diff --git a/protocol.c b/protocol.c
index 1b4e722..2d44d8d 100644
--- a/protocol.c
+++ b/protocol.c
@@ -87,7 +87,7 @@ void updateDeviceStatus(DeviceStatus_t status) {
  * 更新三通阀状态
  * 
  * @param index 阀门索引(1或2)
- * @param angle 阀门角度值(120°或210°)
+ * @param angle 阀门角度值(0-360，绝对角度)
  */
 void updateValveStatus(uint8_t index, ValveAngle_t angle) {
     if (index == 1) {
@@ -322,7 +322,7 @@ uint8_t WritePump2Reg(uint8_t index, uint16_t reg, uint32_t value) {
  * @param acc 加速度值
  * @return 0:成功 其他:失败
  */
-static uint8_t WriteJogAcc(uint8_t index, uint16_t acc) {
+static uint8_t SetPumpJogAcc(uint8_t index, uint16_t acc) {
     WritePump1Reg(index, RTU_PUMP_CMD_JA, acc);
 }
 
@@ -333,7 +333,7 @@ static uint8_t WriteJogAcc(uint8_t index, uint16_t acc) {
  * @param dec 减速度值
  * @return 0:成功 其他:失败
  */
-static uint8_t WriteJogDec(uint8_t index, uint16_t dec) {
+static uint8_t SetPumpJogDec(uint8_t index, uint16_t dec) {
     WritePump1Reg(index, RTU_PUMP_CMD_JL, dec);
 }
 
@@ -344,14 +344,14 @@ static uint8_t WriteJogDec(uint8_t index, uint16_t dec) {
  * @param speed 速度值
  * @return 0:成功 其他:失败
  */
-static uint8_t WriteJogSpeed(uint8_t index, uint16_t speed) {
+static uint8_t SetPumpJogSpeed(uint8_t index, uint16_t speed) {
     WritePump1Reg(index, RTU_PUMP_CMD_JS, speed);
 }
 
 // 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 StartJogControl(uint8_t index) {
+static uint8_t StartPumpJog(uint8_t index) {
     WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0096);
 }
 
@@ -359,7 +359,7 @@ static uint8_t StartJogControl(uint8_t index) {
 // 写入命令操作码寄存器(40125)数据0x00D8(SJ)，即执行停止Jog控制
 // 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 StopJogControl(uint8_t index) {
+static uint8_t StopPumpJog(uint8_t index) {
     WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00D8);
 }
 
@@ -383,7 +383,7 @@ static uint8_t StopJogControl(uint8_t index) {
  * @param acc 加速度值
  * @return 0:成功 其他:失败
  */
-static uint8_t WriteStepAcc(uint8_t index, uint16_t acc) {
+static uint8_t SetPumpStepAcc(uint8_t index, uint16_t acc) {
     WritePump1Reg(index, RTU_PUMP_CMD_AC, acc);
 }
 /**
@@ -393,7 +393,7 @@ static uint8_t WriteStepAcc(uint8_t index, uint16_t acc) {
  * @param dec 减速度值
  * @return 0:成功 其他:失败
  */
-static uint8_t WriteStepDec(uint8_t index, uint16_t dec) {
+static uint8_t SetPumpStepDec(uint8_t index, uint16_t dec) {
     WritePump1Reg(index, RTU_PUMP_CMD_DE, dec);
 }
 /**
@@ -404,7 +404,7 @@ static uint8_t WriteStepDec(uint8_t index, uint16_t dec) {
  * @param speed 速度百分比(0-100)
  * @return 0:成功 其他:失败
  */
-static uint8_t WriteStepSpeed(uint8_t index, uint16_t speed) {
+static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) {
     // 目标速度转换为实际速度
     speed = (uint16_t)(speed * dp.pump[index].maxSpeed / 100);
     WritePump1Reg(index, RTU_PUMP_CMD_VE, speed);
@@ -416,29 +416,29 @@ static uint8_t WriteStepSpeed(uint8_t index, uint16_t speed) {
  * @param target 目标位置值
  * @return 0:成功 其他:失败
  */
-static uint8_t WriteStepTarget(uint8_t index, uint32_t target) {
+static uint8_t SetPumpStepTarget(uint8_t index, uint32_t target) {
     WritePump2Reg(index, RTU_PUMP_CMD_DI, target);
 }
 
 /**
- * 执行相对位置控制
+ * 执行相对位置控制，目前仅用到相对移动
  * 写入FL(feed length)命令到操作码寄存器
  * 
  * @param index 泵索引
  * @return 0:成功 其他:失败
  */
-static uint8_t RelativePositionControl(uint8_t index) {
+static uint8_t PumpRelativePositionControl(uint8_t index) {
     WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0066);
 }
 
