diff --git a/components/zcancmder/zcanreceiver.cpp b/components/zcancmder/zcanreceiver.cpp
index 3adcd01..68cbd3c 100644
--- a/components/zcancmder/zcanreceiver.cpp
+++ b/components/zcancmder/zcanreceiver.cpp
@@ -11,7 +11,7 @@ using namespace zcr;
 
 #define OVER_TIME_MS 5
 
-ZCanCmder::CFG *ZCanCmder::createCFG(uint8_t deviceId) {
+ZCanReceiver::CFG *ZCanReceiver::createCFG(uint8_t deviceId) {
   CFG *cfg = new CFG();
   ZASSERT(cfg != NULL);
   cfg->deviceId = deviceId;
@@ -25,7 +25,7 @@ ZCanCmder::CFG *ZCanCmder::createCFG(uint8_t deviceId) {
   cfg->rxfifoNum       = CAN_RX_FIFO0;
   return cfg;
 }
-void ZCanCmder::init(CFG *cfg) {
+void ZCanReceiver::initialize(CFG *cfg) {
   HAL_StatusTypeDef hal_status;
   m_config = cfg;
   m_lock.init();
@@ -68,7 +68,7 @@ void ZCanCmder::init(CFG *cfg) {
   }
   // ZHALCORE::getInstance()->regPeriodJob([this](ZHALCORE::Context &context) { loop(); }, 0);
 }
-HAL_StatusTypeDef ZCanCmder::initializeFilter() {
+HAL_StatusTypeDef ZCanReceiver::initializeFilter() {
   /**
    * @brief ID区帧格式
    *  [                27:0                  ]
@@ -108,8 +108,8 @@ HAL_StatusTypeDef ZCanCmder::initializeFilter() {
   return HAL_Status;
 }
 
-void ZCanCmder::registerListener(IZCanReceiverListener *listener) { m_listenerList.push_back(listener); }
-void ZCanCmder::sendPacket(uint8_t *packet, size_t len) {
+void ZCanReceiver::registerListener(IZCanReceiverListener *listener) { m_listenerList.push_back(listener); }
+void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
   /**
    * @brief
    */
@@ -134,7 +134,7 @@ void ZCanCmder::sendPacket(uint8_t *packet, size_t len) {
   }
 }
 #if 0
-void ZCanCmder::sendAck(zcr_cmd_header_t *cmdheader, uint8_t *data, size_t len) {
+void ZCanReceiver::sendAck(zcr_cmd_header_t *cmdheader, uint8_t *data, size_t len) {
   zlock_guard       l(m_lock);
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
   memcpy(txheader, cmdheader, sizeof(zcr_cmd_header_t));
@@ -142,7 +142,7 @@ void ZCanCmder::sendAck(zcr_cmd_header_t *cmdheader, uint8_t *data, size_t len)
   memcpy(txheader->data, data, len);
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
 }
-void ZCanCmder::sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t errcode) {
+void ZCanReceiver::sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t errcode) {
   zlock_guard l(m_lock);
 
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
@@ -154,7 +154,7 @@ void ZCanCmder::sendErrorAck(zcr_cmd_header_t *cmdheader, uint16_t id, uint32_t
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(zcanreceiver_error_ack_t));
 }
 
-void ZCanCmder::sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
+void ZCanReceiver::sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
   zlock_guard l(m_lock);
 
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
@@ -163,7 +163,7 @@ void ZCanCmder::sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *dat
   memcpy(txheader->data, data, len);
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
 }
-void ZCanCmder::sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
+void ZCanReceiver::sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len) {
   zlock_guard l(m_lock);
 
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
@@ -173,7 +173,7 @@ void ZCanCmder::sendStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, s
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
 }
 #endif
-int32_t ZCanCmder::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
+int32_t ZCanReceiver::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, int32_t len) {
   zlock_guard l(m_lock);
   ZASSERT(sizeof(txbuff) > sizeof(zcr_cmd_header_t) + len);
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
@@ -183,7 +183,7 @@ int32_t ZCanCmder::sendBufAck(zcr_cmd_header_t *rx_cmd_header, uint8_t *data, in
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + len);
   return 0;
 }
-int32_t ZCanCmder::triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) {
+int32_t ZCanReceiver::triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int32_t len) {
   zlock_guard l(m_lock);
   m_reportIndex++;
   ZASSERT(sizeof(txbuff) > sizeof(zcr_cmd_header_t) + len);
@@ -196,7 +196,7 @@ int32_t ZCanCmder::triggerEvent(zcr_cmd_header_t *cmd_header, uint8_t *data, int
   return 0;
 }
 
