diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index a052a92..0c5b063 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -7,14 +7,16 @@
 using namespace iflytop;
 using namespace std;
 #define TAG "XYRobotCtrlModule"
-void XYRobotCtrlModule::initialize(IStepperMotor* stepM1,  //
-                                   IStepperMotor* stepM2,  //
-                                   ZGPIO*         Xgpio,   //
-                                   ZGPIO* Ygpio, const char* flashmark) {
-  m_stepM1 = stepM1;
-  m_stepM2 = stepM2;
-  m_Xgpio  = Xgpio;
-  m_Ygpio  = Ygpio;
+void XYRobotCtrlModule::initialize(IStepperMotor* stepM1,     //
+                                   IStepperMotor* stepM2,     //
+                                   ZGPIO*         gpiotable,  //
+                                   int ngpio, const char* flashmark) {
+  m_stepM1    = stepM1;
+  m_stepM2    = stepM2;
+  m_Xgpio     = &gpiotable[0];
+  m_Ygpio     = &gpiotable[1];
+  m_gpiotable = gpiotable;
+  m_ngpio     = ngpio;
   ZASSERT(m_stepM1);
   ZASSERT(m_stepM2);
   ZASSERT(m_Xgpio);
@@ -263,18 +265,26 @@ int32_t XYRobotCtrlModule::read_version(version_t& version) {
 }
 int32_t XYRobotCtrlModule::read_status(status_t& status) {
   zlock_guard lock(m_lock);
-  status        = {0};
-  status.status = m_thread.isworking() ? 0x01 : 0x00;
-  if (m_Xgpio) status.iostate |= m_Xgpio->getState() ? 0x01 : 0x00;
-  if (m_Ygpio) status.iostate |= m_Ygpio->getState() ? 0x02 : 0x00;
+  status         = {0};
+  status.status  = m_thread.isworking() ? 0x01 : 0x00;
+  status.iostate = 0xff;
+  for (int i = 0; i < m_ngpio; i++) {
+    if (i > 7) break;
+    if (!m_gpiotable[i].getState()) status.iostate &= ~(1 << i);
+  }
+
   getnowpos(status.x, status.y);
   return 0;
 }
 int32_t XYRobotCtrlModule::read_detailed_status(detailed_status_t& debug_info) {
   zlock_guard lock(m_lock);
   debug_info = {0};
-  if (m_Xgpio) debug_info.iostate |= m_Xgpio->getState() ? 0x01 : 0x00;
-  if (m_Ygpio) debug_info.iostate |= m_Ygpio->getState() ? 0x02 : 0x00;
+
+  debug_info.iostate = 0xff;
+  for (int i = 0; i < m_ngpio; i++) {
+    if (i > 7) break;
+    if (!m_gpiotable[i].getState()) debug_info.iostate &= ~(1 << i);
+  }
 
   debug_info.status = m_thread.isworking() ? 0x01 : 0x00;
   getnowpos(debug_info.x, debug_info.y);
@@ -566,8 +576,8 @@ void XYRobotCtrlModule::forward_kinematics(int32_t x, int32_t y, int32_t& m1pos,
     m1pos = ((x + y) / 2);
     m2pos = ((y - x) / 2);
   } else {
-    m1pos = (x - y) / 2;
-    m2pos = (x + y) / 2;
+    m1pos = (x + y) / 2;
+    m2pos = (x - y) / 2;
   }
 }
 
diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index 4a00c48..2b893ab 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -15,6 +15,9 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
   ZGPIO* m_Xgpio;
   ZGPIO* m_Ygpio;
 
+  ZGPIO* m_gpiotable;
+  int    m_ngpio;
+
   ZThread m_thread;
 
   int m_x = 0;
@@ -37,7 +40,7 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
   void initialize(IStepperMotor* stepM1,  //
                   IStepperMotor* stepM2,  //
                   ZGPIO*         Xgpio,   //
-                  ZGPIO* Ygpio, const char* flashmark);
+                  int ngpio, const char* flashmark);
 
   virtual int32_t move_to(int32_t x, int32_t y, int speed, action_cb_status_t status_cb) override;
   virtual int32_t move_by(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb) override;
diff --git a/components/zprotocols/zcancmder b/components/zprotocols/zcancmder
index d73af8a..9f0c021 160000
--- a/components/zprotocols/zcancmder
+++ b/components/zprotocols/zcancmder
@@ -1 +1 @@
-Subproject commit d73af8aeff6f7e6dd1dc38c4742f181c4cd9c87d
+Subproject commit 9f0c021c41d1d410ccea7cc8a3d3c80c767e854d