ec6dbfb8a1b342c935d840cb
diff --git a/usrc/public_service/gservice.hpp b/usrc/public_service/gservice.hpp
index affa551..aac521b 100644
--- a/usrc/public_service/gservice.hpp
+++ b/usrc/public_service/gservice.hpp
@@ -4,9 +4,8 @@
 #include "sdk/chip/chip.hpp"
 #include "sdk/components/zcancmder/zcan_protocol_parser.hpp"
 #include "sdk/components/zcancmder/zcanreceiver.hpp"
-#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
-
 #include "sdk/os/zos.hpp"
+#include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
 
 namespace iflytop {
 
@@ -24,6 +23,12 @@ class GService {
   ZCanProtocolParser* getZCanProtocolParser() { return &zcan_protocol_parser; }
 
   void registerModule(ZIModule* module) { zcan_protocol_parser.registerModule(module); }
+  // dynamic_cast<StepMotorCtrlModule*>(GService::inst()->getZCanProtocolParser()->getModule(getmoduleId(1)))
+
+  template <typename T>
+  T* getModule(uint32_t moduleId) {
+    return dynamic_cast<T*>(zcan_protocol_parser.getModule(moduleId));
+  }
 };
 
 }  // namespace iflytop
diff --git a/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp b/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
index 3d8d344..4743e9b 100644
--- a/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
+++ b/usrc/subboards/subboard80_cliptip/subboard80_cliptip.cpp
@@ -41,7 +41,11 @@ void Subboard80Cliptip::initialize() {
         .hdma_rx = hdma_usart2_rx,
         .hdma_tx = hdma_usart2_tx,
     };
-    module.initialize(getmoduleId(subid), &cfg, &hardwarecfg);
+
+    module.initialize(getmoduleId(subid),                                                //
+                      &cfg,                                                              //
+                      GService::inst()->getModule<StepMotorCtrlModule>(getmoduleId(1)),  //
+                      &hardwarecfg);
     GService::inst()->getZCanProtocolParser()->registerModule(&module);
   }