 /**
- * 执行绝对位置控制
+ * 执行绝对位置控制，目前无使用
  * 写入FP(feed position)命令到操作码寄存器
  * 
  * @param index 泵索引
  * @return 0:成功 其他:失败
  */
-static uint8_t AbsolutePositionControl(uint8_t index) {
+static uint8_t PumpAbsolutePositionControl(uint8_t index) {
     WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0067);
 }
 
@@ -459,7 +459,7 @@ static uint8_t StopPump(uint8_t index) {
  * @param index 泵索引
  * @return 0:成功 其他:失败
  */
-uint8_t ReadHWReg(uint8_t index) {
+uint8_t ReadPumpHWReg(uint8_t index) {
     ReadPump1Reg(index, RTU_PUMP_CMD_HW);
 }
 /**
@@ -469,7 +469,7 @@ uint8_t ReadHWReg(uint8_t index) {
  * @param br 波特率值
  * @return 0:成功 其他:失败
  */
-uint8_t WriteBRReg(uint8_t index, uint16_t br) {
+uint8_t SetPumpBR(uint8_t index, uint16_t br) {
     WritePump1Reg(index, RTU_PUMP_CMD_BR, br);
 }
 /**
@@ -479,7 +479,7 @@ uint8_t WriteBRReg(uint8_t index, uint16_t br) {
  * @param pr 协议类型值
  * @return 0:成功 其他:失败
  */
-uint8_t WritePRReg(uint8_t index, uint16_t pr) {
+uint8_t SetPumpPR(uint8_t index, uint16_t pr) {
     WritePump1Reg(index, RTU_PUMP_CMD_PR, pr);
 }
 
@@ -562,6 +562,45 @@ void DecodePumpStatusMsg(uint16_t reg4002) {
     return 0;
 }
 
+
+
+/**
+ * 定时更新泵的状态
+ * 读取泵的运行状态和告警信息
+ */
+void UpdatePumpStatus() {
+    // 更新设备状态
+    ReadPumpStatus(0);
+    ReadPumpStatus(1);
+    ReadPumpAlarm(0);
+    ReadPumpAlarm(1);
+}
+
+/**
+ * 初始化泵参数
+ * 设置最大速度、加速度和减速度
+ * 
+ * @return 0:成功 其他:失败
+ */
+uint8_t InitPump(void) {
+    // 初始化泵
+    log_e("InitPump");
+    WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
+    WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
+    WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
+    WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
+    WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
+    WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
+
+    WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
+    WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
+    WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
+    WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
+    WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
+    WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
+}
+
+
 // valve
 /*
 # 轮廓位置模式，配置流程
@@ -807,15 +846,16 @@ uint8_t ValveRunInit(uint8_t index) {
  * 控制阀门运行到指定角度
  * 
  * @param index 阀门索引
- * @param angle 目标角度(0/120/210)
+ * @param angle 目标角度（0-360，绝对角度）
  * @return 0:成功 其他:失败
  */
 uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
-    // 限制角度为0,120,210
-    if(angle != 0 && angle != 120 && angle != 210) {
-        printf("阀门角度设置错误\r\n");
+    // 限制角度的逻辑不在这里，此处只执行控制逻辑
+    if(angle > 360) {
+        log_e("阀门角度设置错误");
         return 1;
     }
+
     // 其它配置不变的情况下只需要写3个控制字
     SetValvePPPos(index, (uint32_t)(angle*VALVE_PULSE_PER_ROUND/360));
     // 电机以绝对位置，立即更新的方式运行
@@ -841,42 +881,6 @@ uint8_t InitValve(void) {
     SetValvePPDec(dp.valve[1].id, dp.valve[1].maxDecel);
 }
 
-/**
- * 定时更新泵的状态
- * 读取泵的运行状态和告警信息
- */
-void UpdatePumpStatus() {
-    // 更新设备状态
-    ReadPumpStatus(0);
-    ReadPumpStatus(1);
-    ReadPumpAlarm(0);
-    ReadPumpAlarm(1);
-}
-
-/**
- * 初始化泵参数
- * 设置最大速度、加速度和减速度
- * 
- * @return 0:成功 其他:失败
- */
-uint8_t InitPump(void) {
-    // 初始化泵
-    log_e("InitPump");
-    WriteJogAcc(dp.pump[0].id, dp.pump[0].maxAccel);
-    WriteJogDec(dp.pump[0].id, dp.pump[0].maxDecel);
-    WriteJogSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
-    WriteStepAcc(dp.pump[0].id, dp.pump[0].maxAccel);
-    WriteStepDec(dp.pump[0].id, dp.pump[0].maxDecel);
-    WriteStepSpeed(dp.pump[0].id, dp.pump[0].maxSpeed);
-
-    WriteJogAcc(dp.pump[1].id, dp.pump[1].maxAccel);
-    WriteJogDec(dp.pump[1].id, dp.pump[1].maxDecel);
-    WriteJogSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
-    WriteStepAcc(dp.pump[1].id, dp.pump[1].maxAccel);
-    WriteStepDec(dp.pump[1].id, dp.pump[1].maxDecel);
-    WriteStepSpeed(dp.pump[1].id, dp.pump[1].maxSpeed);
-}
-
 /**
  * 初始化设备状态
  * 设置设备在线状态、阀门角度、泵运行状态等
@@ -916,7 +920,7 @@ static uint8_t HandleStatusQuery(void) {
     // 填充并返回数据
     uint8_t txBuf[sizeof(DeviceStatus)] = {0};
     memcpy(txBuf, &deviceStatus, sizeof(DeviceStatus));
-    // sendMsgToHost(txBuf, sizeof(txBuf));
+    sendMsgToHost(txBuf, sizeof(txBuf));
     return 0;
 }
 
