diff --git a/ReadMe.txt b/ReadMe.txt
index 0e77c1b..aae1a9f 100644
--- a/ReadMe.txt
+++ b/ReadMe.txt
@@ -25,4 +25,7 @@
 2023.12.21
   实现赋码仪命令
   升级小板程序失败时停止
-  
+2023.12.22
+  添加读取电机步数命令
+  添加新赋码仪检测命令,赋码仪注码命令
+  添加检测并写入流水号命令
diff --git a/base/debug.cpp b/base/debug.cpp
index 56a9f3e..6243f2b 100644
--- a/base/debug.cpp
+++ b/base/debug.cpp
@@ -89,7 +89,7 @@ void print_to_console(QtMsgType type, const QMessageLogContext &context, const Q
   QString current_date_time = QDateTime::currentDateTime().toString("hh:mm:ss.zzz");
   Q_UNUSED(current_date_time);
   if(context.file!=0){
-    fprintf(stderr, "%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), &context.file[20], context.line, localMsg.constData());
+    fprintf(stderr, "%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), &context.file[10], context.line, localMsg.constData());
   }else{
     fprintf(stderr,"%s | %s | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), localMsg.constData());
   }
@@ -105,7 +105,7 @@ void print_to_file(QtMsgType type, const QMessageLogContext &context, const QStr
   {
     QTextStream tWrite(g_debug.file);
     if(context.file!=0){
-      tWrite << QString::asprintf("%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), &context.file[20], context.line, localMsg.constData());
+      tWrite << QString::asprintf("%s | %s | %s:%u | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), &context.file[10], context.line, localMsg.constData());
     }else{
       tWrite << QString::asprintf("%s | %s | %s\n", msgHead[type], current_date_time.toLocal8Bit().constData(), localMsg.constData());
     }
diff --git a/checker_host.pro b/checker_host.pro
index 6a7eddb..dee4aa4 100644
--- a/checker_host.pro
+++ b/checker_host.pro
@@ -98,4 +98,6 @@ else: unix:!android: target.path = /opt/$${TARGET}/bin
 
 DISTFILES += \
   ReadMe.txt \
-  ReadMe.txt
+  ReadMe.txt \
+  info.json \
+  info.json
diff --git a/complier_info.h b/complier_info.h
index ba45e65..9d826a8 100644
--- a/complier_info.h
+++ b/complier_info.h
@@ -6,7 +6,7 @@
 
 
 
-#define BUILD_DATE  "2023-12-21 18:29:22"
+#define BUILD_DATE  "2023-12-22 18:08:01"
 
 
 
diff --git a/elec/elec_judge.cpp b/elec/elec_judge.cpp
index 0b5a2db..8b33657 100644
--- a/elec/elec_judge.cpp
+++ b/elec/elec_judge.cpp
@@ -392,7 +392,7 @@ int elec_extract_chip(int id)
 // 找到异常代码序号
 int elec_report_err(elec_judge_def *e)
 {
-  static const uint8_t pro_table[]={1,3,7,8,2,4,5,6,9,20,0};
+  static const uint8_t pro_table[]={1,3,7,8,2,4,5,6,9,10,20,0};
   uint8_t index=0;
   for (int i=0;i<sizeof(pro_table);i++){
     for(int j=0;j<ERR_LIST_LEN;j++){
diff --git a/info.json b/info.json
index c85ab2b..ba99d4d 100644
--- a/info.json
+++ b/info.json
@@ -1,10 +1,10 @@
 {
-  "build_date": "2023-12-21 18:29:22",
+  "build_date": "2023-12-22 18:08:01",
   "hard_version": "MHPZ2_V1.00",
   "private": [
     "info.json",
     "json.lua",
     "prints.lua"
   ],
-  "soft_version": "V2.00"
-}
\ No newline at end of file
+  "soft_version": "V2.01"
+}
diff --git a/prot/prot_slave.h b/prot/prot_slave.h
index 5d2fad9..22d5245 100644
--- a/prot/prot_slave.h
+++ b/prot/prot_slave.h
@@ -291,7 +291,7 @@ private:
       emit send_data_signal(0x1f,cmd,s);
       // timer_retry_->start(300);
       //emit timeout_start_retry_signal(300);
-      timeout_start_retry_cb(1000);
+      timeout_start_retry_cb(2000);
     }else{
       // timer_retry_->stop();
       timeout_stop_retry();
diff --git a/prot_cmd/cmd_coder.cpp b/prot_cmd/cmd_coder.cpp
index 22ff795..3d98a84 100644
--- a/prot_cmd/cmd_coder.cpp
+++ b/prot_cmd/cmd_coder.cpp
@@ -51,6 +51,7 @@ static const task_def g_ew_task_table[]={
 {"设置电阻校准值",37,1,1,0},
 {"读取流水号",38,5,2,2},
 {"写入流水号",39,5,2,0},
+{"写固定延时",40,5,1,0},
 {nullptr,0,0,0,0},
 };
 
