diff --git a/hardware/Valve Node.kicad_pcb b/hardware/Valve Node.kicad_pcb
index 6ae6fce..196f200 100644
--- a/hardware/Valve Node.kicad_pcb	
+++ b/hardware/Valve Node.kicad_pcb	
@@ -137,6 +137,7 @@
 	(net 56 "Net-(D301-K)")
 	(net 57 "Net-(D303-A)")
 	(net 58 "Net-(D303-K)")
+	(net 59 "unconnected-(U203-Vref-Pad5)")
 	(footprint "Resistor_SMD:R_0402_1005Metric"
 		(layer "F.Cu")
 		(uuid "02c2bd61-5c31-428a-a6be-a2f5f37c158e")
@@ -1537,537 +1538,6 @@
 			)
 		)
 	)
-	(footprint "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm"
-		(layer "F.Cu")
-		(uuid "26a003e5-1561-4704-a405-44556835a6f5")
-		(at 100 63 180)
-		(descr "SOIC, 8 Pin (JEDEC MS-012AA, https://www.analog.com/media/en/package-pcb-resources/package/pkg_pdf/soic_narrow-r/r_8.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
-		(tags "SOIC SO")
-		(property "Reference" "U202"
-			(at -2.362 -3.548 0)
-			(layer "F.SilkS")
-			(uuid "73a52ec7-f1dd-49c7-bc2a-19633b1c7713")
-			(effects
-				(font
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-		(property "Value" "TJA1042T-3"
-			(at 0 3.4 0)
-			(layer "F.Fab")
-			(uuid "d3cca8a0-b311-43e8-aa4b-b7b3d7667b77")
-			(effects
-				(font
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-		(property "Datasheet" "http://www.nxp.com/docs/en/data-sheet/TJA1042.pdf"
-			(at 0 0 0)
-			(layer "F.Fab")
-			(hide yes)
-			(uuid "dd16bf9e-9bd1-470b-8fef-1c7d763817ff")
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-		)
-		(property "Description" "High-Speed CAN Transceiver, separate VIO, standby mode, SOIC-8"
-			(at 0 0 0)
-			(layer "F.Fab")
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-			(uuid "d196aeab-cba6-4441-a035-84a91fb92109")
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-		(property "LCSC" "C132227"
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-			(unlocked yes)
-			(layer "F.Fab")
-			(hide yes)
-			(uuid "99542f58-64e7-4773-b98c-bc4ead0dcaa3")
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-		(property ki_fp_filters "SOIC*3.9x4.9mm*P1.27mm*")
-		(path "/5c46d7fe-34fa-4f56-9c85-0d1525266e94/f4fe0140-b1e8-4854-a46e-c8601fd5154e")
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-		(sheetfile "mcu.kicad_sch")
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-			(layer "F.Fab")
-			(uuid "32415962-102f-4632-b187-1e955fb80ffc")
-		)
-		(fp_text user "${REFERENCE}"
-			(at 0 0 0)
-			(layer "F.Fab")
-			(uuid "61c2040f-3d6b-41e1-b8f8-a1362dd4ac90")
-			(effects
-				(font
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-		)
-		(pad "1" smd roundrect
-			(at -2.475 -1.905 180)
-			(size 1.95 0.6)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 13 "/MCU/CANTXD")
-			(pinfunction "TXD")
-			(pintype "input")
-			(uuid "48837ada-b50e-4200-acab-69838eb01507")
-		)
-		(pad "2" smd roundrect
-			(at -2.475 -0.635 180)
-			(size 1.95 0.6)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 2 "GND")
-			(pinfunction "GND")
-			(pintype "power_in")
-			(uuid "f00d1ba2-8a66-478d-9380-388d64b8cb34")
-		)
-		(pad "3" smd roundrect
-			(at -2.475 0.635 180)
-			(size 1.95 0.6)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 3 "5V0")
-			(pinfunction "VCC")
-			(pintype "power_in")
-			(uuid "1d3608ef-67f9-4bf1-925b-443b261f9b4d")
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-			(size 1.95 0.6)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 12 "/MCU/CANRXD")
-			(pinfunction "RXD")
-			(pintype "output")
-			(uuid "eae6ccfe-1c14-4d6d-88a0-6ce4c1fce81c")
-		)
-		(pad "5" smd roundrect
