diff --git a/protocol.c b/protocol.c
index df5991d..94dd093 100644
--- a/protocol.c
+++ b/protocol.c
@@ -1,5 +1,6 @@
 #include "protocol.h"
 #include <string.h>
+#include "math.h"
 
 #ifndef USE_ELOG
 void elog_hexdump(const char *name, uint8_t width, const void *buf, uint16_t size) {
@@ -15,18 +16,20 @@ void elog_hexdump(const char *name, uint8_t width, const void *buf, uint16_t siz
 }
 #endif
 
+const char *ackError[]={ "HAL_OK", "HAL_ERROR", "HAL_BUSY", "HAL_TIMEOUT" };
 
 DeviceStatus_t deviceStatus = {
     .sensorStatus = 1,
     .valves = {{210, 120}},
-    .pumps = {{0, 0},{50, 50}},
+    .pumps = {{1, 2},{50, 70}},
     .bubbleStatus = 0,
-    .activityMeter = 0,
+    .activityMeter = 123.456,
     .estopStatus = 0,
     .errorCode = 0,
     .initStatus = 1
 };
 SystemStatus_t systemStatus = {
+    .ds = &deviceStatus,  // 初始化时将 ds 指向 deviceStatus
     .valvesSpeed = {0},
     .valvesPos = {0},
     .valvesSpeedPercent = {0},
@@ -203,11 +206,12 @@ static uint8_t writeCMD(uint8_t *txBuf, uint16_t txLen) {
     transDataToMotorValve(txBuf, txLen);
     uint8_t rxBuf[30] = {0};
     uint16_t rxLen = txLen;
-    readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT);
+    uint8_t ret = readDataFromMotorValve(rxBuf, rxLen, READ_ACK_TIMEOUT);
     // HAL_UART_Receive(&huart2, rxBuf, rxLen, READ_ACK_TIMEOUT*4);
     // elog_hexdump("ACK", 16, rxBuf, rxLen);
     if(memcmp(rxBuf, txBuf, 2) != 0) {//正常情况下，返回的前2个字节应与发送的相同
-        elog_hexdump("writeCMD error", 16, rxBuf, rxLen);
+        log_e("READ ACK ERROR:[%s]", ackError[ret]);
+        elog_hexdump("GET DATA", 16, rxBuf, rxLen);
         systemStatus.rst += 1;//结果计数
         return 1;
     }
@@ -671,11 +675,11 @@ void ReadPumpSpeedPos(void)
         //判断正转、反转
         if(speed > 0) {
             if(ReadPump2Reg(dp.pump[index].id,RTU_PUMP_CMD_POS) > pos)
-                systemStatus.ds.pumps.status[index] = PUMP_STATUS_CLOCKWISE;
+                systemStatus.ds->pumps.status[index] = PUMP_STATUS_CLOCKWISE;
             else
-                systemStatus.ds.pumps.status[index] = PUMP_STATUS_ANTICLOCKWISE;
+                systemStatus.ds->pumps.status[index] = PUMP_STATUS_ANTICLOCKWISE;
         } else {
-            systemStatus.ds.pumps.status[index] = PUMP_STATUS_STOP;
+            systemStatus.ds->pumps.status[index] = PUMP_STATUS_STOP;
         }
     }
 }
@@ -1009,6 +1013,11 @@ static uint32_t ReadValveSpeed(uint8_t index) {
  */
 void ValveBackToOrigin(uint8_t index,int8_t direction) {
     uint8_t rst = systemStatus.rst;
+
+ // 3.写 (00B1h)=0、运行模式 (03C2h)=0x06，使其工作在原点回归模式；
+    SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
+    SetValveRunMode(index, RTU_VALVE_CFG_MODE_HM);
+
 // 1.设置原点回归方式
 // (0416h)=37;17=负限位，18=正限位
     if(direction > 0) {
@@ -1023,9 +1032,7 @@ void ValveBackToOrigin(uint8_t index,int8_t direction) {
     // (0170h)=300，(0172h)=50
     SetValveHomeTorque(index, 30);//30%
     SetValveHomeTime(index, 5);//5ms
-    // 3.写 (00B1h)=0、运行模式 (03C2h)=0x06，使其工作在原点回归模式；
-    SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
-    SetValveRunMode(index, RTU_VALVE_CFG_MODE_HM);
+   
     // 4.写寻找限位开关速度和寻找原点信号速度(0417h)= 10000  (0419h)=1000;
     // SetValveHomeSwtSpeed(index, 20000);
     SetValveHomeOriSpeed(index, 20000);
@@ -1040,7 +1047,7 @@ void ValveBackToOrigin(uint8_t index,int8_t direction) {
 
