diff --git a/sdk/components/modbus/modbus_client.hpp b/sdk/components/modbus/modbus_client.hpp
index 0963f90..30358d9 100644
--- a/sdk/components/modbus/modbus_client.hpp
+++ b/sdk/components/modbus/modbus_client.hpp
@@ -1,10 +1,10 @@
 #pragma once
 #include "modbus_processer.hpp"
+#include "sdk/components/api/zi_uart_sender.hpp"
+#include "sdk/components/hardware/uart/zuart_dma_receiver.hpp"
+#include "sdk/components/zcan_board_module/zcan_board_module.hpp"
+#include "sdk/components/zcancmder/zcanreceiver.hpp"
 #include "sdk/os/zos.hpp"
-#include "sdk\components\api\zi_uart_sender.hpp"
-#include "sdk\components\hardware\uart\zuart_dma_receiver.hpp"
-#include "sdk\components\zcancmder\zcan_board_module.hpp"
-#include "sdk\components\zcancmder\zcanreceiver.hpp"
 
 namespace iflytop {
 
diff --git a/sdk/components/zcancmder/zcan_board_module.cpp b/sdk/components/zcan_board_module/zcan_board_module.cpp
similarity index 100%
rename from sdk/components/zcancmder/zcan_board_module.cpp
rename to sdk/components/zcan_board_module/zcan_board_module.cpp
diff --git a/sdk/components/zcancmder/zcan_board_module.hpp b/sdk/components/zcan_board_module/zcan_board_module.hpp
similarity index 94%
rename from sdk/components/zcancmder/zcan_board_module.hpp
rename to sdk/components/zcan_board_module/zcan_board_module.hpp
index c5de8ac..68441dc 100644
--- a/sdk/components/zcancmder/zcan_board_module.hpp
+++ b/sdk/components/zcan_board_module/zcan_board_module.hpp
@@ -5,11 +5,11 @@
 #pragma once
 #include "sdk/os/zos.hpp"
 //
-#include "a8000_protocol\protocol.hpp"
+#include "a8000_protocol/protocol.hpp"
+#include "sdk/chip/api/zi_adc.hpp"
 #include "sdk/chip/api/zi_api.hpp"
 #include "sdk/chip/api/zi_temperature.hpp"
-#include "sdk\chip\api\zi_adc.hpp"
-#include "sdk\components\api\zi_module.hpp"
+#include "sdk/components/api/zi_module.hpp"
 
 /**
  * @brief
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
similarity index 98%
rename from sdk/components/zcancmder/zcan_protocol_parser.cpp
rename to sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
index a8cc447..b0472f7 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp
@@ -178,19 +178,23 @@ void ZCanProtocolParser::registerModule(ZIModule* module) {
   _registerModule(id, module);
 }
 
-void ZCanProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, int32_t len) {
-  // printf("onRceivePacket cmdid:%d moduleid:%d\n", rxcmd->cmdid, rxcmd->moduleId);
+void ZCanProtocolParser::processRxPacket(ZcanRxframe* rxframe) {
+  // printf("processRxPacket cmdid:%d moduleid:%d\n", rxcmd->cmdid, rxcmd->moduleId);
+  if (rxframe->cxt) _processRxPacket((ZIModule*)rxframe->cxt, (zcr_cmd_header_t*)rxframe->rxdata, rxframe->rxdataLen);
+}
+
+bool ZCanProtocolParser::filterPacket(ZcanRxframe* rxframe) {
+  zcr_cmd_header_t* rxcmd = (zcr_cmd_header_t*)rxframe->rxdata;
+  int32_t           len   = rxframe->rxdataLen;
+
   uint16_t moduleid = rxcmd->moduleId;
   auto     it       = m_modulers.find(moduleid);
   if (it == m_modulers.end()) {
-    return;
+    rxframe->cxt = nullptr;
+    return false;
   }
-
-  // ZLOGI(TAG, "rx(index:%d) cmdid:%d moduleid:%d", rxcmd->index,rxcmd->cmdid, moduleid);
-
-  ZIModule* module = it->second;
-  int32_t   cmdid  = rxcmd->cmdid;
-  _onRceivePacket(module, rxcmd, len);
+  rxframe->cxt = it->second;
+  return true;
 }
 
 void ZCanProtocolParser::regCmdFn(int32_t cmdid, cmdcb_t cb) {
@@ -228,7 +232,7 @@ static bool checkpacket(const zcr_cmd_header_t* header, int len) {
   return true;
 }
 