@@ -106,6 +107,7 @@ static const task_def g_jq_task_table[]={
 {"设置电阻校准值",43,1,1,0},
 {"写入流水号",44,5,2,0},
 {"读取流水号",45,5,2,2},
+{"写固定延时",46,5,1,0},
 {nullptr,0,0,0,0},
 };
 
@@ -216,16 +218,24 @@ int coder_slave_pack(myarray &d,int addr)
 
 
 // 找到指定任务序号的数据
-myarray coder_slave_find_ret_data(myarray data,int task_index)
+myarray coder_slave_find_ret_data(myarray data,int task_index,int size)
 {
+  myarray r;
   for(int i=0;i<data.size();)
   {
     if(data[i]==task_index){
-      return data.mid(i+2,data[i+1]);
+      r=data.mid(i+2,data[i+1]);
+      break;
     }
     i+=2+data[i+1];
   }
-  return myarray();
+  if(r.size()>=size){
+    r=r.left(size);
+  }else{
+    int len=size-r.size();
+    r.append(len,uint8_t(0));
+  }
+  return r;
 }
 
 
@@ -251,7 +261,8 @@ myarray cmd_coder_check::ret_slave_to_pc(QList<myarray> data)
   for (int i=0;i<data.size();i++)
   {
     myarray &sdata=data[i];
-    int addr=i+syscfg()->slave_addr_start;
+    int addr=sdata[0]-1+syscfg()->slave_addr_start;
+    sdata.remove(0,1);
     r.append(uint8_t(addr));
     if(sdata.size()>0){
       r.append(sdata[0]);
@@ -286,8 +297,8 @@ protpc_export(0x01, get_coder_check);
 myarray cmd_coder_check2::cmd_pc_to_slave(myarray data)
 {
   myarray d;
-  int chip=elec_extract_chip(check_plan()->get_plan_id());
   const task_def *table=nullptr;
+  int chip=elec_extract_chip(check_plan()->get_plan_id());
   if(chip==0){
     uint16_t params[10]={20,4};
     coder_add_task(d,"读OTP",1,1,params);
@@ -312,18 +323,16 @@ myarray cmd_coder_check2::ret_slave_to_pc(QList<myarray> data)
   for (int i=0;i<data.size();i++)
   {
     myarray &sdata=data[i];
-    int addr=i+syscfg()->slave_addr_start;
-    myarray sret=coder_slave_find_ret_data(sdata.mid(1),1);
+    int addr=sdata[0]-1+syscfg()->slave_addr_start;
+    sdata.remove(0,1);
+    myarray sret=coder_slave_find_ret_data(sdata.mid(1),1,4);
     r.append(uint8_t(addr));
     if(sdata.size()==0){
       r.append(uint8_t(0xd0));
       r.append(8,uint8_t(0));
     }else{
       r.append(sdata[0]);
-      if(sret.size()<4){
-        sret.append(4-sret.size(),uint8_t(0));
-      }
-      r.append(sret.left(4));
+      r.append(sret);
       r.append(4,uint8_t(0));
     }
   }
@@ -404,7 +413,8 @@ myarray cmd_coder_code::ret_slave_to_pc(QList<myarray> data)
   for (int i=0;i<data.size();i++)
   {
     myarray &sdata=data[i];
-    int addr=i+syscfg()->slave_addr_start;
+    int addr=sdata[0]-1+syscfg()->slave_addr_start;
+    sdata.remove(0,1);
     r.append(uint8_t(addr));
     if(sdata.size()>0){
       r.append(sdata[0]);
@@ -431,6 +441,122 @@ protpc_export(0x02, get_coder_code);
 
