diff --git a/protocol.c b/protocol.c
index 10891e4..6b1b050 100644
--- a/protocol.c
+++ b/protocol.c
@@ -1395,8 +1395,14 @@ void initCTLSystem(void)
     systemStatus.ds = &deviceStatus;  // 赋值地址而不是内容
     systemStatus.ds->initStatus = INIT_IN_PROGRESS;
     systemStatus.rst = 0;
+    //更新参数
+    for (size_t index = 0; index < 2; index++)
+    {
+        //更新参数
+        systemStatus.pumpsSpeed[index] = transSpeedPercentToSpeed(index, systemStatus.ds->pumps.speedPercent[index]);
+    }
     InitValve();
-    // InitPump();
+    InitPump();
 }
 
 
@@ -1561,13 +1567,15 @@ static uint8_t HandlePumpTimeControl(uint8_t *Buff, uint8_t len) {
         }
         uint16_t time = (Buff[index*3+1]<<8) | Buff[index*3+2];
         if(time == 0) {
-            // 方向控制办法待确定
-            SetPumpJogSpeed(index,-1*dp.pump[index].fullSpeed*dp.pump[index].speedPercent);
+            StopPump(index);
+            // The jogging direction is set by the last DI command.
+            SetPumpStepTarget(index,direction);
             StartPumpJog(index);
             continue;
         }
         // 使用步数方式更靠谱，通过时间和速度计算步数，结束时不用发送停止命令
-        int32_t step = direction*time*dp.pump[index].fullSpeed*dp.pump[index].speedPercent/100;
+        int32_t step = direction*time*systemStatus.pumpsSpeed[index];
+        StopPump(index);//stop first
         SetPumpStepTarget(index, step);
         StartPumpRelativeMove(index);
 
@@ -1621,7 +1629,8 @@ static uint8_t HandlePumpSpeedControl(uint8_t *Buff, uint8_t len) {
         }
 
         //更新参数
-        systemStatus.ds->pumps.speed[index] = speedPercent;
+        systemStatus.pumpsSpeed[index] = speed;
+        systemStatus.ds->pumps.speedPercent[index] = speedPercent;
     }
     
     return ACK_OK;
diff --git a/protocol.h b/protocol.h
index a681c9f..45c43ed 100644
--- a/protocol.h
+++ b/protocol.h
@@ -238,7 +238,7 @@ static const uint8_t statusInfo[16][60]={
 #define RTU_PUMP_CMD_JA      0x002E  // Jog加速度
 #define RTU_PUMP_CMD_JL      0x002F  // Jog减速度
 #define RTU_PUMP_CMD_JS      0x0030  // Jog速度
-
+// The jogging direction is set by the last DI command.
 
 
 /* 备注：
@@ -385,7 +385,7 @@ typedef struct {
 // 泵结构体
 typedef struct {
     uint8_t status[2];       // 泵运行状态 (停止/顺时针/逆时针)
-    uint8_t speed[2];        // 泵速度百分比 (0-100)，设置值
+    uint8_t speedPercent[2];        // 泵速度百分比 (0-100)，设置值
 } PumpStatus_t;
 
 // 设备状态结构体，用于上报HOST
@@ -406,8 +406,8 @@ typedef struct
     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
+    uint32_t valvesPos[2];//实时位置，实时角度已有，在DeviceStatus_t
+    uint32_t pumpsSpeed[2];//设定速度
     uint8_t pumpsSpeedPercent[2];//实时速度百分比
     uint32_t pumpsPos[2];//实时位置
     uint8_t isValveMovingBackToOrigin[2];//阀门是否在回归原点