diff --git a/app/MDK-ARM/app.uvguix.h_zha b/app/MDK-ARM/app.uvguix.h_zha
index 9341439..21a9c6b 100644
--- a/app/MDK-ARM/app.uvguix.h_zha
+++ b/app/MDK-ARM/app.uvguix.h_zha
@@ -93,8 +93,8 @@
       <flags>2</flags>
       <showCmd>3</showCmd>
       <MinPosition>
-        <xPos>-1</xPos>
-        <yPos>-1</yPos>
+        <xPos>-32000</xPos>
+        <yPos>-32000</yPos>
       </MinPosition>
       <MaxPosition>
         <xPos>-1</xPos>
@@ -111,7 +111,7 @@
       <RegID>0</RegID>
       <MDITabState>
         <Len>738</Len>
-        <Data>01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000004000000030000000100000059443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C626F6172645C68617264776172652E637070000000000C68617264776172652E63707000000000C5D4F200FFFFFFFF71443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C696269666C79746F705F6D6963726F5C73746D33325C62617369635C73746D33325F68616C2E637070000000000D73746D33325F68616C2E63707000000000FFDC7800FFFFFFFF70443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C7372635C6C6E63756261746F725F74656D70657261747572655F636F6E74726F6C5F736572766963652E63707000000000296C6E63756261746F725F74656D70657261747572655F636F6E74726F6C5F736572766963652E63707000000000BECEA100FFFFFFFF66443A5C776F726B73706163655C70726F6A6563745F626F6469746563685F76696461735F61383030305C496E63756261746F725F636F6E74726F6C5F73797374656D5C6465705C6C69627472696E616D69635C7372635C69635C746D6334333631412E687070000000000C746D6334333631412E68707000000000F0A0A100FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD500010000000000000002000000FC010000660000009006000042020000</Data>
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       </MDITabState>
     </MDIClientArea>
     <ViewEx>
@@ -1806,7 +1806,7 @@
         <Name>File</Name>
         <Buttons>
           <Len>2537</Len>
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         </Buttons>
         <OriginalItems>
           <Len>1423</Len>
@@ -1822,7 +1822,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>966</Len>
-          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000004001C0000000000000000000000000000000001000000010000000180D07F0000000002001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000036170709600000000000000010003617070000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
+          <Data>00200000010000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000000000000100000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000004002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA0000000000000000000000000000000000000000000000000100000001000000960000000300205000000000036170709600000000000000010003617070000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000400240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
         </Buttons>
         <OriginalItems>
           <Len>583</Len>
@@ -1838,7 +1838,7 @@
         <Name>Debug</Name>
         <Buttons>
           <Len>2373</Len>
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         <OriginalItems>
           <Len>898</Len>
@@ -3603,12 +3603,12 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>3</ActiveTab>
+      <ActiveTab>0</ActiveTab>
       <Doc>
         <Name>..\..\src\board\hardware.cpp</Name>
         <ColumnNumber>0</ColumnNumber>
-        <TopLine>356</TopLine>
-        <CurrentLine>380</CurrentLine>
+        <TopLine>372</TopLine>
+        <CurrentLine>396</CurrentLine>
         <Folding>1</Folding>
         <ContractedFolders></ContractedFolders>
         <PaneID>0</PaneID>
diff --git a/dep/libiflytop_micro b/dep/libiflytop_micro
index ffc78e8..353a115 160000
--- a/dep/libiflytop_micro
+++ b/dep/libiflytop_micro
@@ -1 +1 @@
-Subproject commit ffc78e8dc163fe8baea44325f3aeaca9ee05c146
+Subproject commit 353a1158b633a08a4cf1c47940c698c494b9e978
