diff --git a/protocol.c b/protocol.c
index 6b2fb24..118396d 100644
--- a/protocol.c
+++ b/protocol.c
@@ -11,6 +11,8 @@ DeviceStatus deviceStatus = {
     .initStatus = 1
 };
 
+uint8_t isValveMovingBackToOrigin = 0;
+
 DeviceParam dp = {
     .pump = {
         {"pump1", 4, 60, 100, 100},
@@ -176,8 +178,9 @@ void updateInitStatus(InitStatus_t status) {
  * 
  * @param txBuf 发送数据缓冲区
  * @param txLen 发送数据长度
+ * @return 0:成功 其他:失败
  */
-void writeCMD(uint8_t *txBuf, uint16_t txLen) {
+static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
     printf("writeCMD: ");
     for(uint16_t i = 0; i < txLen; i++) {
         printf("%02X ", txBuf[i]);
@@ -189,7 +192,7 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
     transDataToMotorValve(txBuf, txLen);
     uint8_t rxBuf[30] = {0};
     uint16_t rxLen = txLen;
-    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, 50);
+    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
     if(memcmp(rxBuf, txBuf, 2) != 0) {
         log_e("writeCMD error");
         printf("%d readCMD: ", rst);
@@ -197,7 +200,9 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
             printf("%02X ", rxBuf[i]);
         }
         printf("\r\n");
+        return 1;
     }
+    return 0;
 }
 
 /**
@@ -210,7 +215,7 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
 void sendMsgToHost(uint8_t *txBuf, uint16_t txLen) {
     // 发送数据
     // HAL_UART_Transmit_DMA(&huart1, txBuf, txLen);
-    // transDataToHost(txBuf, txLen);
+    transDataToHost(txBuf, txLen);
 }
 
 
@@ -270,12 +275,12 @@ uint16_t ReadPump1Reg(uint8_t index, uint16_t reg) {
     writeCMD(data, 8);
     uint8_t rxBuf[30] = {0};
     uint16_t rxLen = 8;
-    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, 50);
+    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
     return rxBuf[3]<<8|rxBuf[4];
 }
 
-uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) {
-    uint8_t data[8] = {0};
+uint32_t ReadPump2Reg(uint8_t index, uint16_t reg) {
+    uint8_t data[12] = {0};
     data[0] = index;
     data[1] = RTU_FUNC_READ_HOLD_REG;
     FillBigEndian16(&data[2], reg);
@@ -285,7 +290,12 @@ uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) {
     // 小端序填充
     memcpy(&data[6], &crc, 2);
 
-    writeCMD(data, 8);
+    writeCMD(data, 12);
+    uint8_t rxBuf[30] = {0};
+    uint16_t rxLen = 12;
+    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT*2);
+    // 逻辑需进一步完善
+    return rxBuf[6]<<24|rxBuf[7]<<16|rxBuf[8]<<8|rxBuf[9];
 }
 
 /*
@@ -307,7 +317,7 @@ uint8_t WritePump1Reg(uint8_t id, uint16_t reg, int16_t value) {
     // 小端序填充
     memcpy(&data[6], &crc, 2);
 
-    writeCMD(data, 8);
+    return writeCMD(data, 8);
 }
 
 /*
@@ -331,7 +341,7 @@ uint8_t WritePump2Reg(uint8_t  id , uint16_t reg, int32_t value) {
     // 小端序填充
     memcpy(&data[11], &crc, 2);
 
-    writeCMD(data, 13);
+    return writeCMD(data, 13);
 }
 
 /*
@@ -354,7 +364,7 @@ uint8_t WritePump2Reg(uint8_t  id , uint16_t reg, int32_t value) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetPumpJogAcc(uint8_t index, uint16_t acc) {
-    WritePump1Reg(index, RTU_PUMP_CMD_JA, acc*PUMP_ACCEL_RPS);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_JA, acc*PUMP_ACCEL_RPS);
 }
 
 /**
@@ -365,7 +375,7 @@ static uint8_t SetPumpJogAcc(uint8_t index, uint16_t acc) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetPumpJogDec(uint8_t index, uint16_t dec) {
-    WritePump1Reg(index, RTU_PUMP_CMD_JL, dec*PUMP_DECEL_RPS);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_JL, dec*PUMP_DECEL_RPS);
 }
 
 /**
@@ -376,14 +386,14 @@ static uint8_t SetPumpJogDec(uint8_t index, uint16_t dec) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetPumpJogSpeed(uint8_t index, uint16_t speed) {
-    WritePump1Reg(index, RTU_PUMP_CMD_JS, speed*PUMP_SPEED_RPS);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_JS, speed*PUMP_SPEED_RPS);
 }
 