 
 
+// 赋码任务需要写入uid
+myarray cmd_coder_code2::cmd_pc_to_slave(myarray data)
+{
+  myarray ret;
+  const task_def *table=nullptr;
+  uint16_t params[10]={0};
+  chip_mode=elec_extract_chip(check_plan()->get_plan_id());
+  char year[10]={0};
+  delay=data[3]|(data[4]<<8);
+  // 移除前4个字节使数据对齐
+  data.remove(0,4);
+  memcpy(year,data.mid(1,4).data(),4);
+  qDebug("tran pc data to slave");
+  for (int i=0;i<addrs;i++){
+    myarray d;
+    uid_code uid={{0},{0},{0},{0}};
+    memcpy(uid.shell,data.mid(5+i*14+1,13).data(),13);
+    if(check_shell_code(uid.shell)==1){
+      // 只有管壳码验证通过时才计算uid和密码
+      if(chip_mode!=0){
+        coder_shell_to_uid(year,uid.shell,uid.uid);
+         // 生成存储码
+        coder_uid_to_save(uid.uid,(uint8_t *)uid.uid_psw);
+        // 生成密码
+        GetPasswordByUidCode((uint8_t *)uid.uid,(uint8_t *)&uid.uid_psw[8]);
+        // 生成密码字符串
+        sprintf(uid.psw,"%02X%02X%02X%02X",uid.uid_psw[8],
+          uid.uid_psw[9],uid.uid_psw[10],uid.uid_psw[11]);
+      }else{
+        coder_shell_to_uid_jq(year,uid.shell,uid.uid);
+        // 生成存储码
+        UidCode_YM2JQ((PST_JQUID_TYPEDEF)uid.uid_psw,(PST_YMUID_TYPEDEF)uid.uid);
+        // 生成密码
+        JQ_GetPasswordByUidCode((uint8_t *)uid.uid,(uint8_t *)&uid.uid_psw[8]);
+        // 生成密码字符串
+        sprintf(uid.psw,"%02X%02X%02X%02X",uid.uid_psw[11],
+          uid.uid_psw[10],uid.uid_psw[9],uid.uid_psw[8]);
+      }
+    }
+    uid_codes.append(uid);
+    params[0]=(8)|(4<<8);
+    memcpy(&params[1],uid.uid_psw,12);
+    coder_add_task(d,"配置三码数据到小板",1,1,params);
+    params[0]=delay;
+    coder_add_task(d,"写固定延时",1,2,params);
+    coder_add_task(d,"读延时",2,3,params);
+    if(chip_mode==0){
+      uint16_t params[10]={20,4};
+      coder_add_task(d,"读OTP",2,4,params);
+    }else if(chip_mode==2){
+      uint16_t params[10]={9,4};
+      coder_add_task(d,"读MTP",2,4,params);
+    }
+    coder_slave_pack(d,i+1);
+    ret+=d;
+  }
+  // 检测模式1,返回异常代码和任务插槽数据
+  ret.insert(0,uint8_t(1));
+  qDebug("tran pc data to slave end");
+  return ret;
+}
+
+// 把从机回复的数据转化为上位机能理解的格式
+myarray cmd_coder_code2::ret_slave_to_pc(QList<myarray> data)
+{
+  myarray r;
+  r.append(uint8_t(addrs&0xff));
+  r.append(uint8_t((addrs>>8)&0xff));
+  r.append(uint8_t((addrs>>16)&0xff));
+  r.append(uint8_t(coder_chip_type()));
+  r.append(uint8_t(!syscfg()->coder_return_mode));
+  for (int i=0;i<data.size();i++)
+  {
+    myarray &sdata=data[i];
+    uint8_t err=0;
+    int addr=sdata[0]-1+syscfg()->slave_addr_start;
+    sdata.remove(0,1);
+    r.append(uint8_t(addr));
+    if(sdata.size()>0){
+      err=sdata[0];
+    }else{
+      err=uint8_t(0xd0);
+    }
+    // 如果延时不对,则失败
+    myarray sret=coder_slave_find_ret_data(sdata.mid(1),3,2);
+    uint16_t sdelay=sret[0]|(sret[1]<<8);
+    if(sdelay!=delay){
+      if(err==0){
+        err=10;
+      }
+    }
+    r.append(err);
+    // 添加工厂信息
+    sret=coder_slave_find_ret_data(sdata.mid(1),4,4);
+    r.append(sret);
+    // 完整模式
+    if(syscfg()->coder_return_mode){
+      r.append(uid_codes[i].shell,13);
+      if(chip_mode==0){
+        r.append(uid_codes[i].uid,15);
+      }else{
+        r.append(uid_codes[i].uid,16);
+      }
+    }
+    r.append(uid_codes[i].psw,8);
+  }
+  
+  return r;
+}
+
+
+static HandlePc *get_coder_code2(){
+  return new cmd_coder_code2();
+}
+protpc_export(0x11, get_coder_code2);
+
 