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-			(size 1.95 0.6)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 1 "3V3")
-			(pinfunction "VIO")
-			(pintype "power_in")
-			(uuid "a71102f0-75b7-4e80-b6b8-658a1fead66e")
-		)
-		(pad "6" smd roundrect
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-			(size 1.95 0.6)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 10 "/MCU/CAN HIGH")
-			(pinfunction "CANL")
-			(pintype "bidirectional")
-			(uuid "e89223bf-305c-4bd9-902b-9b15284dafb1")
-		)
-		(pad "7" smd roundrect
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-			(size 1.95 0.6)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 11 "/MCU/CAN LOW")
-			(pinfunction "CANH")
-			(pintype "bidirectional")
-			(uuid "df5d34aa-68ae-43d1-b30c-a6da529450ed")
-		)
-		(pad "8" smd roundrect
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-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 2 "GND")
-			(pinfunction "STB")
-			(pintype "input")
-			(uuid "c93dea7c-b4dd-4b80-b043-06d05c32ead4")
-		)
-		(embedded_fonts no)
-		(model "${KICAD9_3DMODEL_DIR}/Package_SO.3dshapes/SOIC-8_3.9x4.9mm_P1.27mm.wrl"
-			(offset
-				(xyz 0 0 0)
-			)
-			(scale
-				(xyz 1 1 1)
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-	(footprint "Capacitor_SMD:C_0402_1005Metric"
-		(layer "F.Cu")
-		(uuid "270ba536-7a4a-4ae0-a54f-802734007032")
-		(at 95.278 61.214 180)
-		(descr "Capacitor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
-		(tags "capacitor")
-		(property "Reference" "C208"
-			(at 0 -1.16 0)
-			(layer "F.SilkS")
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-			(uuid "80ca5d39-c768-42b1-920b-9a5721fb5a04")
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-			(size 0.56 0.62)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 1 "3V3")
-			(pintype "passive")
-			(uuid "72846cb2-3a90-4de5-ae9d-7cd5a2e6d9f0")
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-		(pad "2" smd roundrect
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-			(size 0.56 0.62)
-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 2 "GND")
-			(pintype "passive")
-			(uuid "e645413e-49c3-4f67-8ab1-10267da04241")
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-		(embedded_fonts no)
-		(model "${KICAD9_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
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-			(rotate
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-	)
 	(footprint "Package_QFP:LQFP-48_7x7mm_P0.5mm"
 		(layer "F.Cu")
 		(uuid "281f5fe7-4ad0-43ca-8365-ea73ecc30513")
@@ -3579,7 +3049,7 @@
 	(footprint "Package_TO_SOT_SMD:SOT-223-3_TabPin2"
 		(layer "F.Cu")
 		(uuid "4b30fc8e-489d-40bb-bf45-9a5fd275734c")
-		(at 105.537 102.743 180)
+		(at 103.124 114.554 180)
 		(descr "module CMS SOT223 4 pins")
 		(tags "CMS SOT")
 		(property "Reference" "U302"
@@ -3864,7 +3334,7 @@
 			(at 0 -1.68 0)
 			(layer "F.SilkS")
 			(hide yes)
-			(uuid "f7e8bae4-0a36-4b0e-83ce-33fd3a393e6d")
+			(uuid "497ac347-b9d0-4339-a862-5ae3e08bf385")
 			(effects
 				(font
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@@ -3875,7 +3345,7 @@
 		(property "Value" "22uF"
 			(at 0 1.68 0)
 			(layer "F.Fab")
-			(uuid "58e500e3-92fd-439c-b2d1-4760197bca85")
+			(uuid "74692032-cb9d-4ab9-8eef-ebb8010cc0b6")
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@@ -3888,7 +3358,7 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "63e3e8a5-8aaf-47be-b1f5-a624ec1f7787")
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@@ -3901,7 +3371,7 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "f2f6fd5c-8d7d-4341-a3d3-ebacaa0a7182")
+			(uuid "4651d4d2-1a44-4e07-9842-c1236947c9cb")