     if(rst != systemStatus.rst) {
         log_e("ValveBackToOrigin[%d] CMD failed!",index);
-        systemStatus.ds.initStatus = INIT_FAILED;
+        systemStatus.ds->initStatus = INIT_FAILED;
     }
     systemStatus.isValveMovingBackToOrigin[index] = 1;
 
@@ -1060,7 +1067,7 @@ static void valveCheckBTOResult(uint8_t index)
 {    
     static uint8_t retryCnt = 0;
     uint8_t isSuccess = 0;
-    if (systemStatus.ds.initStatus != INIT_IN_PROGRESS && systemStatus.isValveMovingBackToOrigin[index] == 1) {//初始化中才检查
+    if (systemStatus.ds->initStatus != INIT_IN_PROGRESS && systemStatus.isValveMovingBackToOrigin[index] == 1) {//初始化中才检查
         return;
     }
     
@@ -1098,14 +1105,18 @@ static void valveCheckBTOResult(uint8_t index)
         // systemStatus.ds.initStatus = INIT_SUCCESS;
         systemStatus.isValveMovingBackToOrigin[index] = 0;
         log_i("ValveBackToOrigin[%d] success!",index);
+        SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
+        SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
         return;
     }
     else {
         log_e("ValveBackToOrigin[%d] failed!",index);
         retryCnt++;
         if(retryCnt > 2) {//执行两次回归，都失败则认为初始化失败
-            systemStatus.ds.initStatus = INIT_FAILED;
+            systemStatus.ds->initStatus = INIT_FAILED;
             retryCnt = 0;
+            SetValveCOMMMode(index, RTU_VALVE_CFG_COMM_CIA402);
+            SetValveRunMode(index, RTU_VALVE_CFG_MODE_PP);
             return;
         }
         // ValveBackToOrigin(index, -1);
@@ -1156,15 +1167,17 @@ uint8_t ValvePPInit(uint8_t index) {
  */
 uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
     uint8_t rst = systemStatus.rst;
-    log_i("set angel to %d\r\n",angle);
+    log_d("try to set angel to %d",angle);
     // 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");
+        log_e("阀门角度[%d]设置错误",angle);
         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*dp.valve[index].fullCount/360+dp.valve[index].offsetPos));
+    uint32_t pos = (uint32_t)(angle*dp.valve[index].fullCount/360+dp.valve[index].offsetPos);
+    log_d("angle[%d] = pos[%d]",angle,pos);
+    SetValvePPPos(index, pos);
     // 电机以绝对位置，立即更新的方式运行
     // (电机是以控制字 6040h(0380h)的 bit4 的上升沿接收新的位置命令，
     // 所以每次执行完一次运行后需 要把此位清零。)
@@ -1172,9 +1185,10 @@ uint8_t ValveRunToAngle(uint8_t index, uint32_t angle) {
     SetValveFunc(index, 0x3F);
 
     if(rst != systemStatus.rst) {
-        log_e("ValveRunToAngle[%d] failed!",index);
+        log_e("ValveRunToAngle[%d] failed!",angle);
         // systemStatus.ds.initStatus = INIT_FAILED;
     }
+    log_i("ValveRunToAngle[%d] success!",angle);
 }
 
 /**
@@ -1194,9 +1208,9 @@ void ReadValveSpeedPos(void)
 {
     for(uint8_t index = 0; index < 2; index++) {
         systemStatus.valvesSpeed[index] = ReadValveSpeed(index);
-        systemStatus.valvesSpeedPercent[index] = transSpeedToSpeedPercent(index, systemStatus.valvesSpeed[index]);
+        systemStatus.valvesSpeedPercent[index] = transSpeedToSpeedPercent(index, abs(systemStatus.valvesSpeed[index]));
         systemStatus.valvesPos[index] = ReadValvePos(index);
-        systemStatus.ds.valves.angle[index] = systemStatus.valvesPos[index]*360/dp.valve[index].fullCount;
+        systemStatus.ds->valves.angle[index] = round(systemStatus.valvesPos[index]*360/dp.valve[index].fullCount);
     }
 }
 