 
 
@@ -476,6 +602,57 @@ protpc_export(0x41, get_coder_setrtv);
 
 
 
+
+
+
+// 批检仪检测并写入流水号,控制电机需要重载此函数
+int cmd_checker_check::dolater(int cmd, myarray data)
+{
+  prot_slave *slave=protSlave();
+  mycfg *cfg_=syscfg();
+  prot_m4 *m4 = protM4();
+  busy=1;
+  connect(this, &cmd_checker_check::send_to_m4_signal, m4, &prot_m4::send_data_slot);
+  addrs=cmd_pc_to_addrs(data);
+  moter_down_cb_fun=[=](myarray str)
+  {
+    m4->del_irq_fun(moter_down_cb_fun,"moter down");
+    {
+      // 这里开始检测
+      qDebug("runtask.");
+      HandleBoardCast *b=new slave_cmd();
+      bool ack=slave->set_boardcast_handle(addrs,b);
+      if(ack==false){
+        qWarning("handle is busy.");
+        busy=0;
+      }else{
+        connect(b,&HandleBoardCast::end_signal,this,&selfdev_runtask::slave_end_slot);
+        // 广播设置校准值，需使用新增命令
+        b->cmd=cmd_slave();
+        b->start(cmd_pc_to_slave(data));
+        if(cmd_pc_recv()!=0){
+          emit send_data_signal(cmd_pc_recv(),cmd_pc_recv_to_pc());
+        }
+      }
+    }
+  };
+  myarray moter_cmd=moter_ctrl("down");
+  if(moter_cmd.size()==0){
+    busy=0;
+    qWarning("moter failed.");
+  }else{
+    m4->set_irq_fun(moter_down_cb_fun,"moter down");
+    emit send_to_m4_signal(moter_cmd);
+  }
+  slave_acked.clear();
+  for(int i=0;i<addrs.size();i++){
+    slave_acked.append(myarray());
+  }
+  slave_acked_num=0;
+  return 0;
+}
+
+
 // 批检仪检测并写入流水号
 myarray cmd_checker_check::cmd_pc_to_slave(myarray data)
 {
@@ -495,6 +672,7 @@ myarray cmd_checker_check::cmd_pc_to_slave(myarray data)
   
