diff --git a/protocol.c b/protocol.c
index d6ffa6b..e8a1fc5 100644
--- a/protocol.c
+++ b/protocol.c
@@ -432,7 +432,11 @@ void DecodePumpStatusMsg(uint16_t reg4002) {
  (0380h)= 0x06→0x07→0x0F→0x1F，电机运行
 */
 
-static uint8_t SetValveMode(uint8_t index, uint16_t mode) {
+// 与pump通用
+void (*writeValve1Reg)(uint8_t index, uint16_t reg, uint16_t value) = WritePump1Reg;
+void (*writeValve2Reg)(uint8_t index, uint16_t reg, uint32_t value) = WritePump2Reg;
+
+static uint8_t SetValveCOMMMode(uint8_t index, uint16_t mode) {
     WritePump1Reg(index, RTU_VALVE_CMD_CTL_MODE, mode);
 }
 static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
@@ -441,30 +445,63 @@ static uint8_t SetValveRunMode(uint8_t index, uint16_t mode) {
 
 // PP=轮廓位置模式
 static uint8_t SetValvePPPos(uint8_t index, uint16_t pos) {
-    WritePump1Reg(index, RTU_VALVE_CMD_PP_POS, pos);
+    writeValve1Reg(index, RTU_VALVE_CMD_PP_POS, pos);
 }
 static uint8_t SetValvePPSpeed(uint8_t index, uint16_t speed) {
-    WritePump1Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
+    writeValve1Reg(index, RTU_VALVE_CMD_PP_SPEED, speed);
 }
 static uint8_t SetValvePPAcc(uint8_t index, uint16_t acc) {
-    WritePump1Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
+    writeValve1Reg(index, RTU_VALVE_CMD_PP_ACCEL, acc);
 }
 static uint8_t SetValvePPDec(uint8_t index, uint16_t dec) {
-    WritePump1Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
+    writeValve1Reg(index, RTU_VALVE_CMD_PP_DECEL, dec);
 }
 
 // HM=原点回归模式
-static uint8_t SetValveHomeMode(uint8_t index, uint16_t mode) {
-    WritePump1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode);
+static uint8_t SetValveHomeDetectMode(uint8_t index, uint16_t mode) {
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_MODE, mode);
 }
-static uint8_t SetValveHomeSpeed(uint8_t index, uint16_t speed) {
-    WritePump1Reg(index, RTU_VALVE_CMD_HOME_SPEED, speed);
+static uint8_t SetValveHomeSwtSpeed(uint8_t index, uint16_t speed) {
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_SWT_SPEED, speed);
+}
+static uint8_t SetValveHomeOriSpeed(uint8_t index, uint16_t speed) {
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_ORI_SPEED, speed);
 }
 static uint8_t SetValveHomeAcc(uint8_t index, uint16_t acc) {
-    WritePump1Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_ACCEL, acc);
 }
 static uint8_t SetValveFunc(uint8_t index, uint16_t func) {
-    WritePump1Reg(index, RTU_VALVE_CMD_FUNC, func);
+    writeValve1Reg(index, RTU_VALVE_CMD_FUNC, func);
+}
+static uint8_t SetValveHomeTorque(uint8_t index, uint16_t torque) {
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TORQUE, torque);
+}
+static uint8_t SetValveHomeTime(uint8_t index, uint16_t time) {
+    writeValve1Reg(index, RTU_VALVE_CMD_HOME_TIME, time);
+}
+
+uint8_t ValveBackToOrigin(uint8_t index) {
+// 1.设置原点回归方式
+// （0416h）=37;17=负限位，18=正限位
+    SetValveHomeDetectMode(index, 37);
+    // 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
+    // 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, 10000);
+    SetValveHomeOriSpeed(index, 1000);
+    // 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_ENABLE);
+    SetValveFunc(index, RTU_VALVE_CFG_DISABLE);
+    SetValveFunc(index, RTU_VALVE_CFG_RUN);
+    SetValveFunc(index, RTU_VALVE_CFG_RUN_ORIGIN);
 }
 
 // 定时1s更新设备状态
diff --git a/protocol.h b/protocol.h
index d1c0a59..1e37c88 100644
--- a/protocol.h
+++ b/protocol.h
@@ -278,11 +278,14 @@ const uint8_t statusInfo[16][32]={
 #define RTU_VALVE_CMD_PP_DECEL          0x03FE  // 阀门轮廓减速度
 
 #define RTU_VALVE_CMD_HOME_MODE         0x0416  // 阀门原点回归方式
-#define RTU_VALVE_CMD_HOME_SPEED        0x0417  // 阀门原点回归速度
-#define RTU_VALVE_CMD_HOME_ACCEL        0x041B  // 阀门原点回归加速度
+#define RTU_VALVE_CMD_HOME_SWT_SPEED    0x0417  // 阀门回归寻找开关的速度
+#define RTU_VALVE_CMD_HOME_ORI_SPEED    0x0419  // 阀门回归寻找原点的速度
+#define RTU_VALVE_CMD_HOME_ACCEL        0x041B  // 阀门回归加速度
 #define RTU_VALVE_CMD_FUNC              0x0380  // 阀门控制
+#define RTU_VALVE_CMD_HOME_TORQUE       0x0170  // 阀门原点回归堵转检测力矩
+#define RTU_VALVE_CMD_HOME_TIME         0x0172  // 阀门原点回归堵转检测时间
 
-#define RTU_VALVE_CFG_CTL_CIA402        0x0000  // 为CIA402模式
+#define RTU_VALVE_CFG_COMM_CIA402       0x0000  // 为CIA402模式
 #define RTU_VALVE_CFG_MODE_HM           0x0001  // 原点回归模式(HM)
 #define RTU_VALVE_CFG_MODE_PP           0x0006  // 轮廓位置模式(PP)
 #define RTU_VALVE_CFG_ENABLE            0x0006  // 准备