diff --git a/components/mini_servo_motor/feite_servo_motor.cpp b/components/mini_servo_motor/feite_servo_motor.cpp
index 817c2fb..29c6d4f 100644
--- a/components/mini_servo_motor/feite_servo_motor.cpp
+++ b/components/mini_servo_motor/feite_servo_motor.cpp
@@ -3,7 +3,7 @@ using namespace iflytop;
 using namespace std;
 using namespace feite;
 #define TAG      "FeiTeServoMotor"
-#define OVERTIME 5
+#define OVERTIME 30
 #define DO(func)                                   \
   if (!(func)) {                                   \
     ZLOGE(TAG, "motor[%d] do %s fail", id, #func); \
@@ -67,13 +67,12 @@ bool FeiTeServoMotor::write16(uint8_t id, feite::reg_add_e add, uint16_t regval)
   return tx_and_rx((uint8_t*)&write16_cmd, sizeof(write16_cmd_t), (uint8_t*)&write16_resp, sizeof(write16_resp_t), OVERTIME);
 }
 
-bool FeiTeServoMotor::read_s16(uint8_t id, feite::reg_add_e add, int16_t& regval) {
+bool FeiTeServoMotor::read_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t& regval) {
   uint16_t val = 0;
   bool     ret = read16(id, add, val);
   if (!ret) return false;
-
-  uint8_t  sign    = val >> 15;
-  uint16_t realval = val & 0x7fff;
+  uint8_t  sign    = (val >> signbitoff) & 0x01;
+  uint16_t realval = val & (~(1 << signbitoff));
   if (sign == 0) {
     regval = realval;
   } else {
@@ -82,13 +81,13 @@ bool FeiTeServoMotor::read_s16(uint8_t id, feite::reg_add_e add, int16_t& regval
   return true;
 }
 
-bool FeiTeServoMotor::write_s16(uint8_t id, feite::reg_add_e add, int16_t regval) {
+bool FeiTeServoMotor::write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval) {
   uint16_t val = 0;
   if (regval >= 0) {
     val = regval;
   } else {
     val = -regval;
-    val |= 0x8000;
+    val |= (1 << signbitoff);
   }
   return write16(id, add, val);
 }
@@ -136,7 +135,7 @@ bool FeiTeServoMotor::async_write16(uint8_t id, feite::reg_add_e add, uint16_t r
 }
 
 static int16_t getcalibrate(int16_t nowpos, int16_t aftercalibratepos) {
-  int16_t calibrate = aftercalibratepos - nowpos;
+  int16_t calibrate = nowpos - aftercalibratepos;
   while (true) {
     if (calibrate > 2047) {
       calibrate -= 4094;
@@ -149,41 +148,78 @@ static int16_t getcalibrate(int16_t nowpos, int16_t aftercalibratepos) {
   return calibrate;
 }
 
-bool FeiTeServoMotor::setcurpos(int id, int16_t pos) {
-  /**
-   * @brief
-   * 1. 记录当前模式
-   * 2. 切换到位置模式
-   * 3. 读取当前位置
-   * 4. 读取当前位置校准数值
-   * 5. 计算新的校准值
-   * 6. 切换到速度模式（速度模式下不会因为位置的变化而导致舵机运动）
-   * 解锁写入
-   * 6. 写入新的校准值
-   * 锁定写入
-   * 7. 切换回原来的模式
-   */
+bool FeiTeServoMotor::write_reg(uint8_t id, uint8_t add, uint8_t* data, uint8_t len) {  //
+
+  return false;
+}
+bool FeiTeServoMotor::read_reg(uint8_t id, uint8_t add, uint8_t* data, uint8_t len) { return false; }
+bool FeiTeServoMotor::setmode(uint8_t id, run_mode_e runmode) { return write8(id, kRegServoRunMode, (uint8_t)runmode); }
+
+bool FeiTeServoMotor::getServoCalibration(uint8_t id, int16_t& poscalibration) { return read_s16(id, kRegServoCalibration, 11, poscalibration); }
+
+run_mode_e FeiTeServoMotor::getmode(uint8_t id) {
+  uint8_t data = 0;
+  bool    suc  = read8(id, kRegServoRunMode, data);
+  if (suc) {
+    return (run_mode_e)data;
+  } else {
+    return kMotorMode;
+  }
+}
+
+bool FeiTeServoMotor::getmode(uint8_t id, run_mode_e& runmode) {
+  uint8_t data = 0;
+  bool    suc  = read8(id, kRegServoRunMode, data);
+  runmode      = (run_mode_e)data;
+  return suc;
+}
+
+bool FeiTeServoMotor::setTorqueSwitch(uint8_t id, bool on) { return write8(id, kRegServoTorqueSwitch, on ? 1 : 0); }
+bool FeiTeServoMotor::getTorqueSwitch(uint8_t id, bool& on) {
+  uint8_t data = 0;
+  bool    suc  = read8(id, kRegServoTorqueSwitch, data);
+  on           = data;
+  return suc;
+}
+
+bool FeiTeServoMotor::getNowPos(uint8_t id, int16_t& pos) { return read_s16(id, kRegServoCurrentPos, 15, pos); }
+bool FeiTeServoMotor::setTargetPos(uint8_t id, int16_t pos) { return write_s16(id, kRegServoTargetPos, 15, pos); }
+
+bool FeiTeServoMotor::reCalibration(int id, int16_t pos) {
   if (pos < 0 || pos > 4095) {
-    ZLOGE(TAG, "setcurpos pos:%d out of range", pos);
+    ZLOGE(TAG, "reCalibration pos:%d out of range", pos);
     return false;
   }
-
-  run_mode_e nowmode = getmode(id);
+  /**
+   * @brief 关闭扭矩快关，防止舵机运动
+   */
+  setTorqueSwitch(id, false);
+  /**
+   * @brief 设置当前模式为位置模式
+   */
   DO(setmode(id, kServoMode));
-  uint16_t curpos;
-  DO(read16(id, kRegServoCurrentPos, curpos));
-  int16_t curcalibrate;
-  DO(read_s16(id, kRegServoCalibration, curcalibrate));
 
