diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 0495c7d..1723465 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="-2447886569748284" 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="-1147431262652052887" 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="10287970391367221" 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="-1134695405690937382" 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 8f3e18d..36523be 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 8f3e18d35b26becec3236055a1324e31e8d0f40c
+Subproject commit 36523bea3565257b6033f75fd1adb343602532e9
diff --git a/sdk/components/mini_servo_motor/feite_servo_motor.cpp b/sdk/components/mini_servo_motor/feite_servo_motor.cpp
index b64326f..4d2a16f 100644
--- a/sdk/components/mini_servo_motor/feite_servo_motor.cpp
+++ b/sdk/components/mini_servo_motor/feite_servo_motor.cpp
@@ -333,13 +333,11 @@ bool FeiTeServoMotor::runInMode2(uint8_t id, int32_t torque) {
     DO(write_reg(id, kRegServoRunTime, torque));
 #endif
     int32_t velocity = 10000;
-    if (torque < 0) {
-      velocity = -10000;
-    } else if (torque == 0) {
-      velocity = 0;
+    if (torque > 0) {
+      return runInMode0(id, abs(torque), velocity, 3590);
+    } else {
+      return runInMode0(id, abs(torque), velocity, 10);
     }
-
-    return runInMode1(id, abs(torque), velocity);
   }
   return false;
 }
diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index d750d3d..5312cd3 100644
--- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -73,10 +73,6 @@ int32_t StepMotorCtrlModule::module_xxx_reg(int32_t param_id, bool read, int32_t
         step_motor_active_cfg();
         break;
 
-      case kreg_step_motor_dzero_pos:
-        //
-
-
         break;
       default:
         break;
diff --git a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
index e519237..04f8844 100644
--- a/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
+++ b/usrc/subboards/subboard90_optical_module/optical_module_v2.cpp
@@ -124,9 +124,6 @@ float OpticalModuleV2::t_detector_raw_gain_to_gain(int32_t gain) {
 }
 
 int32_t OpticalModuleV2::module_xxx_reg(int32_t param_id, bool read, int32_t& val) {
-  if (param_id == kreg_opt_module_do_action0 && !read) {
-    return 0;
-  }
 
   switch (param_id) {
     PROCESS_REG(kreg_a8k_opt_t_pos_offset, REG_GET(m_reg.t_pos_offset), REG_SET(m_reg.t_pos_offset));