diff --git a/protocol.c b/protocol.c
index 588b11b..6db4b81 100644
--- a/protocol.c
+++ b/protocol.c
@@ -12,10 +12,10 @@ DeviceStatus deviceStatus = {
 };
 
 DeviceParam dp = {{
-    {"pump1", 4, 100, 100, 100},
-    {"pump2", 4, 100, 100, 100},
-    {"valve1", 3, 100, 100, 100},
-    {"valve2", 4, 100, 100, 100}
+    {"pump1", 4, 60, 100, 100},
+    {"pump2", 3, 10, 100, 100},
+    {"valve1", 3, 10, 100, 100},
+    {"valve2", 4, 10, 100, 100}
 }};
 
 
@@ -66,6 +66,8 @@ static const uint16_t crcTable[] = {
 uint16_t CalculateCRC16(uint8_t *data, uint16_t length) {
     uint16_t crc = 0xFFFF;
     
+    if (!data) return 0;
+    
     for (uint16_t i = 0; i < length; i++) {
         uint8_t index = (crc ^ data[i]) & 0xFF;
         crc = (crc >> 8) ^ crcTable[index];
@@ -172,6 +174,7 @@ void updateInitStatus(InitStatus_t status) {
  * @param txLen 发送数据长度
  */
 void writeCMD(uint8_t *txBuf, uint16_t txLen) {
+    printf("writeCMD: ");
     for(uint16_t i = 0; i < txLen; i++) {
         printf("%02X ", txBuf[i]);
     }
@@ -181,13 +184,16 @@ void writeCMD(uint8_t *txBuf, uint16_t txLen) {
     // HAL_GPIO_WritePin(DIR2_GPIO_Port, DIR2_Pin, GPIO_PIN_RESET);
     transDataToMotorValve(txBuf, txLen);
     uint8_t rxBuf[30] = {0};
-    uint16_t rxLen = 0;
-    HAL_UART_Receive(&huart2, rxBuf, rxLen, 100);
-    for(uint16_t i = 0; i < rxLen; i++) {
-        printf("%02X ", rxBuf[i]);
+    uint16_t rxLen = txLen;
+    uint8_t rst =  HAL_UART_Receive(&huart2, rxBuf, rxLen, 50);
+    if(memcmp(rxBuf, txBuf, 2) != 0) {
+        log_e("writeCMD error");
+        printf("%d readCMD: ", rst);
+        for(uint16_t i = 0; i < rxLen; i++) {
+            printf("%02X ", rxBuf[i]);
+        }
+        printf("\r\n");
     }
-    printf("\r\n");
-    // transDataToMotorValve(txBuf, txLen);
 }
 
 /**
@@ -245,7 +251,7 @@ static void FillBigEndian16(uint8_t *data, uint16_t value) {
 +----------+--------+------------+------------+------------+
 */
 // pump 读寄存器
-uint8_t ReadPump1Reg(uint8_t index, uint16_t reg) {
+uint16_t ReadPump1Reg(uint8_t index, uint16_t reg) {
     
     uint8_t data[8] = {0};
     data[0] = index;
@@ -258,6 +264,10 @@ uint8_t ReadPump1Reg(uint8_t index, uint16_t reg) {
     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, 50);
+    return rxBuf[3]<<8|rxBuf[4];
 }
 
 uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) {
@@ -282,10 +292,10 @@ uint8_t ReadPump2Reg(uint8_t index, uint16_t reg) {
 +----------+--------+------------+----------+------------+
 */
 // 写泵1个寄存器
-uint8_t WritePump1Reg(uint8_t index, uint16_t reg, uint16_t value) {
+uint8_t WritePump1Reg(uint8_t id, uint16_t reg, int16_t value) {
     // 写一个寄存器不需要指定寄存器长度
     uint8_t data[8] = {0};
-    data[0] = index;
+    data[0] = id;
     data[1] = RTU_FUNC_WRITE_REG;
     FillBigEndian16(&data[2], reg);
     FillBigEndian16(&data[4], value);
@@ -304,14 +314,14 @@ uint8_t WritePump1Reg(uint8_t index, uint16_t reg, uint16_t value) {
 +----------+--------+------------+------------+----------+----------+------------+
 */
 // 写泵2个寄存器
-uint8_t WritePump2Reg(uint8_t index, uint16_t reg, uint32_t value) {
+uint8_t WritePump2Reg(uint8_t  id , uint16_t reg, int32_t value) {
     // 写2个寄存器需要指定寄存器长度
     uint8_t data[13] = {0};
-    data[0] = index;
+    data[0] = id;
     data[1] = RTU_FUNC_WRITE_MULTI_REG;
     FillBigEndian16(&data[2], reg);
     FillBigEndian16(&data[4], 2);
-    data[6] = 8;
+    data[6] = 4;
     FillBigEndian32(&data[7], value);
     uint16_t crc = CalculateCRC16(data, 11);
     // 小端序填充
@@ -340,7 +350,7 @@ uint8_t WritePump2Reg(uint8_t index, uint16_t reg, uint32_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);
+    WritePump1Reg(index, RTU_PUMP_CMD_JA, acc*PUMP_ACCEL_RPS);
 }
 