   // 检测模式0,返回原始检测结果
   ret.insert(0,uint8_t(0));
+  // qDebug()<<"checker check pack data:"<<ret.toHex(' ');
   return ret;
 }
 
@@ -504,7 +682,11 @@ myarray cmd_checker_check::ret_slave_to_pc(QList<myarray> data)
   myarray r;
   r.append(char(0));
   for(int i=0;i<data.size();i++){
-    r.append(tran_slave_to_selfdev_check(data[i]));
+    myarray &sdata=data[i];
+    int addr=sdata[0]-1+syscfg()->slave_addr_start;
+    sdata.remove(0,1);
+    qDebug()<<"checker check ret data:"<<sdata.toHex(' ');
+    r.append(tran_slave_to_selfdev_check(sdata));
   }
   return r;
 }
diff --git a/prot_cmd/cmd_coder.h b/prot_cmd/cmd_coder.h
index d16050b..2eb730d 100644
--- a/prot_cmd/cmd_coder.h
+++ b/prot_cmd/cmd_coder.h
@@ -219,6 +219,62 @@ protected:
 
 
 
+// 赋码仪新赋码命令
+class cmd_coder_code2 : public selfdev_runtask
+{
+  Q_OBJECT
+public:
+  cmd_coder_code2():selfdev_runtask(){
+    delay=0;
+  }
+  // pc指令转从机
+  myarray cmd_pc_to_slave(myarray data);
+  // pc指令生成从机列表
+  QList<int> cmd_pc_to_addrs(myarray data){
+    QList<int> addr_list;
+    addrs=data[0]|(data[1]<<8)|(data[2]<<16);
+    for(int i=0;i<20;i++){
+      if((addrs&(1<<i))!=0){
+        addr_list.append(i+1);
+      }
+    }
+    return addr_list;
+  }
+  // 从机发起命令
+  int cmd_slave(){
+    return 0x20;
+  }
+  // pc收到回复,返回0不回复
+  int cmd_pc_recv(){
+    return 0x02;
+  }
+  // 生成接收回复到pc
+  myarray cmd_pc_recv_to_pc(){
+    myarray r;
+    r.append(uint8_t(addrs));
+    r.append(uint8_t(0));
+    return r;
+  }
+  // pc回复命令,返回0不回复
+  int cmd_pc_ret(){
+    return 0x82;
+  }
+  // 从机返回转pc
+  myarray ret_slave_to_pc(QList<myarray> data);
+protected:
+  int addrs;
+  int chip_mode;
+  uint16_t delay;
+  QList<uid_code> uid_codes;
+};
+
+
+
+
+
+
+
+
 
 
 // 设置电阻校准值
@@ -276,16 +332,26 @@ class cmd_checker_check : public selfdev_runtask
 public:
   cmd_checker_check():selfdev_runtask(){
   }
+  ~cmd_checker_check(){
+      if(moter_down_cb_fun!=nullptr){
+      // 取消电机下降到位回调
+      prot_m4 *m4 = protM4();
+      if(m4!=nullptr) {
+        m4->del_irq_fun(moter_down_cb_fun,"moter ");
+      }
+    }
+  }
+  int dolater(int cmd, myarray data);
   // pc指令转从机
   myarray cmd_pc_to_slave(myarray data);
   // pc指令生成从机列表
   QList<int> cmd_pc_to_addrs(myarray data){
     QList<int> addr_list;
-    addrs=0;
+    // addrs=0;
     int len=data.size();
     for(int i=0;i<len;i+=5){
         addr_list.append(data[i]);
-        addrs|=1<<(data[i]-1);
+        // addrs|=1<<(data[i]-1);
     }
     return addr_list;
   }
@@ -310,8 +376,11 @@ public:
   // 从机返回转pc
   myarray ret_slave_to_pc(QList<myarray> data);
 protected:
-  int addrs;
+  // int addrs;
   int mode;
+  prot_m4_cb moter_down_cb_fun;
+signals:
+  void send_to_m4_signal(myarray data);
 };
 