 // Jog=慢跑
 // CJ=start jogging
 // 写入命令操作码寄存器(40125)数据0x0096(CJ)，即执行启动Jog控制
 static uint8_t StartPumpJog(uint8_t index) {
-    WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0096);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0096);
 }
 
 // SJ=stop jogging
@@ -391,7 +401,7 @@ static uint8_t StartPumpJog(uint8_t index) {
 // CJ与SJ一一对应，单次SJ无法停止所有全部CJ
 // 直接停止泵需要使用SK命令
 static uint8_t StopPumpJog(uint8_t index) {
-    WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00D8);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x00D8);
 }
 
 /*
@@ -415,7 +425,7 @@ static uint8_t StopPumpJog(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetPumpStepAcc(uint8_t index, uint16_t acc) {
-    WritePump1Reg(index, RTU_PUMP_CMD_AC, acc*PUMP_ACCEL_RPS);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_AC, acc*PUMP_ACCEL_RPS);
 }
 /**
  * 设置泵的步进减速度
@@ -425,7 +435,7 @@ static uint8_t SetPumpStepAcc(uint8_t index, uint16_t acc) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) {
-    WritePump1Reg(index, RTU_PUMP_CMD_DE, dec*PUMP_DECEL_RPS);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_DE, dec*PUMP_DECEL_RPS);
 }
 /**
  * 设置泵的步进速度
@@ -438,8 +448,7 @@ static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) {
 static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) {
     // 速度类寄存器参数设定值单位为 1/240 rps
     speed = speed *  PUMP_SPEED_RPS;
-    WritePump1Reg(index, RTU_PUMP_CMD_VE, speed);
-    return 0;
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_VE, speed);
 }
 /**
  * 设置泵的步进目标位置
@@ -449,7 +458,7 @@ static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetPumpStepTarget(uint8_t index, int32_t target) {
-    WritePump2Reg(dp.pump[index].id, RTU_PUMP_CMD_DI, target);
+    return WritePump2Reg(dp.pump[index].id, RTU_PUMP_CMD_DI, target);
 }
 
 /**
@@ -460,7 +469,7 @@ static uint8_t SetPumpStepTarget(uint8_t index, int32_t target) {
  * @return 0:成功 其他:失败
  */
 static uint8_t StartPumpRelativeMove(uint8_t index) {
-    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0066);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0066);
 }
 
 /**
@@ -471,7 +480,7 @@ static uint8_t StartPumpRelativeMove(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 static uint8_t StartPumpAbsoluteMove(uint8_t index) {
-    WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0067);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0067);
 }
 
 /**
@@ -482,7 +491,7 @@ static uint8_t StartPumpAbsoluteMove(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 static uint8_t StopPump(uint8_t index) {
-    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x00E1);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x00E1);
 }
 
 /**
@@ -492,7 +501,7 @@ static uint8_t StopPump(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 uint8_t ReadPumpHWReg(uint8_t index) {
-    ReadPump1Reg(index, RTU_PUMP_CMD_HW);
+    return ReadPump1Reg(dp.pump[index].id, RTU_PUMP_CMD_HW);
 }
 /**
  * 设置泵的通信波特率
@@ -502,7 +511,7 @@ uint8_t ReadPumpHWReg(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 uint8_t SetPumpBR(uint8_t index, uint16_t br) {
-    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_BR, br);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_BR, br);
 }
 /**
  * 设置泵的通信协议
@@ -512,7 +521,7 @@ uint8_t SetPumpBR(uint8_t index, uint16_t br) {
  * @return 0:成功 其他:失败
  */
 uint8_t SetPumpPR(uint8_t index, uint16_t pr) {
-    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_PR, pr);
+    return WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_PR, pr);
 }
 
 /**
@@ -618,19 +627,20 @@ void UpdatePumpStatus() {
 uint8_t InitPump(void) {
     // 初始化泵
     log_e("InitPump");
-    SetPumpJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
-    SetPumpJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
-    SetPumpJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
-    SetPumpStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
-    SetPumpStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
-    SetPumpStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
+    uint8_t rst = 0;
+    rst |= SetPumpJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
+    rst |= SetPumpJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
+    rst |= SetPumpJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
+    rst |= SetPumpStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
+    rst |= SetPumpStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
+    rst |= SetPumpStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
 
-    SetPumpJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
-    SetPumpJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
-    SetPumpJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
-    SetPumpStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
-    SetPumpStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
-    SetPumpStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
+    rst |= SetPumpJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
+    rst |= SetPumpJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
+    rst |= SetPumpJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
+    rst |= SetPumpStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
+    rst |= SetPumpStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
+    rst |= SetPumpStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
     
     uint16_t reg4001 = ReadPumpAlarm(0);
     DecodePumpAlarmMsg(reg4001);
@@ -641,6 +651,8 @@ uint8_t InitPump(void) {
     DecodePumpAlarmMsg(reg4001);
     reg4002 = ReadPumpStatus(1);
     DecodePumpStatusMsg(reg4002);
+
+    return rst;
 }
 