@@ -1206,9 +1220,9 @@ void ReadValveSpeedPos(void)
 void updateValveStatus(void)
 {
     valveCheckBTOResult(0);
-    // valveCheckBTOResult(1);
-    if (systemStatus.ds.initStatus == INIT_IN_PROGRESS && systemStatus.isValveMovingBackToOrigin[0] == 0 && systemStatus.isValveMovingBackToOrigin[1] == 0) {
-        systemStatus.ds.initStatus = INIT_SUCCESS;
+    valveCheckBTOResult(1);
+    if (systemStatus.ds->initStatus == INIT_IN_PROGRESS && systemStatus.isValveMovingBackToOrigin[0] == 0 && systemStatus.isValveMovingBackToOrigin[1] == 0) {
+        systemStatus.ds->initStatus = INIT_SUCCESS;
     }
     
 
@@ -1268,11 +1282,11 @@ void updateVPInfo(void)
  */
 void dumpSystemStatus(void)
 {
-    log_d("↓↓↓↓↓↓↓↓↓↓↓↓↓↓↓");
-    log_d("valve pos: %d[%d%%] / %d[%d%%]",systemStatus.valvesPos[0], \
-    systemStatus.ds.valves.angle[0], \
+    log_d("---------------");
+    log_d("valve pos: %d[%d°] / %d[%d°]",systemStatus.valvesPos[0], \
+    systemStatus.ds->valves.angle[0], \
     systemStatus.valvesPos[1], \
-    systemStatus.ds.valves.angle[1]);
+    systemStatus.ds->valves.angle[1]);
     log_d("valve speed: %d[%d%%] / %d[%d%%]",systemStatus.valvesSpeed[0], \
     systemStatus.valvesSpeedPercent[0], \
     systemStatus.valvesSpeed[1], \
@@ -1282,7 +1296,7 @@ void dumpSystemStatus(void)
     systemStatus.pumpsSpeedPercent[0], \
     systemStatus.pumpsSpeed[1], \
     systemStatus.pumpsSpeedPercent[1]);
-    log_d("↑↑↑↑↑↑↑↑↑↑↑↑↑↑↑");
+    log_d("---------------");
 }
 
 //在主循环中调用
@@ -1303,8 +1317,8 @@ void updateSystemStatus(void)
  */
 void initCTLSystem(void)
 {
-    systemStatus.ds = deviceStatus;
-    systemStatus.ds.initStatus = INIT_IN_PROGRESS;
+    systemStatus.ds = &deviceStatus;  // 赋值地址而不是内容
+    systemStatus.ds->initStatus = INIT_IN_PROGRESS;
     systemStatus.rst = 0;
     InitValve();
     // InitPump();
@@ -1330,15 +1344,30 @@ static void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
     if(funcCode == HOST_CMD_STATUS_QUERY) {
         dlen = sizeof(DeviceStatus_t);
         index = sizeof(FRAME_TAIL)+2;
-        msgBuf[index] = dlen;
+        msgBuf[index] = 17;
         index += 1;
-        memcpy(msgBuf+index, &deviceStatus, dlen);
-        index += dlen;
+        //系统是小端序，将deviceStatus转换为大端序
+        memcpy(msgBuf+index, &deviceStatus.sensorStatus, 1);
+        index += 1;
+        FillBigEndian16(msgBuf+index, deviceStatus.valves.angle[0]);
+        index += 2;
+        FillBigEndian16(msgBuf+index, deviceStatus.valves.angle[1]);
+        index += 2;
+        memcpy(msgBuf+index, &deviceStatus.pumps, 5);
+        index += 5;
+        uint32_t hex_value;
+        memcpy(&hex_value, &deviceStatus.activityMeter, sizeof(deviceStatus.activityMeter));
+        FillBigEndian32(msgBuf+index, hex_value);
+        index += 4;
+
+        memcpy(msgBuf+index, &deviceStatus.estopStatus, 3);
+        index += 3;
+
         uint16_t crc = CalculateCRC16(msgBuf+4, index-4);//不包含帧头
         FillBigEndian16(msgBuf+index, crc);
         index += 2;
         FillBigEndian32(msgBuf+index, FRAME_HEADER);
-        len = index+4;
+        len = index+sizeof(FRAME_HEADER);
     }
     else {
         dlen = 1;
@@ -1351,7 +1380,7 @@ static void packMsgToHost(uint16_t funcCode, uint8_t isOK) {
         FillBigEndian16(msgBuf+index, crc);
         index += 2;
         FillBigEndian32(msgBuf+index, FRAME_HEADER);
-        len = index+4;
+        len = index+sizeof(FRAME_HEADER);
     }
     // 发送数据
     sendMsgToHost(msgBuf, len);
@@ -1365,9 +1394,9 @@ static uint8_t HandleInit(void) {
     // 3.执行协议初始化流程
     // 4.检查初始化结果，更新状态"成功"或"失败"
     