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -5352,7 +4822,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 4 "Vin")
+			(net 2 "GND")
 			(pintype "passive")
 			(uuid "584ddaa3-67e6-4c1c-97b4-991f84d32f93")
 		)
@@ -5372,7 +4842,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 4 "Vin")
+			(net 2 "GND")
 			(pintype "passive")
 			(uuid "94a59f35-f5e6-43fe-a4e2-a51b4d5a44f1")
 		)
@@ -5382,7 +4852,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 4 "Vin")
 			(pintype "passive")
 			(uuid "47f0ac34-841c-462a-88e3-beab46b993c1")
 		)
@@ -5402,7 +4872,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 4 "Vin")
 			(pintype "passive")
 			(uuid "329d07d3-4b22-42b7-a8a7-a57baac05db8")
 		)
@@ -5866,7 +5336,7 @@
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 			(layer "F.SilkS")
 			(hide yes)
-			(uuid "23908cf6-7d06-4dc4-ad75-ec219fc4df87")
+			(uuid "bb0a060e-5133-4912-800f-ab798e42c4ca")
 			(effects
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 					(size 1 1)
@@ -5877,7 +5347,7 @@
 		(property "Value" "22uF"
 			(at 0 1.68 0)
 			(layer "F.Fab")
-			(uuid "566c416c-4f02-41dd-b6f0-8f3ab09f478c")
+			(uuid "4594db2d-1b47-4d35-855a-6f41bf8088e5")
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 				(font
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@@ -5890,7 +5360,7 @@
 			(unlocked yes)
 			(layer "F.Fab")
 			(hide yes)
-			(uuid "95220285-c2e6-442e-bc20-aac0b876ede5")
+			(uuid "0f70b0ba-9823-4945-8408-37d19d0e711d")
 			(effects
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@@ -5903,7 +5373,7 @@
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 			(layer "F.Fab")
 			(hide yes)
-			(uuid "0fab2403-ed6b-4c1c-9eae-855ebcdda3b3")
+			(uuid "d6d73340-2e68-4de1-bf5f-76748b864b0d")
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -7206,6 +6676,309 @@
 			)
 		)
 	)
+	(footprint "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm"
+		(layer "F.Cu")
+		(uuid "889ebe10-f655-42df-8f9f-bdc7d0fdfc59")
+		(at 104.14 83.247 -90)
+		(descr "SOIC, 8 Pin (JEDEC MS-012AA, https://www.analog.com/media/en/package-pcb-resources/package/pkg_pdf/soic_narrow-r/r_8.pdf), generated with kicad-footprint-generator ipc_gullwing_generator.py")
+		(tags "SOIC SO")
+		(property "Reference" "U203"
+			(at 0 -3.4 90)
+			(layer "F.SilkS")
+			(uuid "ca865f76-44d8-4686-ae4e-5f3466629cd2")
+			(effects
+				(font
+					(size 1 1)
+					(thickness 0.15)
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+		)
+		(property "Value" "SN65HVD230"
+			(at 0 3.4 90)
+			(layer "F.Fab")
+			(uuid "ebcfd664-ec42-482c-a82b-8009fb50732e")
+			(effects
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+		(property "Datasheet" "http://www.ti.com/lit/ds/symlink/sn65hvd230.pdf"
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+			(layer "F.Fab")
+			(hide yes)
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+		(property "Description" "CAN Bus Transceivers, 3.3V, 1Mbps, Low-Power capabilities, SOIC-8"
+			(at 0 0 90)
+			(layer "F.Fab")
+			(hide yes)
+			(uuid "c5a49003-44a9-4505-952e-2b1eeafbe3b0")
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+		(property ki_fp_filters "SOIC*3.9x4.9mm*P1.27mm*")
+		(path "/5c46d7fe-34fa-4f56-9c85-0d1525266e94/96c1e221-1f32-4b6a-97b1-9166e2fa03db")
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+			(end 1.95 2.45)
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+			(layer "F.Fab")
+			(uuid "05d56024-796b-490a-976c-8cc956342fef")
+		)
+		(fp_text user "${REFERENCE}"
+			(at 0 0 90)
+			(layer "F.Fab")
+			(uuid "05e5d05d-af63-4e93-b1f3-6fa53194e0b5")