 
@@ -684,6 +696,60 @@ void (*writeValve2Reg)(uint8_t index, uint16_t reg, uint32_t value) = WritePump2
 void (*readValve1Reg)(uint8_t index, uint16_t reg) = ReadPump1Reg;
 void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
 
+/**
+ * 读取阀门1个输入寄存器
+ * 
+ * @param index 阀门索引
+ * @param reg 寄存器地址
+ * @return 寄存器值
+ */
+uint16_t ReadValve1InputReg(uint8_t index, uint16_t reg)
+{
+    uint8_t data[8] = {0};
+    data[0] = index;
+    data[1] = RTU_FUNC_READ_INPUT_REG;
+    FillBigEndian16(&data[2], reg);
+    FillBigEndian16(&data[4], 1);
+
+    uint16_t crc = CalculateCRC16(data, 6);
+    // 小端序填充
+    memcpy(&data[6], &crc, 2);
+
+    writeCMD(data, 8);
+    uint8_t rxBuf[30] = {0};
+    uint16_t rxLen = 8;
+    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
+    return rxBuf[3]<<8|rxBuf[4];
+
+}
+
+/**
+ * 读取阀门2个输入寄存器
+ * 
+ * @param index 阀门索引
+ * @param reg 寄存器地址
+ * @return 寄存器值
+ */
+uint32_t ReadValve2InputReg(uint8_t index, uint16_t reg)
+{
+    uint8_t data[8] = {0};
+    data[0] = index;
+    data[1] = RTU_FUNC_READ_INPUT_REG;
+    FillBigEndian16(&data[2], reg);
+    FillBigEndian16(&data[4], 2);
+
+    uint16_t crc = CalculateCRC16(data, 6);
+    // 小端序填充
+    memcpy(&data[6], &crc, 2);
+    writeCMD(data, 8);
+
+    uint8_t rxBuf[30] = {0};
+    uint16_t rxLen = 9;
+    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT);
+    return rxBuf[3]<<24|rxBuf[4]<<16|rxBuf[5]<<8|rxBuf[6];
+
+}
+
 /**
  * 设置阀门通信模式
  * 
@@ -692,7 +758,7 @@ void (*readValve2Reg)(uint8_t index, uint16_t reg) = ReadPump2Reg;
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
-    WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_CTL_MODE, mode);
+    return WriteValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_CTL_MODE, mode);
 }
 
 /**
@@ -703,7 +769,7 @@ static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
-    WritePump1Reg(dp.valve[index].id, RTU_VALVE_CMD_RUN_MODE, mode);
+    return WriteValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_RUN_MODE, mode);
 }
 
 // PP=轮廓位置模式
@@ -715,7 +781,7 @@ static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
-    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_POS, pos);
+    return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_POS, pos);
 }
 
 /**
@@ -726,7 +792,7 @@ static uint8_t SetValvePPPos(uint8_t index, uint32_t pos) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
-    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_SPEED, speed);
+    return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_SPEED, speed);
 }
 
 /**
@@ -737,7 +803,7 @@ static uint8_t SetValvePPSpeed(uint8_t index, uint32_t speed) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
-    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_ACCEL, acc);
+    return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_ACCEL, acc);
 }
 
 /**
@@ -748,7 +814,7 @@ static uint8_t SetValvePPAcc(uint8_t index, uint32_t acc) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
-    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_DECEL, dec);
+    return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_PP_DECEL, dec);
 }
 
 // HM=原点回归模式
@@ -760,7 +826,7 @@ static uint8_t SetValvePPDec(uint8_t index, uint32_t dec) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
-    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_MODE, mode);
+    return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_MODE, mode);
 }
 
 /**
@@ -771,7 +837,7 @@ static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
-    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
+    return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
 }
 
 /**
@@ -782,7 +848,7 @@ static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint32_t speed) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
-    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
+    return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
 }
 
 /**
@@ -793,7 +859,7 @@ static uint8_t SetValveHomeOriSpeed(uint8_t index, uint32_t speed) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
-    writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ACCEL, acc);
+    return writeValve2Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_ACCEL, acc);
 }
 
 /**
@@ -804,7 +870,7 @@ static uint8_t SetValveHomeAcc(uint8_t index, uint32_t acc) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
-    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_FUNC, func);
+    return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_FUNC, func);
 }
 
 /**
@@ -815,7 +881,7 @@ static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
-    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
+    return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
 }
 
 /**
@@ -826,9 +892,54 @@ static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
-    writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TIME, time*10);
+    return writeValve1Reg(dp.valve[index].id, RTU_VALVE_CMD_HOME_TIME, time*10);
 }
 