-void ZCanProtocolParser::_onRceivePacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t len) {
+void ZCanProtocolParser::_processRxPacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t len) {
   int      paramNum = (len) / sizeof(int32_t);
   int32_t* ack      = (int32_t*)&ackbuf[0];
 
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.hpp b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
similarity index 94%
rename from sdk/components/zcancmder/zcan_protocol_parser.hpp
rename to sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
index 0fe81fc..ae25421 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.hpp
+++ b/sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp
@@ -2,14 +2,14 @@
 #include <map>
 
 #include "a8000_protocol\protocol.hpp"
-#include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\api\zi_module.hpp"
+#include "sdk\components\zcancmder\zcanreceiver.hpp"
 
 #define CMDFN(name)      static int32_t name(cmdcontxt_t* cxt)
 #define CMDFN_IMPL(name) int32_t ZCanProtocolParser::name(cmdcontxt_t* cxt)
 
 namespace iflytop {
-class ZCanProtocolParser : public IZCanReceiverListener {
+class ZCanProtocolParser : public IZCanRxProcesser {
  public:
   typedef struct {
     ZIModule*         module;
@@ -30,7 +30,7 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   } cmdfn_t;
 
  private:
-  ZCanReceiver*           m_cancmder = nullptr;
+  ZCanReceiver*            m_cancmder = nullptr;
   map<uint16_t, ZIModule*> m_modulers;
 
   uint8_t ackbuf[ZCANCMD_PACKET_MAX_LEN + 10];
@@ -41,13 +41,14 @@ class ZCanProtocolParser : public IZCanReceiverListener {
 
  public:
   void         initialize(ZCanReceiver* cancmder);
-  virtual void onRceivePacket(zcr_cmd_header_t* rxcmd, int32_t len);
+  virtual bool filterPacket(ZcanRxframe* rxframe);
+  virtual void processRxPacket(ZcanRxframe* rxframe);
   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 len);
+  void     _processRxPacket(ZIModule* module, zcr_cmd_header_t* rxcmd, int32_t len);
   void     regCmdFn(int32_t cmdid, cmdcb_t cb);
   cmdfn_t* findcmdfn(int32_t cmdid);
 
@@ -62,7 +63,6 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(module_active_cfg);
   CMDFN(module_reset_reg);
 
-
   CMDFN(step_motor_enable);
   CMDFN(step_motor_stop);
   CMDFN(step_motor_read_pos);
diff --git a/sdk/components/zcancmder/basic.cpp b/sdk/components/zcancmder/basic.cpp
deleted file mode 100644
index e69de29..0000000
diff --git a/sdk/components/zcancmder/basic.hpp b/sdk/components/zcancmder/basic.hpp
deleted file mode 100644
index 94b0b0f..0000000
--- a/sdk/components/zcancmder/basic.hpp
+++ /dev/null
@@ -1,7 +0,0 @@
-//
-// Created by zwsd
-//
-
-#pragma once
-#include "a8000_protocol\protocol.hpp"
-#include "sdk/os/zos.hpp"
diff --git a/sdk/components/zcancmder/protocol_event_bus_sender.hpp b/sdk/components/zcancmder/protocol_event_bus_sender.hpp
index 28494b5..c9e8f70 100644
--- a/sdk/components/zcancmder/protocol_event_bus_sender.hpp
+++ b/sdk/components/zcancmder/protocol_event_bus_sender.hpp
@@ -1,7 +1,6 @@
 #pragma once
 