+			(effects
+				(font
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+		)
+		(pad "1" smd roundrect
+			(at -2.475 -1.905 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 13 "/MCU/CANTXD")
+			(pinfunction "D")
+			(pintype "input")
+			(uuid "1ad0810e-bb2e-48d9-b20b-da0b069e8690")
+		)
+		(pad "2" smd roundrect
+			(at -2.475 -0.635 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 2 "GND")
+			(pinfunction "GND")
+			(pintype "power_in")
+			(uuid "a190a0c7-0375-45d5-a0a2-1024da0f8994")
+		)
+		(pad "3" smd roundrect
+			(at -2.475 0.635 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 1 "3V3")
+			(pinfunction "VCC")
+			(pintype "power_in")
+			(uuid "8bbb8b77-8af6-4ed4-942b-379636ecc880")
+		)
+		(pad "4" smd roundrect
+			(at -2.475 1.905 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 12 "/MCU/CANRXD")
+			(pinfunction "R")
+			(pintype "output")
+			(uuid "55c10e06-c15c-4a24-a0f0-a2df445b8647")
+		)
+		(pad "5" smd roundrect
+			(at 2.475 1.905 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 59 "unconnected-(U203-Vref-Pad5)")
+			(pinfunction "Vref")
+			(pintype "output")
+			(uuid "cb9905d4-c237-4d77-bc71-81401eeedc8b")
+		)
+		(pad "6" smd roundrect
+			(at 2.475 0.635 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 10 "/MCU/CAN HIGH")
+			(pinfunction "CANL")
+			(pintype "bidirectional")
+			(uuid "e4334db5-23be-4d34-a334-96dbf076d82e")
+		)
+		(pad "7" smd roundrect
+			(at 2.475 -0.635 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 11 "/MCU/CAN LOW")
+			(pinfunction "CANH")
+			(pintype "bidirectional")
+			(uuid "78cfb995-1848-482f-aa4d-ddb660da43ce")
+		)
+		(pad "8" smd roundrect
+			(at 2.475 -1.905 270)
+			(size 1.95 0.6)
+			(layers "F.Cu" "F.Mask" "F.Paste")
+			(roundrect_rratio 0.25)
+			(net 2 "GND")
+			(pinfunction "Rs")
+			(pintype "input")
+			(uuid "c73ae567-2f2d-403c-a7bf-ca1fe405045b")
+		)
+		(embedded_fonts no)
+		(model "${KICAD9_3DMODEL_DIR}/Package_SO.3dshapes/SOIC-8_3.9x4.9mm_P1.27mm.wrl"
+			(offset
+				(xyz 0 0 0)
+			)
+			(scale
+				(xyz 1 1 1)
+			)
+			(rotate
+				(xyz 0 0 0)
+			)
+		)
+	)
 	(footprint "Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical"
 		(layer "F.Cu")
 		(uuid "892d3ef3-c17f-49bc-aa91-ecfb14fa6672")
@@ -7764,221 +7537,6 @@
 			)
 		)
 	)
-	(footprint "Capacitor_SMD:C_0402_1005Metric"
-		(layer "F.Cu")
-		(uuid "8ae94773-d698-4824-9093-d6553878f754")
-		(at 104.521 62.258 90)
-		(descr "Capacitor SMD 0402 (1005 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf), generated with kicad-footprint-generator")
-		(tags "capacitor")
-		(property "Reference" "C211"
-			(at 0 -1.16 90)
-			(layer "F.SilkS")
-			(hide yes)
-			(uuid "14b19268-5a5b-47b7-ac65-16defafe418a")
-			(effects
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-		(property "Value" "100nF"
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-		(property "Description" "Unpolarized capacitor"
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-			(layers "F.Cu" "F.Mask" "F.Paste")
-			(roundrect_rratio 0.25)
-			(net 2 "GND")
-			(pintype "passive")
-			(uuid "18f8946c-8e64-40ff-9061-26692e8e536a")
-		)
-		(embedded_fonts no)
-		(model "${KICAD9_3DMODEL_DIR}/Capacitor_SMD.3dshapes/C_0402_1005Metric.wrl"
-			(offset
-				(xyz 0 0 0)
-			)
-			(scale
-				(xyz 1 1 1)
-			)
-			(rotate
-				(xyz 0 0 0)
-			)
-		)
-	)
 	(footprint "Capacitor_SMD:C_0402_1005Metric"
 		(layer "F.Cu")
 		(uuid "8c841a17-08e3-4645-a2ff-32b246e3e9b1")
@@ -8450,7 +8008,7 @@
 	(footprint "Capacitor_SMD:C_0805_2012Metric"
 		(layer "F.Cu")