diff --git a/src/board/hardware.cpp b/src/board/hardware.cpp
index b4430e8..67cf704 100644
--- a/src/board/hardware.cpp
+++ b/src/board/hardware.cpp
@@ -3,7 +3,7 @@
 #include "i2c.h"
 using namespace iflytop;
 #define TAG        "hardware"
-#define ENABLE_CAN 0
+#define ENABLE_CAN 1
 extern "C" {
 int fputc(int ch, FILE *stream) {
   uint8_t c = ch;
@@ -42,7 +42,7 @@ void Hardware::hardwareinit() {
  *******************************************************************************/
 #if ENABLE_CAN
   IflytopCanSlave::iflytop_can_slave_config_t *config = canSlaveService.createDefaultConfig(DEVICE_ID);
-  canSlaveService.initialize(m_os, config);
+  canSlaveService.initialize(this, config);
   canSlaveService.activateRxIT();
   canSlaveService.registerListener(this);
 #endif
@@ -65,7 +65,7 @@ void Hardware::hardwareinit() {
   /*******************************************************************************
    *                                 电机初始化                                  *
    *******************************************************************************/
-#if 1
+#if 0
   tmc_init();
   tmc_extern_clk_enable();
   // 4361初始化
@@ -137,7 +137,7 @@ void Hardware::periodicJob() {
 #endif
   do_debug_light_state();
 #if ENABLE_CAN
-  // testCanSlaveTxAndRx();
+  testCanSlaveTxAndRx();
 #endif
 }
 void Hardware::do_debug_light_state() {
@@ -174,7 +174,8 @@ void Hardware::testCanSlaveTxAndRx() {
     static uint8_t  tx[8] = {1, 2, 3, 4, 5, 6, 7, 8};
     if (hasPassedMS(lastcall) > 1000) {
       lastcall = getTicket();
-      canSlaveService.translate(0x01, tx, 8, 2);
+      // canSlaveService.translate(0x01, tx, 8, 2);
+      canSlaveService.sendReport(1, 2, 3, 100);
       if (canSlaveService.getLastTransmitStatus() == HAL_OK) {
         ZLOGI(TAG, "send ok");
       } else {
@@ -190,12 +191,19 @@ void Hardware::testCanSlaveTxAndRx() {
     m_canOnRxDataFlag = false;
     static CAN_RxHeaderTypeDef packetHeader;
     static uint8_t             packetData[8];
-    while (canSlaveService.getRxMessage(&packetHeader, packetData)) {
+    // while (canSlaveService.getRxMessage(&packetHeader, packetData)) {
+    //   ZLOGI(TAG, "rx packet:");
+    //   ZLOGI(TAG, "\tid:%x  len:%d", packetHeader.StdId, packetHeader.DLC);
+    //   ZLOGI_HEX(TAG, packetData, packetHeader.DLC);
+    // }
+
+    static IflytopCanSlave::packet_t packet;
+    while (canSlaveService.getRxPacket(&packet)) {
       ZLOGI(TAG, "rx packet:");
-      ZLOGI(TAG, "\tid:%x  len:%d", packetHeader.StdId, packetHeader.DLC);
-      ZLOGI_HEX(TAG, packetData, packetHeader.DLC);
+      ZLOGI(TAG, "\ttype:%01x, targetId:%01x, sourceId:%02x, seq:%02x, regAdd:%02x, regValue:%04x",  //
+            packet.type, packet.targetId, packet.sourceId, packet.seq, packet.regAdd, packet.regValue);
     }
-    // canSlaveService.activateRxIT();
+    canSlaveService.activateRxIT();
   }
 }
 void Hardware::TMC4361APort_setResetPinState(uint16_t channel, bool state) { tmc_nRESET_pin_set_state(channel, state); }
diff --git a/src/umain.cpp b/src/umain.cpp
index 5b92a6d..747dee6 100644
--- a/src/umain.cpp
+++ b/src/umain.cpp
@@ -28,21 +28,15 @@ class Main {
   bool canOnRxDataFlag;
 
   Main() { canOnRxDataFlag = false; }
-  void initialize();
   void main(int argc, char const *argv[]);
 };
 
-void Main::initialize() {
-  zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener));
-  m_hardware.hardwareinit();
-  // canSlaveService = &m_hardware.canSlaveService;
-}
-
 void Main::main(int argc, char const *argv[]) {
   sys_loggger_enable(true);
   ZLOGI(TAG, "VERSION:%s", VERSION);
   // port_peltier_set_pwm(0);
-  initialize();
+  zsignal_init(zsignal_listener, ZARRAY_SIZE(zsignal_listener));
+  m_hardware.hardwareinit();
   while (true) {
     m_hardware.periodicJob();
     // m_hardware.testCanSlaveTxAndRx(canOnRxDataFlag);