 
diff --git a/prot_cmd/cmd_pc.cpp b/prot_cmd/cmd_pc.cpp
index 48123a3..45e465a 100644
--- a/prot_cmd/cmd_pc.cpp
+++ b/prot_cmd/cmd_pc.cpp
@@ -277,19 +277,32 @@ int selfdev_moter::dolater(int cmd, myarray data)
   prot_m4 *m4 = protM4();
   mycfg *cfg_=syscfg();
   connect(this, &selfdev_moter::send_to_m4_signal, m4, &prot_m4::send_data_slot);
-  if(data[0]==0x02){
-    emit send_to_m4_signal(moter_ctrl("up"));
-  }else if(data[0]==0x03){
-    emit send_to_m4_signal(moter_ctrl("down"));
-  }else if(data[0]==0x01){
-    if(data.size()>=3){
-      int count=(data[1])|(data[2]<<8);
-      cfg_->moter_count=20000+count;
-      qDebug("moter count=%d",cfg_->moter_count);
-      cfg_->save();
+  if(cmd==0x40)
+  {
+    if(data[0]==0x02){
+      emit send_to_m4_signal(moter_ctrl("up"));
+    }else if(data[0]==0x03){
+      emit send_to_m4_signal(moter_ctrl("down"));
+    }else if(data[0]==0x01){
+      if(data.size()>=3){
+        int count=(data[1])|(data[2]<<8);
+        cfg_->moter_count=20000+count;
+        qDebug("moter count=%d",cfg_->moter_count);
+        cfg_->save();
+      }
     }
+    emit send_data_signal(cmd,myarray(1,char(0)));
+    return 0;
+  }else if(cmd==0x47){
+    myarray r;
+    r.append(uint8_t(0));
+    int count=cfg_->moter_count-20000;
+    if(count<0) count=0;
+    r.append(uint8_t(count&0xff));
+    r.append(uint8_t((count>>8)&0xff));
+    emit send_data_signal(cmd,r);
+    return 0;
   }
-  emit send_data_signal(0x40,myarray(1,char(0)));
   return 0;
 }
 
@@ -302,6 +315,15 @@ static HandlePc *get_selfdev_moter(){
 }
 
 protpc_export(0x40, get_selfdev_moter);
+protpc_export(0x47, get_selfdev_moter);
+
+
+
+
+
+
+
+
 
 
 
@@ -853,8 +875,13 @@ void selfdev_runtask::slave_end_slot(int addr,int ack, slave_data data)
 {
   qDebug("selfdev runtask end.");
   for(int i=0;i<data.size();i++){
+    qDebug("index=%d",i);
     slave_ret slave=data.at(i);
-    slave_acked.replace(slave.addr-1,slave.data);
+    qDebug("index=%d end",i);
+    // 数据的第一位是来源的地址
+    slave.data.insert(0,slave.addr);
+    slave_acked.replace(i,slave.data);
+    // qDebug("index=%d end 2",i);
     slave_acked_num++;
   }
   if(cmd_pc_ret()!=0){
diff --git a/prot_cmd/cmd_pc.h b/prot_cmd/cmd_pc.h
index b0cad8c..9270aed 100644
--- a/prot_cmd/cmd_pc.h
+++ b/prot_cmd/cmd_pc.h
@@ -9,7 +9,8 @@
 // 把小板的返回数据转化为自研批检仪上位机的格式
 myarray tran_slave_to_selfdev_check(myarray &data);
 
-
+// 电机控制
+myarray moter_ctrl(myarray op);
 
 // 检测 自研批检仪
 class selfdev_check : public HandlePc
diff --git a/quest_info.txt b/quest_info.txt
index e69de29..79a21be 100644
--- a/quest_info.txt
+++ b/quest_info.txt
@@ -0,0 +1 @@
+V2.00 重构主板程序,添加检测并写入流水号命令,只支持V2.09及以上的小板程序
\ No newline at end of file