 /**
@@ -351,7 +361,7 @@ 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);
+    WritePump1Reg(index, RTU_PUMP_CMD_JL, dec*PUMP_DECEL_RPS);
 }
 
 /**
@@ -362,7 +372,7 @@ 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);
+    WritePump1Reg(index, RTU_PUMP_CMD_JS, speed*PUMP_SPEED_RPS);
 }
 
 // Jog=慢跑
@@ -401,7 +411,7 @@ 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);
+    WritePump1Reg(index, RTU_PUMP_CMD_AC, acc*PUMP_ACCEL_RPS);
 }
 /**
  * 设置泵的步进减速度
@@ -411,20 +421,21 @@ 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);
+    WritePump1Reg(index, RTU_PUMP_CMD_DE, dec*PUMP_DECEL_RPS);
 }
 /**
  * 设置泵的步进速度
  * 将百分比速度转换为实际速度值
  * 
  * @param index 泵索引
- * @param speed 速度百分比(0-100)
+ * @param speed 用户速度
  * @return 0:成功 其他:失败
  */
 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);
+    // 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;
 }
 /**
  * 设置泵的步进目标位置
@@ -433,8 +444,8 @@ static uint8_t SetPumpStepSpeed(uint8_t index, uint16_t speed) {
  * @param target 目标位置值
  * @return 0:成功 其他:失败
  */
-static uint8_t SetPumpStepTarget(uint8_t index, uint32_t target) {
-    WritePump2Reg(index, RTU_PUMP_CMD_DI, target);
+static uint8_t SetPumpStepTarget(uint8_t index, int32_t target) {
+    WritePump2Reg(dp.pump[index].id, RTU_PUMP_CMD_DI, target);
 }
 
 /**
@@ -445,7 +456,7 @@ static uint8_t SetPumpStepTarget(uint8_t index, uint32_t target) {
  * @return 0:成功 其他:失败
  */
 static uint8_t StartPumpRelativeMove(uint8_t index) {
-    WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x0066);
+    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x0066);
 }
 
 /**
@@ -467,7 +478,7 @@ static uint8_t StartPumpAbsoluteMove(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 static uint8_t StopPump(uint8_t index) {
-    WritePump1Reg(index, RTU_PUMP_CMD_CO, 0x00E1);
+    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_CO, 0x00E1);
 }
 
 /**
@@ -487,7 +498,7 @@ uint8_t ReadPumpHWReg(uint8_t index) {
  * @return 0:成功 其他:失败
  */
 uint8_t SetPumpBR(uint8_t index, uint16_t br) {
-    WritePump1Reg(index, RTU_PUMP_CMD_BR, br);
+    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_BR, br);
 }
 /**
  * 设置泵的通信协议
@@ -497,7 +508,7 @@ 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(index, RTU_PUMP_CMD_PR, pr);
+    WritePump1Reg(dp.pump[index].id, RTU_PUMP_CMD_PR, pr);
 }
 
 /**
@@ -505,8 +516,8 @@ uint8_t SetPumpPR(uint8_t index, uint16_t pr) {
  * 
  * @param index 泵索引
  */
-void ReadPumpStatus(uint8_t index) {
-    ReadPump1Reg(index, RTU_PUMP_CMD_SC);
+uint16_t ReadPumpStatus(uint8_t index) {
+    return ReadPump1Reg(dp.pump[index].id, RTU_PUMP_CMD_SC);
 }
 
 /**
@@ -514,8 +525,8 @@ void ReadPumpStatus(uint8_t index) {
  * 
  * @param index 泵索引
  */
-void ReadPumpAlarm(uint8_t index) {
-    ReadPump1Reg(index, RTU_PUMP_CMD_AL);
+uint16_t ReadPumpAlarm(uint8_t index) {
+    return ReadPump1Reg(dp.pump[index].id, RTU_PUMP_CMD_AL);
 }
 
 /**
@@ -524,6 +535,7 @@ void ReadPumpAlarm(uint8_t index) {
  * @param reg4001 告警寄存器值
  */
 void DecodePumpAlarmMsg(uint16_t reg4001) {
+    printf("reg4001: %x\r\n", reg4001);
     static AlarmCode_t alarmCode = {0};
     // 与上次告警信息相同，则不更新，仅打印一次
     if (alarmCode.all == reg4001)
@@ -615,6 +627,16 @@ uint8_t InitPump(void) {
     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);
+    
+    uint16_t reg4001 = ReadPumpAlarm(0);
+    DecodePumpAlarmMsg(reg4001);
+    uint16_t reg4002 = ReadPumpStatus(0);
+    DecodePumpStatusMsg(reg4002);
+
+    reg4001 = ReadPumpAlarm(1);
+    DecodePumpAlarmMsg(reg4001);
+    reg4002 = ReadPumpStatus(1);
+    DecodePumpStatusMsg(reg4002);
 }
 