-    // 3.协议要求内容为：2个三通阀步进电机堵转找原点，重复至少2次，然后各自转至120°。
+    // 3.协议要求内容为：2个三通阀步进电机堵转找原点，重复至少2次。
 
-    systemStatus.ds.initStatus = INIT_IN_PROGRESS;
+    systemStatus.ds->initStatus = INIT_IN_PROGRESS;
     systemStatus.rst = 0;
 
     initCTLSystem();
@@ -1405,12 +1434,12 @@ static void HandleStatusQuery(void) {
 static uint8_t HandleValveControl(uint8_t *Buff, uint8_t len) {
     // 实现三通阀控制逻辑
 
-    if(len != 8) {
-        log_e("三通阀控制错误");
+    if(len != 4) {
+        log_e("三通阀控制错误[%d]",len);
         return 1;
     }
     uint8_t rst = systemStatus.rst;
-    for(uint8_t index = 0; index < len; index++) {
+    for(uint8_t index = 0; index < len/2; index++) {
 
         if(memcmp(Buff+index*2, "\xFF\xFF", 2) == 0) {
             continue;
@@ -1440,7 +1469,7 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
     // 1表示启动泵顺时针转动，2表示启动泵的逆时针转动，0表示停止泵
     // 时间为0则表示一直转
     uint8_t rst = systemStatus.rst;
-    for(uint8_t index = 0; index < len; index++) {
+    for(uint8_t index = 0; index < len/3; index++) {
 
         if(memcmp(Buff+index*3, "\xFF\xFF\xFF", 3) == 0) {
             continue;
@@ -1511,7 +1540,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
         }
 
         //更新参数
-        systemStatus.ds.pumps.speed[index] = speedPercent;
+        systemStatus.ds->pumps.speed[index] = speedPercent;
     }
     
     return ACK_OK;
@@ -1527,7 +1556,7 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
  */
 static uint8_t HandlePumpStepControl(uint8_t *Buff, uint8_t len) {
     // 4字节步进，全FF跳过
-    for (size_t index = 0; index < len; index++)
+    for (size_t index = 0; index < len/4; index++)
     {
         if(memcmp(Buff+index*4, "\xFF\xFF\xFF\xFF", 4) == 0) {
             continue;
@@ -1561,7 +1590,7 @@ static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
     // 实现软急停功能逻辑
     if(rxBuf[0] == 0) {
     // 正常状态
-        systemStatus.ds.estopStatus = ESTOP_NORMAL;
+        systemStatus.ds->estopStatus = ESTOP_NORMAL;
     }
     else {
         // 急停状态
@@ -1576,7 +1605,7 @@ static uint8_t HandleSoftStop(uint8_t *rxBuf, uint16_t rxLen) {
             log_e("软急停错误");
             return ACK_FAILED;
         }
-        systemStatus.ds.estopStatus = ESTOP_PRESSED;
+        systemStatus.ds->estopStatus = ESTOP_PRESSED;
     }
     return ACK_OK;
 }
diff --git a/protocol.h b/protocol.h
index b9d80f9..2f929b9 100644
--- a/protocol.h
+++ b/protocol.h
@@ -401,8 +401,8 @@ typedef struct {
 
 typedef struct
 {
-    DeviceStatus_t ds;
-    uint32_t valvesSpeed[2];//实时速度
+    DeviceStatus_t *ds;
+    int32_t valvesSpeed[2];//实时速度
     uint8_t valvesSpeedPercent[2];//实时速度百分比
     uint32_t valvesPos[2];//实时位置
     uint32_t pumpsSpeed[2];//实时速度