 #include "a8000_protocol\protocol.hpp"
-#include "basic.hpp"
 #include "sdk/os/zos.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 #include "sdk\components\api\zi_module.hpp"
diff --git a/sdk/components/zcancmder/type/zcan_rx_frame.hpp b/sdk/components/zcancmder/type/zcan_rx_frame.hpp
new file mode 100644
index 0000000..75ff0a1
--- /dev/null
+++ b/sdk/components/zcancmder/type/zcan_rx_frame.hpp
@@ -0,0 +1,24 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include "sdk/os/zos.hpp"
+
+#ifdef HAL_CAN_MODULE_ENABLED
+namespace iflytop {
+
+class ZcanRxframe {
+ public:
+  uint8_t rxdata[128];
+  int     rxdataLen = 0;
+
+  uint8_t canPacketNum = 0;
+  uint8_t npacket      = 0;
+
+  void* cxt    = nullptr;
+  bool  isUsed = false;
+};
+
+}  // namespace iflytop
+#endif
diff --git a/sdk/components/zcancmder/type/zcan_rx_frame_pool.hpp b/sdk/components/zcancmder/type/zcan_rx_frame_pool.hpp
new file mode 100644
index 0000000..c39229e
--- /dev/null
+++ b/sdk/components/zcancmder/type/zcan_rx_frame_pool.hpp
@@ -0,0 +1,40 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include "zcan_rx_frame.hpp"
+
+#ifdef HAL_CAN_MODULE_ENABLED
+namespace iflytop {
+
+class ZcanRxframePool {
+ public:
+  ZcanRxframe buf[3];
+
+  void init() {}
+
+  ZcanRxframe* alloc() {
+    for (int i = 0; i < 3; i++) {
+      if (!buf[i].isUsed) {
+        buf[i].isUsed = true;
+        return &buf[i];
+      }
+    }
+    return NULL;
+  }
+
+  void free(ZcanRxframe** ppframe) {
+    ZcanRxframe* frame = *ppframe;
+    if (frame == NULL) return;
+    frame->isUsed       = false;
+    frame->rxdataLen    = 0;
+    frame->canPacketNum = 0;
+    frame->npacket      = 0;
+    frame->cxt          = NULL;
+    *ppframe            = NULL;
+  }
+};
+
+}  // namespace iflytop
+#endif
diff --git a/sdk/components/zcancmder/type/zcan_rx_frame_queue.hpp b/sdk/components/zcancmder/type/zcan_rx_frame_queue.hpp
new file mode 100644
index 0000000..c7df820
--- /dev/null
+++ b/sdk/components/zcancmder/type/zcan_rx_frame_queue.hpp
@@ -0,0 +1,31 @@
+//
+// Created by zwsd
+//
+
+#pragma once
+#include "sdk/os/zos.hpp"
+#include "zcan_rx_frame.hpp"
+
+#ifdef HAL_CAN_MODULE_ENABLED
+namespace iflytop {
+
+class ZcanRxframeQueue {
+  uint8_t queueStorage[4 * sizeof(void*)] = {0};
+
+  QueueHandle_t handler = nullptr;
+  StaticQueue_t xQueueBuffer;
+
+ public:
+  void init() { handler = xQueueCreateStatic(4, sizeof(void*), queueStorage, &xQueueBuffer); }
+
+  void sendIRQ(ZcanRxframe* frame) { xQueueSendFromISR(handler, &frame, NULL); }
+
+  ZcanRxframe* receive() {
+    ZcanRxframe* frame = NULL;
+    xQueueReceive(handler, &frame, 0);
+    return frame;
+  }
+};
+
+}  // namespace iflytop
+#endif
diff --git a/sdk/components/zcancmder/zcanreceiver.cpp b/sdk/components/zcancmder/zcanreceiver.cpp
index fadfdd8..13f30d3 100644
--- a/sdk/components/zcancmder/zcanreceiver.cpp
+++ b/sdk/components/zcancmder/zcanreceiver.cpp
@@ -9,7 +9,8 @@ using namespace zcr;
 
 #define TAG "ZCanCmder"
 
-#define OVER_TIME_MS 5
+#define OVER_TIME_MS       5
+#define MAIN_DEVICE_CAN_ID 0
 
 static void assign_packet_checksum(uint8_t *packet, int len) {
   uint8_t checksum = 0;
@@ -38,16 +39,8 @@ void ZCanReceiver::initialize(CFG *cfg) {
   m_config = cfg;
   m_lock.init();
 
-  /**
-   * @brief 初始化CAN
-   */
-
-  /**
-   * @brief 初始化消息接收buf
-   */
-  m_rxFrameBuffer.dataIsReady  = false;
-  m_rxFrameBuffer.id           = 0;  // 只接收来自主机的消息
-  m_rxFrameBuffer.canPacketNum = 0;
+  m_rxFramePool.init();
+  m_pendingMsgQueue.init();
 
   /**
    * @brief 初始化过滤器
@@ -96,8 +89,7 @@ HAL_StatusTypeDef ZCanReceiver::initializeFilter() {
   /*******************************************************************************
    *                        直接收来自主机的消息                                   *
    *******************************************************************************/
-  filterId                       = (0);                            //
-  mask                           = (0);                   //
+  filterId                       = (MAIN_DEVICE_CAN_ID);           //
   mask                           = (0xffffffff);                   //
   sFilterConfig.FilterBank       = m_config->canFilterIndex0;      //
   sFilterConfig.FilterMaskIdLow  = mask & 0xffff;                  //
@@ -113,7 +105,7 @@ HAL_StatusTypeDef ZCanReceiver::initializeFilter() {
   return HAL_Status;
 }
 