 		(uuid "9da8a78d-4f8a-4e40-bcc2-15c7a7fb8928")
-		(at 106.24 66.04 90)
+		(at 109.474 61.595 90)
 		(descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
 		(tags "capacitor")
 		(property "Reference" "C301"
@@ -8846,7 +8404,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 4 "Vin")
+			(net 2 "GND")
 			(pintype "passive")
 			(uuid "2206aa8d-71bd-4f4f-ac9e-21abf3618d42")
 		)
@@ -8866,7 +8424,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 4 "Vin")
+			(net 2 "GND")
 			(pintype "passive")
 			(uuid "904e08a6-a7f0-45a2-818c-a156a7e3c22c")
 		)
@@ -8876,7 +8434,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 4 "Vin")
 			(pintype "passive")
 			(uuid "53d48fee-0843-46c2-8e5e-8905d774d893")
 		)
@@ -8896,7 +8454,7 @@
 			(drill 0.9144)
 			(layers "*.Cu" "*.Mask")
 			(remove_unused_layers no)
-			(net 2 "GND")
+			(net 4 "Vin")
 			(pintype "passive")
 			(uuid "08701f0b-5c0e-4923-b60c-338d97d1437a")
 		)
@@ -10529,7 +10087,7 @@
 	(footprint "Capacitor_SMD:C_0805_2012Metric"
 		(layer "F.Cu")
 		(uuid "b698cc84-437a-4f56-a393-dc599327d580")
-		(at 111.125 100.965 -90)
+		(at 108.712 112.776 -90)
 		(descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
 		(tags "capacitor")
 		(property "Reference" "C302"
@@ -10942,7 +10500,7 @@
 	(footprint "Capacitor_SMD:C_0805_2012Metric"
 		(layer "F.Cu")
 		(uuid "c7210011-d004-4055-b20a-48120aca07c5")
-		(at 106.24 62.484 90)
+		(at 109.474 58.039 90)
 		(descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
 		(tags "capacitor")
 		(property "Reference" "C303"
@@ -11373,7 +10931,7 @@
 	(footprint "Capacitor_SMD:C_0805_2012Metric"
 		(layer "F.Cu")
 		(uuid "cc25fe47-5c51-4063-8eb0-15adc5268186")
-		(at 111.125 104.521 -90)
+		(at 108.712 116.332 -90)
 		(descr "Capacitor SMD 0805 (2012 Metric), square (rectangular) end terminal, IPC_7351 nominal, (Body size source: IPC-SM-782 page 76, https://www.pcb-3d.com/wordpress/wp-content/uploads/ipc-sm-782a_amendment_1_and_2.pdf, https://docs.google.com/spreadsheets/d/1BsfQQcO9C6DZCsRaXUlFlo91Tg2WpOkGARC1WS5S8t0/edit?usp=sharing), generated with kicad-footprint-generator")
 		(tags "capacitor")
 		(property "Reference" "C304"
@@ -11588,7 +11146,7 @@
 	(footprint "Package_TO_SOT_SMD:SOT-223-3_TabPin2"
 		(layer "F.Cu")
 		(uuid "cf0cb135-e55b-484d-9f54-94e3e1a74db8")
-		(at 111.76 64.262)
+		(at 114.994 59.817)
 		(descr "module CMS SOT223 4 pins")
 		(tags "CMS SOT")
 		(property "Reference" "U301"
@@ -12701,168 +12259,8 @@
 			)
 		)
 	)
-	(segment
-		(start 101.721 80.2)
-		(end 101.149 80.772)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "0836fc3f-61ac-423e-9425-85083d59dcec")
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-	(segment
-		(start 116.6745 80.7)
-		(end 116.049 80.7)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "0a72fad9-12c0-4665-838e-e59585c844b8")
-	)
-	(segment
-		(start 101.149 96.831)
-		(end 107.061 102.743)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "0bbc4312-162a-45c3-a1f0-865286fdf637")
-	)
-	(segment
-		(start 113.65 89.929)
-		(end 113.792 90.071)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "111f7c2e-b6b9-442c-9a2b-e44be7fcbc97")
-	)
-	(segment
-		(start 113.65 88.5625)
-		(end 113.65 89.929)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "20c0657d-700c-4bcd-a1c0-82da07846b99")
-	)
-	(segment
-		(start 107.061 102.743)
-		(end 108.687 102.743)
-		(width 0.4)
-		(layer "F.Cu")
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-		(uuid "2b392aae-e5ef-4d5d-82f0-fceb9ba0f236")
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-	(segment
-		(start 101.149 80.772)