-  int16_t realpos      = curpos - curcalibrate;
+  int16_t curpos;
+  DO(getNowPos(id, curpos));
+  int16_t curcalibrate;
+  DO(getServoCalibration(id, curcalibrate));
+  int16_t realpos      = curpos + curcalibrate;
   int16_t newcalibrate = getcalibrate(realpos, pos);
 
-  DO(setmode(id, kMotorMode));
+  ZLOGI(TAG, "reCalibration id:%d curpos:%d curcalibrate:%d realpos:%d newcalibrate:%d", id, curpos, curcalibrate, realpos, newcalibrate);
+  /**
+   * @brief 写入新的校准值
+   */
   DO(write8(id, kRegServoLockFlag, 0));
-  DO(write_s16(id, kRegServoCalibration, newcalibrate));
+  DO(write_s16(id, kRegServoCalibration, 11, newcalibrate));
   DO(write8(id, kRegServoLockFlag, 1));
-
-  DO(setmode(id, nowmode));
+  /**
+   * @brief 重新设置目标位置为当前这个位置
+   */
+  int16_t nowpos;
+  DO(getNowPos(id, nowpos));
+  ZLOGI(TAG, "reCalibration id:%d nowpos:%d:%d", id, nowpos, pos);
+  DO(setTargetPos(id, pos));
   return true;
 }
 
@@ -193,21 +229,28 @@ bool FeiTeServoMotor::setcurpos(int id, int16_t pos) {
     return false;                                  \
   }
 
+static void dumphex(char* tag, uint8_t* data, uint8_t len) {
+  printf("%s:", tag);
+  for (int i = 0; i < len; i++) {
+    printf("%02x ", data[i]);
+  }
+  printf("\n");
+}
+
 bool FeiTeServoMotor::tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint8_t expectrxsize, uint16_t overtimems) {
   uint32_t enter_ticket = HAL_GetTick();
+  dumphex("tx:", tx, txdatalen);
 
-  HAL_UART_Transmit_DMA(m_uart, tx, txdatalen);
-  while (HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_TX) {
-    ;
-  }
   HAL_UART_Receive_DMA(m_uart, (uint8_t*)rx, expectrxsize);
+  HAL_UART_Transmit(m_uart, tx, txdatalen, 1000);
 
   bool overtime_flag = false;
   while (HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_RX ||  //
          HAL_UART_GetState(m_uart) == HAL_UART_STATE_BUSY_TX_RX) {
-    osDelay(5);
+    osDelay(1);
     int rxsize = expectrxsize - __HAL_DMA_GET_COUNTER(m_hdma_rx);
     if (rxsize == expectrxsize) {
+      dumphex("rx:", rx, expectrxsize);
       break;
     }
     if (zos_haspassedms(enter_ticket) > overtimems) {
@@ -237,9 +280,6 @@ bool FeiTeServoMotor::readversion(uint8_t id, uint8_t& mainversion, uint8_t& sub
   miniserv_subversion = data;
   return true;
 }
-bool FeiTeServoMotor::readposcalibration(uint8_t id, int16_t& poscalibration) {
-  return read_s16(id, kRegServoCalibration, poscalibration);
-}
 
 uint8_t FeiTeServoMotor::checksum_packet(uint8_t* data, uint8_t len) { return checksum(&data[2], len - 3); }
 uint8_t FeiTeServoMotor::checksum(uint8_t* data, uint8_t len) {
diff --git a/components/mini_servo_motor/feite_servo_motor.hpp b/components/mini_servo_motor/feite_servo_motor.hpp
index fa12853..7df5381 100644
--- a/components/mini_servo_motor/feite_servo_motor.hpp
+++ b/components/mini_servo_motor/feite_servo_motor.hpp
@@ -49,7 +49,7 @@ typedef enum {
   kRegServoProtectCurrent    = 28,  // 保护电流
   kRegServoAngleResolution   = 30,  // 角度分辨
 