 
@@ -785,22 +807,22 @@ static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
  * 设置阀门原点回归堵转检测力矩
  * 
  * @param index 阀门索引
- * @param torque 力矩值
+ * @param torque 力矩值，百分比，太低容易误判，默认为60即60%
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
-    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TORQUE, torque);
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TORQUE, torque*10);
 }
 
 /**
  * 设置阀门原点回归堵转检测时间
  * 
  * @param index 阀门索引
- * @param time 检测时间(ms)
+ * @param time 检测时间(ms)，太短容易误判，默认为1000ms
  * @return 0:成功 其他:失败
  */
 static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
-    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time);
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time*10);
 }
 
 /**
@@ -810,27 +832,32 @@ static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
  * @param index 阀门索引
  * @return 0:成功 其他:失败
  */
-uint8_t ValveBackToOrigin(uint8_t index) {
+uint8_t ValveBackToOrigin(uint8_t index,uint8_t direction) {
 // 1.设置原点回归方式
 // (0416h)=37;17=负限位，18=正限位
-    SetValveHomeDetectMode(index, 37);
+    if(direction) {
+        SetValveHomeDetectMode(index, 37);//正方向堵转
+    }
+    else {
+        SetValveHomeDetectMode(index, 38);//反方向堵转
+    }
     // 2.设置堵转检测力矩和堵转检测时间
     // (0170h)=300，(0172h)=50
-    SetValveHomeTorque(index, 300);//30%
-    SetValveHomeTime(index, 50);//50ms
+    SetValveHomeTorque(index, 600);//60%
+    SetValveHomeTime(index, 10000);//1000ms
     // 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);
+    // 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, 10000);
-    SetValveHomeOriSpeed(index, 1000);
+    // SetValveHomeSwtSpeed(index, 20000);
+    SetValveHomeOriSpeed(index, 20000);
     // 5.设置回零加速度
     SetValveHomeAcc(index, 200000);
     // 6.写控制字
     //  (0380h)= 0x06→0x07→0x0F→0x1F，电机运行
-    SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
-    SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
-    SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
+    // SetValveFunc(index, RTU_VALVE_CFG_PREPARE);
+    // SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
+    // SetValveFunc(index, RTU_VALVE_CFG_ENABLE);
     SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
 }
 
@@ -1224,22 +1251,31 @@ CmdFrameError_t ProcessHostCommand(uint8_t *rxBuf, uint8_t rxLen) {
 
 
 void runPumpDemo(void) {
-    printf("runPumpDemo\n");
-    printf("InitPump\n");
+    printf("runPumpDemo\r\n");
+    // printf("InitPump\n");
     InitPump();
     // 泵1正转100步
     printf("SetPumpStepTarget(0, 100)\n");
-    SetPumpStepTarget(0, 100);
+    SetPumpStepTarget(0, 200000);
     printf("StartPumpRelativeMove(0)\n");
     StartPumpRelativeMove(0);
     HAL_Delay(1000);
     // 泵1反转100步
     printf("SetPumpStepTarget(0, -100)\n");
-    SetPumpStepTarget(0, -100);
+    SetPumpStepTarget(1, -300000);
     printf("StartPumpRelativeMove(0)\n");
-    StartPumpRelativeMove(0);
+    StartPumpRelativeMove(1);
     HAL_Delay(1000);
     printf("StopPump(0)\n");
     StopPump(0);
     HAL_Delay(1000);
-}
\ No newline at end of file
+}
+
+void runValveDemo(void) {
+    InitValve();
+    ValveBackToOrigin(0);
+    printf("runValveDemo\r\n");
+    // 阀门1正转120度
+    printf("ValveRunToAngle(0, 120)\n");
+    ValveRunToAngle(0, 120);
+}
diff --git a/protocol.h b/protocol.h
index 52d5371..960b975 100644
--- a/protocol.h
+++ b/protocol.h
@@ -29,6 +29,12 @@
 #define HOST_CMD_SYSTEM_INIT         0x0007  // 系统初始化
 #define CMD_BR_SET              0x0008  // 波特率设置
 #define CMD_PR_SET              0x0009  // 通信协议设置
+
+#define PUMP_SPEED_RPS 240//速度单位为1/240 rps
+#define PUMP_ACCEL_RPS 6//加速度单位为1/6 rps/s
+#define PUMP_DECEL_RPS 6//减速度单位为1/6 rps/s
+#define PUMP_SPEED_RPS_MAX 50//
+
 // 命令帧错误码定义
 typedef enum {
     CMD_FRAME_OK = 0,
@@ -248,8 +254,8 @@ static const uint8_t statusInfo[16][32]={
 */
 #define RTU_PUMP_CMD_CO      0x007C  // 操作码，Command Opcode
 
-#define RTU_PUMP_CMD_SC      0x4002  // 状态寄存器
-#define RTU_PUMP_CMD_AL      0x4001  // 告警寄存器
+#define RTU_PUMP_CMD_SC      0x0002  // 状态寄存器
+#define RTU_PUMP_CMD_AL      0x0001  // 告警寄存器