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-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "377e02e5-8277-4400-aae1-9d1294c80cba")
-	)
-	(segment
-		(start 95.758 61.214)
-		(end 97.406 61.214)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "5aacc330-59c4-4499-a012-485e65437f0b")
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-	(segment
-		(start 116.049 80.7)
-		(end 115.85 80.899)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
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-	(segment
-		(start 97.525 61.095)
-		(end 98.499999 61.095)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "8ce8457a-ee33-4e0e-9ceb-7ac43018d5fb")
-	)
-	(segment
-		(start 98.499999 61.095)
-		(end 101.149 63.744001)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "8d664503-ddcd-42f8-b123-b21376200a88")
-	)
-	(segment
-		(start 108.1545 88.409999)
-		(end 106.521499 90.043)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "990bef96-30b6-4396-a606-baf367bc5da5")
-	)
-	(segment
-		(start 101.149 90.043)
-		(end 101.149 96.831)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "a565b3e8-c7a6-4eae-b118-5d91bb9fb85e")
-	)
-	(segment
-		(start 108.077 80.2)
-		(end 101.721 80.2)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "ae08701e-e7c8-4e55-8a8a-50fb77802052")
-	)
-	(segment
-		(start 108.1545 88.1)
-		(end 108.1545 88.409999)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "c9671937-7861-4e3b-9ac5-45fbd7c602e7")
-	)
-	(segment
-		(start 108.7745 80.2)
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-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "d1852136-5d8b-42f0-8714-4fc2b827649d")
-	)
-	(segment
-		(start 106.521499 90.043)
-		(end 101.149 90.043)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "e3b3d81c-21eb-4272-b724-c83d10d2fda0")
-	)
-	(segment
-		(start 101.149 63.744001)
-		(end 101.149 80.772)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "eede7474-2379-4955-9731-9962fccf2171")
-	)
-	(segment
-		(start 97.406 61.214)
-		(end 97.525 61.095)
-		(width 0.4)
-		(layer "F.Cu")
-		(net 1)
-		(uuid "f00f1bc6-9ad7-4741-8e4e-05ba8a40dbd1")
-	)
 	(via
-		(at 106.521499 90.043)
-		(size 0.8)
-		(drill 0.4)
-		(layers "F.Cu" "B.Cu")
-		(net 1)
-		(uuid "09a4dda5-690a-4443-853a-25a090d82c5b")
-	)
-	(via
-		(at 101.346 103.759)
+		(at 98.933 115.57)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12871,7 +12269,7 @@
 		(uuid "2aa50c87-60d4-4523-b4a1-30cceb8a5fc4")
 	)
 	(via
-		(at 101.346 102.743)
+		(at 98.933 114.554)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12880,7 +12278,7 @@
 		(uuid "42150aec-efb8-4d86-8f18-952cf14cb944")
 	)
 	(via
-		(at 101.346 104.775)
+		(at 98.933 116.586)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12889,7 +12287,7 @@
 		(uuid "42c4c8a3-589b-46e7-a10c-0df570ca5e6f")
 	)
 	(via
-		(at 101.346 100.711)
+		(at 98.933 112.522)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12898,7 +12296,7 @@
 		(uuid "6c7beb96-a5aa-46d4-bd83-2dfda9b5db76")
 	)
 	(via
-		(at 103.505 101.727)
+		(at 101.092 113.538)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12907,7 +12305,7 @@
 		(uuid "7f0ef9bb-8bd0-4a62-8df6-666d441b3e0c")
 	)
 	(via
-		(at 103.505 103.759)
+		(at 101.092 115.57)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12916,7 +12314,7 @@
 		(uuid "832eb1e3-ce33-48b7-9790-47ddf71bb281")
 	)
 	(via
-		(at 102.489 104.775)
+		(at 100.076 116.586)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12925,7 +12323,7 @@
 		(uuid "9663c46e-6c60-4ac4-8da2-0a3d6d7bce80")
 	)
 	(via
-		(at 102.489 100.711)