-  kRegServoCalibration    = 31,  // 位置校正
+  kRegServoCalibration    = 31,  // 位置校正 BIT11为方向位，表示正负方向，BIT0~10位表示范围0-2047步
   kRegServoRunMode        = 33,  // 运行模式
   kRegServoProtectTorque  = 34,  // 保护扭矩
   kRegServoProtectTime    = 35,  // 保护时间
@@ -82,7 +82,7 @@ typedef enum {
   kRegServoAccLimit      = 85,  // 85 加速度限制
   kRegServoAccMultiple   = 86,  // 86 加速度倍数
 } reg_add_e;
-
+#pragma pack(1)
 ZSTRUCT(ping_cmd_t, /*       */ uint16_t header; uint8_t id; uint8_t len; uint8_t cmd; uint8_t checksum;)
 ZSTRUCT(ping_resp_t, /*      */ uint16_t header; uint8_t id; uint8_t len; uint8_t status; uint8_t checksum;)
 ZSTRUCT(read8_cmd_t, /*      */ uint16_t header; uint8_t id; uint8_t len; uint8_t cmd; uint8_t regadd; uint8_t readlen; uint8_t checksum;)
@@ -94,6 +94,11 @@ ZSTRUCT(read16_resp_t, /*    */ uint16_t header; uint8_t id; uint8_t len; uint8_
 ZSTRUCT(write16_cmd_t, /*    */ uint16_t header; uint8_t id; uint8_t len; uint8_t cmd; uint8_t regadd; uint16_t regval; uint8_t checksum;)
 ZSTRUCT(write16_resp_t, /*   */ uint16_t header; uint8_t id; uint8_t len; uint8_t status; uint8_t checksum;)
 
+ZSTRUCT(receipt_header_t, /*   */ uint16_t header; uint8_t id; uint8_t len; uint8_t cmd;)
+ZSTRUCT(cmd_header_t, /*       */ uint16_t header; uint8_t id; uint8_t len; uint8_t cmd;)
+
+#pragma pack()
+
 };  // namespace feite
 
 using namespace feite;
@@ -105,13 +110,21 @@ class FeiTeServoMotor {
  public:
   void initialize(UART_HandleTypeDef* uart, DMA_HandleTypeDef* hdma_rx, DMA_HandleTypeDef* hdma_tx);
   bool ping(uint8_t id);
+  bool readversion(uint8_t id, uint8_t& mainversion, uint8_t& subversion, uint8_t& miniserv_mainversion, uint8_t& miniserv_subversion);
 
   bool       setmode(uint8_t id, run_mode_e runmode);
   run_mode_e getmode(uint8_t id);
+  bool       getmode(uint8_t id, run_mode_e& runmode);
 
-  bool setcurpos(int id, int16_t pos);
-  bool readversion(uint8_t id, uint8_t& mainversion, uint8_t& subversion, uint8_t& miniserv_mainversion, uint8_t& miniserv_subversion);
-  bool readposcalibration(uint8_t id, int16_t& poscalibration);
+  // kRegServoTorqueSwitch
+  bool setTorqueSwitch(uint8_t id, bool on);
+  bool getTorqueSwitch(uint8_t id, bool& on);
+
+  bool getNowPos(uint8_t id, int16_t& pos);
+  bool setTargetPos(uint8_t id, int16_t pos);
+
+  bool getServoCalibration(uint8_t, int16_t& poscalibration);
+  bool reCalibration(int id, int16_t pos);
 
  public:
   bool write8(uint8_t id, feite::reg_add_e add, uint8_t regval);
@@ -120,12 +133,16 @@ class FeiTeServoMotor {
   bool write16(uint8_t id, feite::reg_add_e add, uint16_t regval);
   bool read16(uint8_t id, feite::reg_add_e add, uint16_t& regval);
 
-  bool read_s16(uint8_t id, feite::reg_add_e add, int16_t& regval);
-  bool write_s16(uint8_t id, feite::reg_add_e add, int16_t regval);
+  bool read_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t& regval);
+  bool write_s16(uint8_t id, feite::reg_add_e add, uint8_t signbitoff, int16_t regval);
 
   bool async_write8(uint8_t id, feite::reg_add_e add, uint8_t regval);
   bool async_write16(uint8_t id, feite::reg_add_e add, uint16_t regval);
 
+ public:
+  bool write_reg(uint8_t id, uint8_t add, uint8_t* data, uint8_t len);
+  bool read_reg(uint8_t id, uint8_t add, uint8_t* data, uint8_t len);
+
  private:
   bool    tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uint8_t expectrxsize, uint16_t overtimems);
   uint8_t checksum(uint8_t* data, uint8_t len);
diff --git a/components/zprotocols/zcancmder b/components/zprotocols/zcancmder
index b85eb03..8a33d6e 160000
--- a/components/zprotocols/zcancmder
+++ b/components/zprotocols/zcancmder
@@ -1 +1 @@
-Subproject commit b85eb03a3b5daf5b7f1d3e1e60a51a601824b08b
+Subproject commit 8a33d6eeef9b51f409f6364235c7dbc26556fab5