diff --git a/components/sensors/i2ceeprom/m24lrxxe_i2c_eeprom.hpp b/components/sensors/i2ceeprom/m24lrxxe_i2c_eeprom.hpp
index f64e66e..5d68ab6 100644
--- a/components/sensors/i2ceeprom/m24lrxxe_i2c_eeprom.hpp
+++ b/components/sensors/i2ceeprom/m24lrxxe_i2c_eeprom.hpp
@@ -5,6 +5,7 @@
 #ifdef HAL_I2C_MODULE_ENABLED
 namespace iflytop {
 using namespace std;
+//ref::https://iflytop1.feishu.cn/wiki/PO1LwwvaNi4F10kiobMcjSK4nBg
 class M24LRXXE_I2C_EEPROM : public ZI_EEPROM {
   I2C_HandleTypeDef* m_i2c_handle;
 
diff --git a/components/sensors/i2ceeprom/p24c16_eeprom.hpp b/components/sensors/i2ceeprom/p24c16_eeprom.hpp
index 3e25168..1ce31ea 100644
--- a/components/sensors/i2ceeprom/p24c16_eeprom.hpp
+++ b/components/sensors/i2ceeprom/p24c16_eeprom.hpp
@@ -5,6 +5,7 @@
 #ifdef HAL_I2C_MODULE_ENABLED
 namespace iflytop {
 using namespace std;
+//ref::https://iflytop1.feishu.cn/wiki/PO1LwwvaNi4F10kiobMcjSK4nBg
 class P24C16 : public ZI_EEPROM {
   I2C_HandleTypeDef* m_i2c_handle;
 
diff --git a/components/zcancmder/basic.cpp b/components/zcancmder/basic.cpp
index e5db66b..a266493 100644
--- a/components/zcancmder/basic.cpp
+++ b/components/zcancmder/basic.cpp
@@ -12,11 +12,11 @@ uint16_t CanPacketRxBuffer::get_packetindex() {
 uint16_t CanPacketRxBuffer::get_cmdid() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
 
-  return CMDID(cmdheader->cmdmoduleid, cmdheader->subcmdid);
+  return CMDID(cmdheader->cmdMainId, cmdheader->cmdSubId);
 }
-uint8_t CanPacketRxBuffer::get_subcmdid() {
+uint8_t CanPacketRxBuffer::get_cmdSubId() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
-  return cmdheader->subcmdid;
+  return cmdheader->cmdSubId;
 }
 uint8_t CanPacketRxBuffer::get_packetType() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
@@ -44,8 +44,8 @@ void     CanPacketRxBuffer::clear() {
 bool CanPacketRxBuffer::iscmd(int32_t id) {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
   uint16_t          maincmdid = ((uint32_t)id >> 8) & 0xFFFF;
-  uint8_t           subcmdId  = ((uint32_t)id) & 0xFF;
-  return cmdheader->cmdmoduleid == maincmdid && cmdheader->subcmdid == subcmdId;
+  uint8_t           cmdSubId  = ((uint32_t)id) & 0xFF;
+  return cmdheader->cmdMainId == maincmdid && cmdheader->cmdSubId == cmdSubId;
 }
 zcr_cmd_header_t *CanPacketRxBuffer::get_cmdheader() {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)rxdata;
diff --git a/components/zcancmder/basic.hpp b/components/zcancmder/basic.hpp
index c9c7dd9..fec5d3a 100644
--- a/components/zcancmder/basic.hpp
+++ b/components/zcancmder/basic.hpp
@@ -39,7 +39,7 @@ class CanPacketRxBuffer {
  public:
   uint16_t get_packetindex();
   uint16_t get_cmdid();
-  uint8_t  get_subcmdid();
+  uint8_t  get_cmdSubId();
   uint8_t  get_packetType();
   uint8_t *get_data();
   uint16_t get_datalen();
diff --git a/components/zcancmder/zcanreceiver_master.cpp b/components/zcancmder/zcanreceiver_master.cpp
index 6e83895..0e76d7a 100644
--- a/components/zcancmder/zcanreceiver_master.cpp
+++ b/components/zcancmder/zcanreceiver_master.cpp
@@ -118,14 +118,14 @@ HAL_StatusTypeDef ZCanCommnaderMaster::initializeFilter() {
   ZLOGI(TAG, "HAL_CAN_ConfigFilter filterID1 %08x", filterId >> 3);
   return HAL_Status;
 }
-int32_t ZCanCommnaderMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t submoduleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) {
+int32_t ZCanCommnaderMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t subModuleid, int32_t *param, size_t npara, uint8_t *ack, int32_t *rxsize, int overtime_ms) {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff;
   cmdheader->packetType       = kptv2_cmd;
   cmdheader->packetindex      = generateFreeIndex();
-  cmdheader->cmdmoduleid      = MODULE_CMDID(cmdid);
-  cmdheader->subcmdid         = SUBCMDID(cmdid);
-  cmdheader->submoduleid      = submoduleid;
-  // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdmoduleid, cmdheader->subcmdid, cmdheader->submoduleid);
+  cmdheader->cmdMainId      = MODULE_CMDID(cmdid);
+  cmdheader->cmdSubId         = CMD_SUB_ID(cmdid);
+  cmdheader->subModuleid      = subModuleid;
+  // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdMainId, cmdheader->cmdSubId, cmdheader->subModuleid);
   int32_t *sendparam = (int32_t *)cmdheader->data;
   for (size_t i = 0; i < npara; i++) {
     sendparam[i] = param[i];
@@ -166,14 +166,14 @@ int32_t ZCanCommnaderMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t submodu
   return errocode;
 }
 
-int32_t ZCanCommnaderMaster::sendCmd(int32_t cmdid, int32_t submoduleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) {
+int32_t ZCanCommnaderMaster::sendCmd(int32_t cmdid, int32_t subModuleid, int32_t *param, size_t npara, int32_t *ack, size_t nack, int overtime_ms) {
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff;
   cmdheader->packetType       = kptv2_cmd;
   cmdheader->packetindex      = generateFreeIndex();
-  cmdheader->cmdmoduleid      = MODULE_CMDID(cmdid);
-  cmdheader->subcmdid         = SUBCMDID(cmdid);
-  cmdheader->submoduleid      = submoduleid;
-  // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdmoduleid, cmdheader->subcmdid, cmdheader->submoduleid);
+  cmdheader->cmdMainId      = MODULE_CMDID(cmdid);
+  cmdheader->cmdSubId         = CMD_SUB_ID(cmdid);
+  cmdheader->subModuleid      = subModuleid;
+  // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdMainId, cmdheader->cmdSubId, cmdheader->subModuleid);
   int32_t *sendparam = (int32_t *)cmdheader->data;
   for (size_t i = 0; i < npara; i++) {
     sendparam[i] = param[i];
diff --git a/components/zprotocols/zcancmder b/components/zprotocols/zcancmder
index 5f57d15..35ead12 160000
--- a/components/zprotocols/zcancmder
+++ b/components/zprotocols/zcancmder
@@ -1 +1 @@
-Subproject commit 5f57d1520c908e86ea1db2f945eeda3bcec87f5d
+Subproject commit 35ead127ccd9676336f14a982d1dd3d6b95fe2ad
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index 198a9d9..9ab1db7 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit 198a9d9fc086911073cee24dafd4b82a6120da46
+Subproject commit 9ab1db7926b72d1dec1db8c4f92d283d17dc2f92