@@ -936,7 +940,7 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
         return 0;
     }
     uint8_t index = Buff[0];
-    uint8_t direction = Buff[1];
+    uint8_t direction = Buff[1];//此状态位无效，目前三通阀有硬件限位，且指定角度必须为120或210
     uint16_t angle = (Buff[2]<<8) | Buff[3];
     if(angle > 360) {
         log_e("三通阀控制错误");
@@ -948,7 +952,7 @@ static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
     }
     
     // 具体实现
-
+    ValveRunToAngle(index,angle);
 
     // 更新三通阀状态
     updateValveStatus(index, angle);
@@ -991,7 +995,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
         log_e("泵速度设置错误");
         return 0;
     }    
-    WriteJogSpeed(index, speed);
+    SetPumpJogSpeed(index, speed);
 
     index = Buff[2];
     speed = Buff[3];
@@ -999,7 +1003,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
         log_e("泵速度设置错误");
         return 0;
     }
-    WriteJogSpeed(index, speed);
+    SetPumpJogSpeed(index, speed);
 
     return 1;
 }
@@ -1019,7 +1023,7 @@ static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
     }
     uint8_t index = Buff[0];
     int32_t step = (Buff[1]<<24) | (Buff[2]<<16) | (Buff[3]<<8) | Buff[4];
-    WriteStepTarget(index, step);
+    SetPumpStepTarget(index, step);
     
     return 0;
 }
@@ -1045,8 +1049,8 @@ static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
 // 急停状态
         StopPump(0);
         StopPump(1);
-        StopJogControl(0);
-        StopJogControl(1);
+        StopPumpJog(0);
+        StopPumpJog(1);
         updateEmergencyStop(ESTOP_PRESSED);
     }
     return 0;
@@ -1120,22 +1124,22 @@ void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
 CmdFrameError_t checkHostCmd(uint8_t *rxBuf, uint16_t rxLen) {
     // 检查命令是否正确
     // FRAME_HEADER是按小端序存储的，而rxBuf是按大端序存的
-    uint32_t header;
-    FillBigEndian32(&header, FRAME_HEADER);
-    uint32_t tail;
-    FillBigEndian32(&tail, FRAME_TAIL);
+    uint8_t header[sizeof(FRAME_HEADER)];
+    FillBigEndian32(header, FRAME_HEADER);
+    uint8_t tail[sizeof(FRAME_TAIL)];
+    FillBigEndian32(tail, FRAME_TAIL);
 
-    if(memcmp(rxBuf, &header, 4) != 0)
+    if(memcmp(rxBuf, header, sizeof(FRAME_HEADER)) != 0)
     {
         return CMD_FRAME_HEADER_ERROR;
     }
     
-    if (memcmp(rxBuf + rxLen - 4, &tail, 4) != 0)
+    if (memcmp(rxBuf + rxLen - sizeof(FRAME_TAIL), tail, sizeof(FRAME_TAIL)) != 0)
     {
         return CMD_FRAME_TAIL_ERROR;
     }
-    uint16_t crc = CalculateCRC16(rxBuf+4, rxLen - 8);// 计算crc，不包含帧头和帧尾
-    if (memcmp(rxBuf + rxLen - 4, &crc, 2) != 0)
+    uint16_t crc = CalculateCRC16(rxBuf+sizeof(FRAME_HEADER), rxLen - sizeof(FRAME_HEADER)-sizeof(FRAME_TAIL))-2;// 计算crc，不包含帧头和帧尾和crc自身
+    if ((rxBuf[rxLen-sizeof(FRAME_TAIL)-6]<<8) | rxBuf[rxLen-sizeof(FRAME_TAIL)-5] != crc)
     {
         return CMD_FRAME_CHECK_ERROR;
     }