-int32_t ZCanCmder::sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) {
+int32_t ZCanReceiver::sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int32_t nack) {
   zlock_guard       l(m_lock);
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
   memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
@@ -210,7 +210,7 @@ int32_t ZCanCmder::sendAck(zcr_cmd_header_t *rx_cmd_header, int32_t *ackvar, int
   sendPacket(txbuff, sizeof(zcr_cmd_header_t) + sizeof(int32_t) * nack);
   return 0;
 }
-int32_t ZCanCmder::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) {
+int32_t ZCanReceiver::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorcode) {
   zlock_guard       l(m_lock);
   zcr_cmd_header_t *txheader = (zcr_cmd_header_t *)txbuff;
   memcpy(txheader, rx_cmd_header, sizeof(zcr_cmd_header_t));
@@ -223,7 +223,7 @@ int32_t ZCanCmder::sendErrorAck(zcr_cmd_header_t *rx_cmd_header, int32_t errorco
   return 0;
 }
 
-bool ZCanCmder::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
+bool ZCanReceiver::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
   zlock_guard l(m_lock);
 
   // ZLOGI(TAG, "sendPacketSub(%d:%d)", npacket, packetIndex);
@@ -264,7 +264,7 @@ bool ZCanCmder::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, siz
   return true;
 }
 
-bool ZCanCmder::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
+bool ZCanReceiver::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8byte table*/) {
   /**
    * @brief 读取当前FIFO中缓存了多少帧的数据
    */
@@ -280,7 +280,7 @@ bool ZCanCmder::getRxMessage(CAN_RxHeaderTypeDef *pHeader, uint8_t aData[] /*8by
   }
   return false;
 }
-void ZCanCmder::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) {
+void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) {
   /**
    * @brief 中断上下文
    */
@@ -338,13 +338,13 @@ void ZCanCmder::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle)
 
   //   deactivateRxIT();
 }
-void ZCanCmder::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
+void ZCanReceiver::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
   if (canHandle != m_config->canHandle) {
     return;
   }
   ZLOGE(TAG, "onCAN_Error\r\n");
 }
-void ZCanCmder::loop() {
+void ZCanReceiver::loop() {
   CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer[0];
   if (rxbuf->dataIsReady) {
     int dataoff = 0;
@@ -361,7 +361,7 @@ void ZCanCmder::loop() {
     rxbuf->dataIsReady = false;
   }
 }
-HAL_StatusTypeDef ZCanCmder::activateRxIT() {
+HAL_StatusTypeDef ZCanReceiver::activateRxIT() {
   HAL_StatusTypeDef hal_status = HAL_ERROR;
   if (m_config->rxfifoNum == CAN_RX_FIFO0) {
     hal_status = HAL_CAN_ActivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
@@ -373,7 +373,7 @@ HAL_StatusTypeDef ZCanCmder::activateRxIT() {
   }
   return hal_status;
 }
-HAL_StatusTypeDef ZCanCmder::deactivateRxIT() {
+HAL_StatusTypeDef ZCanReceiver::deactivateRxIT() {
   HAL_StatusTypeDef hal_status = HAL_ERROR;
   if (m_config->rxfifoNum == CAN_RX_FIFO0) {
     hal_status = HAL_CAN_DeactivateNotification(m_config->canHandle, CAN_IT_RX_FIFO0_MSG_PENDING);
diff --git a/components/zcancmder/zcanreceiver.hpp b/components/zcancmder/zcanreceiver.hpp
index c587295..37fffec 100644
--- a/components/zcancmder/zcanreceiver.hpp
+++ b/components/zcancmder/zcanreceiver.hpp
@@ -10,16 +10,10 @@
 namespace iflytop {
 using namespace zcr;
 
-#if 0
-class ZCanCmderListener {
- public:
-  virtual void onRceivePacket(CanPacketRxBuffer *rxcmd) = 0;
-};
-#endif
 
 typedef function<void(CanPacketRxBuffer *rxcmd)> zcanreceiver_listener_t;
 
-class ZCanCmder : public ZCanIRQListener, public IZCanReceiver {
+class ZCanReceiver : public ZCanIRQListener, public IZCanReceiver {
  public:
   class CFG {
    public:
@@ -57,9 +51,9 @@ class ZCanCmder : public ZCanIRQListener, public IZCanReceiver {
   int32_t m_reportIndex = 0;
 
  public:
-  ZCanCmder() {}
+  ZCanReceiver() {}
   CFG *createCFG(uint8_t deviceId);
-  void init(CFG *cfg);
+  void initialize(CFG *cfg);
 
 #if 0
   void    sendExecStatusReport(zcr_cmd_header_t *rxcmdheader, uint8_t *data, size_t len);