-void ZCanReceiver::registerListener(IZCanReceiverListener *listener) { m_listenerList.push_back(listener); }
+void ZCanReceiver::registerListener(IZCanRxProcesser *listener) { rxprocesser = listener; }
 
 // static inline const char *dumphex(uint8_t *packet, size_t len) {
 //   static char buf[1024];
@@ -307,9 +299,6 @@ void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandl
     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 (m_rxFrameBuffer.dataIsReady) continue;
-
     /**
      * @brief 处理接收到的数据
      */
@@ -319,29 +308,39 @@ void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandl
     uint8_t frameoff = (aData[0] & 0x0F);
 
     // 只接收来自主机的消息
-    if (from != m_rxFrameBuffer.id) continue;
+    if (from != MAIN_DEVICE_CAN_ID) continue;
 
     // 当frameoff==0,重置接收缓存
     if (frameoff == 0) {
-      m_rxFrameBuffer.canPacketNum = 0;
+      if (curRxBuf != nullptr) {
+        m_rxFramePool.free(&curRxBuf);
+      }
+      curRxBuf = m_rxFramePool.alloc();
     }
 
+    if (!curRxBuf) return;  // 分配内存失败
+
     // 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 (m_rxFrameBuffer.canPacketNum != frameoff) {
-      m_rxFrameBuffer.canPacketNum = 0;
+    if (curRxBuf->canPacketNum != frameoff) {
+      m_rxFramePool.free(&curRxBuf);
       continue;
     }
 
     // 接收到有效包
-    if (m_rxFrameBuffer.canPacketNum < ZARRAY_SIZE(m_rxFrameBuffer.canPacket)) {
-      m_rxFrameBuffer.canPacket[m_rxFrameBuffer.canPacketNum].dlc = pHeader.DLC;
-      memcpy(m_rxFrameBuffer.canPacket[m_rxFrameBuffer.canPacketNum].aData, aData, 8);
-      m_rxFrameBuffer.canPacketNum++;
+    if (curRxBuf->rxdataLen + pHeader.DLC - 1 < sizeof(curRxBuf->rxdata)) {
+      memcpy(&curRxBuf->rxdata[curRxBuf->rxdataLen], &aData[1], pHeader.DLC - 1);
+      curRxBuf->canPacketNum++;
+      curRxBuf->rxdataLen += pHeader.DLC - 1;
     }
 
     if (nframe == frameoff + 1) {
-      m_rxFrameBuffer.npacket     = nframe;
-      m_rxFrameBuffer.dataIsReady = true;
+      curRxBuf->npacket = nframe;
+      bool pass         = rxprocesser->filterPacket(curRxBuf);
+      if (pass) {
+        m_pendingMsgQueue.sendIRQ(curRxBuf);
+      } else {
+        m_rxFramePool.free(&curRxBuf);
+      }
     }
   }
 
@@ -355,39 +354,10 @@ void ZCanReceiver::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
 }
 
 void ZCanReceiver::processRx() {
-  auto *rxbuf = &m_rxFrameBuffer;
-  if (!rxbuf->dataIsReady) return;
-
-  if (rxbuf->canPacketNum != rxbuf->npacket) {
-    ZLOGE(TAG, "lost packet");
-    rxbuf->canPacketNum = 0;
-    rxbuf->npacket      = 0;
-    rxbuf->dataIsReady  = false;
-    return;
-  }
-
-  //
-  //  !处理接收到的数据!
-  //
-
-  // 拷贝接收到的数据到processbuf中
-  uint8_t *processbuf = m_rxPacketProcessBuf;
-  int32_t  processlen = 0;
-
-  for (size_t i = 0; i < rxbuf->canPacketNum; i++) {
-    if (rxbuf->canPacket[i].dlc == 0) continue;
-    memcpy(processbuf + processlen, rxbuf->canPacket[i].aData + 1, rxbuf->canPacket[i].dlc - 1);
-    processlen += rxbuf->canPacket[i].dlc - 1;
-  }
-
-  // 重新开始接收CAN总线上的数据
-  rxbuf->dataIsReady  = false;
-  rxbuf->canPacketNum = 0;
-  rxbuf->npacket      = 0;
-
-  // 处理接收到的数据
-  for (auto &var : m_listenerList) {
-    if (var) var->onRceivePacket((zcr_cmd_header_t *)processbuf, processlen);
+  auto *rx = m_pendingMsgQueue.receive();
+  if (rx) {
+    //  !处理接收到的数据!
+    if (rxprocesser) rxprocesser->processRxPacket(rx);
   }
 }
 
diff --git a/sdk/components/zcancmder/zcanreceiver.hpp b/sdk/components/zcancmder/zcanreceiver.hpp
index 9b2499a..068921b 100644
--- a/sdk/components/zcancmder/zcanreceiver.hpp
+++ b/sdk/components/zcancmder/zcanreceiver.hpp
@@ -3,18 +3,21 @@
 //
 