+/**
+ * 读取阀门位置
+ * 
+ * @param index 阀门索引
+ * @return 位置值(用户单位)
+ */
+static uint32_t ReadValvePos(uint8_t index) {
+    return ReadValve2InputReg(index, RTU_VALVE_CMD_POS);
+}
+
+/**
+ * 检查原点回归结果
+ * @return 0:成功 1:运动中 2:失败
+ */
+static uint8_t valveCheckBTOResult(uint8_t index, uint32_t startTime)
+{
+    static uint32_t ts = HAL_GetTick();
+    
+    if (HAL_GetTick() - startTime > 1000*20) {
+        // 超时=失败
+        return 2;
+    }
+    
+    uint16_t rst = ReadValve1InputReg(index,RTU_VALVE_CMD_SC);
+    // 如果原点回归完成，状态字第12位会从0变为1，
+    // 如果原点回归失败，状态字第13位会从0变为1。
+    // 此外也可以附加判断电机当前位置是否在0附近的200个脉冲以内。
+    if(rst & 0x0001<<12) {
+        // 成功
+        uint32_t pos = ReadValvePos(index);
+        if(pos > 200 || pos < (VALVE_PULSE_PER_ROUND-200)) {
+            // 位置超出范围
+            return 2;
+        }
+        return 0;
+    }
+    if(rst & 0x0001<<13) {
+        // 失败
+        return 2;
+    }
+
+    // 运动中，未超时
+    return 1;
+    
+}
 /**
  * 阀门回归原点控制
  * 包含设置原点回归方式、堵转检测、运行模式等配置
@@ -874,7 +985,7 @@ uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
  * @param index 阀门索引
  * @return 0:成功 其他:失败
  */
-uint8_t ValveRunInit(uint8_t index) {
+uint8_t ValvePPInit(uint8_t index) {
     printf("set mode to PP\r\n");
 //     1.配置模式：
 // 00B1h=0、运行模式 03C2h=0x01，使设备工作在轮廓位置模式；
@@ -955,9 +1066,49 @@ void InitDeviceStatus() {
     updateInitStatus(INIT_SUCCESS); 
 }
 
+void updateValveStatus(uint8_t index)
+{
+
+    // 检查是否回归成功
+    static uint32_t st = HAL_GetTick(); 
+    if (isValveMovingBackToOrigin)
+    {
+        uint8_t rst = valveCheckBTOResult(index,st);
+        switch (rst)
+        {
+        case 0:
+            log_i("BTO success!");
+            updateInitStatus(INIT_SUCCESS);
+            break;
+        case 1:
+            log_d("BTO moving...");
+            updateInitStatus(INIT_IN_PROGRESS);
+            break;
+        case 2:
+            log_e("BTO failure!!!");
+            updateInitStatus(INIT_FAILED);
+        default:
+            break;
+        }
+    }
+    else
+    {
+        st = HAL_GetTick();
+    }
+
+    // 获取实时角度
+
+
+    // 获取运动状态
+    
+}
+
 // 初始化处理
 static uint8_t HandleInit(void) {
     // 实现初始化逻辑
+    // 1.更新状态为“初始化中”
+    // 2.执行初始化流程，按协议要求执行，不含默认的初始化内容
+    // 3.检查初始化结果，更新状态“成功”或“失败”
     InitDeviceStatus();
     return 1;
 }
@@ -1287,6 +1438,6 @@ void runValveDemo(void) {
     
     // 阀门1正转120度
     printf("ValveRunToAngle(0, 120)\n");
-    ValveRunInit(0);
+    ValvePPInit(0);
     ValveRunToAngle(0, 120);
 }
diff --git a/protocol.h b/protocol.h
index bd5ee52..79783fd 100644
--- a/protocol.h
+++ b/protocol.h
@@ -18,6 +18,7 @@
 // 帧头帧尾定义
 #define FRAME_HEADER            0xA55A5AA5
 #define FRAME_TAIL              0x5AA5A55A
+#define READ_ACK_TIMEOUT        50
 
 // 功能码定义
 #define HOST_CMD_STATUS_QUERY        0x0001  // 状态查询
@@ -300,6 +301,7 @@ static const uint8_t statusInfo[16][60]={
 #define RTU_VALVE_CMD_SC                0x0381  // 阀门运行状态
 #define RTU_VALVE_CMD_AL                0x037F  // 阀门运行告警
 #define RTU_VALVE_CMD_POS               0x03C8  // 阀门运行位置，用户单位
+#define RTU_VALVE_CMD_SPEED             0x03D0  // 阀门当前速度，用户单位/s
 
 #define RTU_VALVE_CMD_HOME_MODE         0x0416  // 阀门原点回归方式
 #define RTU_VALVE_CMD_HOME_SWT_SPEED    0x0417  // 阀门回归寻找开关的速度