 #pragma once
-#include "a8000_protocol\protocol.hpp"
-#include "basic.hpp"
+#include "a8000_protocol/protocol.hpp"
+#include "sdk/components/api/zi_module.hpp"
 #include "sdk/os/zos.hpp"
-#include "sdk\components\api\zi_module.hpp"
+#include "type/zcan_rx_frame.hpp"
+#include "type/zcan_rx_frame_pool.hpp"
+#include "type/zcan_rx_frame_queue.hpp"
 
 #ifdef HAL_CAN_MODULE_ENABLED
 namespace iflytop {
 using namespace zcr;
 
-class IZCanReceiverListener {
+class IZCanRxProcesser {
  public:
-  virtual void onRceivePacket(zcr_cmd_header_t *rxcmd, int32_t len) = 0;
+  virtual bool filterPacket(ZcanRxframe *rx)    = 0;
+  virtual void processRxPacket(ZcanRxframe *rx) = 0;
 };
 
 class ZCanReceiver : public ZCanIRQListener {
@@ -32,22 +35,6 @@ class ZCanReceiver : public ZCanIRQListener {
     int                packetRxOvertime_ms;  //
   };
 
-  class RXFrameBuffer {
-    typedef struct {
-      uint8_t dlc;
-      uint8_t aData[8]; /*8byte table*/
-    } CANPacket;
-
-   public:
-    uint16_t  id            = 0;
-    CANPacket canPacket[16] = {0};  // 最多16(2^4)帧数据
-    uint8_t   canPacketNum  = 0;
-    uint8_t   npacket       = 0;
-    bool      dataIsReady   = false;
-  };
-
-  uint8_t txbuff[128];
-
  public:
   class LoopJobContext {
    public:
@@ -60,9 +47,13 @@ class ZCanReceiver : public ZCanIRQListener {
   uint32_t          m_lastPacketTicket = 0;      // 上一次接收到消息的时间，用于判断与主机是否断开连接
   HAL_StatusTypeDef m_lastTransmitStatus;        // 上次调用can发送方法的返回值
 
-  list<IZCanReceiverListener *> m_listenerList;
-  RXFrameBuffer                 m_rxFrameBuffer;
-  uint8_t                       m_rxPacketProcessBuf[128];  // 单包数据最大包长 112(7 * 2^4)
+  uint8_t txbuff[128];
+
+  IZCanRxProcesser *rxprocesser;
+
+  ZcanRxframePool  m_rxFramePool;       // 接收数据池
+  ZcanRxframeQueue m_pendingMsgQueue;   // 接收数据队列
+  ZcanRxframe     *curRxBuf = nullptr;  // 当前接收数据
 
   int    txPacketInterval_ms = 0;
   zmutex m_lock;
@@ -77,7 +68,7 @@ class ZCanReceiver : public ZCanIRQListener {
   uint8_t getDeviceId() { return m_config->deviceId; }
   void    setTxPacketInterval(int interval_ms) { txPacketInterval_ms = interval_ms; }
 
-  virtual void    registerListener(IZCanReceiverListener *listener);
+  virtual void    registerListener(IZCanRxProcesser *listener);
   virtual int32_t sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len);
   virtual int32_t sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack);
   virtual int32_t sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode);
diff --git a/usrc/public_service/gservice.hpp b/usrc/public_service/gservice.hpp
index aac521b..d0f75cb 100644
--- a/usrc/public_service/gservice.hpp
+++ b/usrc/public_service/gservice.hpp
@@ -2,7 +2,7 @@
 #include <stdio.h>
 
 #include "sdk/chip/chip.hpp"
-#include "sdk/components/zcancmder/zcan_protocol_parser.hpp"
+#include "sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp"
 #include "sdk/components/zcancmder/zcanreceiver.hpp"
 #include "sdk/os/zos.hpp"
 #include "sdk\components\zcancmder\protocol_event_bus_sender.hpp"
diff --git a/usrc/version.h b/usrc/version.h
index bdbd142..b1ab658 100644
--- a/usrc/version.h
+++ b/usrc/version.h
@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1020
+#define PC_VERSION           1021