+		(at 100.076 112.522)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12934,15 +12332,7 @@
 		(uuid "a43d3d39-0b08-45c2-a2f8-7e33d1d6c9dd")
 	)
 	(via
-		(at 108.077 80.2)
-		(size 0.8)
-		(drill 0.4)
-		(layers "F.Cu" "B.Cu")
-		(net 1)
-		(uuid "a7707d7c-0ddf-474f-8136-ef9c514d2275")
-	)
-	(via
-		(at 103.505 100.711)
+		(at 101.092 112.522)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12951,7 +12341,7 @@
 		(uuid "b8994269-df90-4d88-a4f3-8999aecdc3e8")
 	)
 	(via
-		(at 101.346 101.727)
+		(at 98.933 113.538)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12960,7 +12350,7 @@
 		(uuid "c2bf0401-f1ad-4d16-b2b2-c49eae772225")
 	)
 	(via
-		(at 103.505 102.743)
+		(at 101.092 114.554)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12969,23 +12359,7 @@
 		(uuid "d0b3372d-8a85-40e9-855a-de3110286482")
 	)
 	(via
-		(at 114.3 90.043)
-		(size 0.8)
-		(drill 0.4)
-		(layers "F.Cu" "B.Cu")
-		(net 1)
-		(uuid "e39da303-a06b-42ec-b148-2028249bafe5")
-	)
-	(via
-		(at 115.85 80.899)
-		(size 0.8)
-		(drill 0.4)
-		(layers "F.Cu" "B.Cu")
-		(net 1)
-		(uuid "e575947e-e658-4aee-a7b1-9fb80dc8d2e3")
-	)
-	(via
-		(at 103.505 104.775)
+		(at 101.092 116.586)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -12993,64 +12367,8 @@
 		(net 1)
 		(uuid "f4c38f4b-bf42-450b-88cd-a2f1f7034426")
 	)
-	(segment
-		(start 106.521499 90.043)
-		(end 114.3 90.043)
-		(width 0.4)
-		(layer "B.Cu")
-		(net 1)
-		(uuid "1c74f5cd-283c-40ca-a347-3fd42cceedc1")
-	)
-	(segment
-		(start 108.776 80.899)
-		(end 108.077 80.2)
-		(width 0.4)
-		(layer "B.Cu")
-		(net 1)
-		(uuid "9e4dcc95-40eb-41f6-88aa-2a5cd30cd660")
-	)
-	(segment
-		(start 115.85 80.899)
-		(end 108.776 80.899)
-		(width 0.4)
-		(layer "B.Cu")
-		(net 1)
-		(uuid "f26da1b5-5d42-406f-8a25-0373a4a31b0b")
-	)
-	(segment
-		(start 105.544 62.738)
-		(end 106.24 63.434)
-		(width 0.4)
-		(layer "F.Cu")
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-		(uuid "53e8ca04-d036-487e-b606-ac25e958ddf6")
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-	(segment
-		(start 102.475 62.365)
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-		(width 0.4)
-		(layer "F.Cu")
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-		(uuid "807fb4e7-38e0-4cc9-8547-305e3feb9aca")
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-	(segment
-		(start 104.521 62.738)
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-	(segment
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 	(via
-		(at 113.86 65.278)
+		(at 117.094 60.833)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -13059,7 +12377,7 @@
 		(uuid "1dc6327a-899c-4a07-9539-b0e5f98d4c4b")
 	)
 	(via
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+		(at 119.253 57.785)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -13068,7 +12386,7 @@
 		(uuid "25a08817-dbd2-48ee-bdfd-25240c472eed")
 	)
 	(via
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+		(at 117.094 59.817)
 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -13077,7 +12395,7 @@
 		(uuid "363dfdc6-7eaf-4f9a-addb-888171ba75d8")
 	)
 	(via
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 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -13086,7 +12404,7 @@
 		(uuid "4c9f9375-b03e-4ffe-9dc8-999cc768cfcf")
 	)
 	(via
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 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -13095,7 +12413,7 @@
 		(uuid "6069e9a6-8b5c-415d-84e6-2ecea4f61ad6")
 	)
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 		(size 0.6)
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@@ -13104,7 +12422,7 @@
 		(uuid "725f11ff-ccb8-44c3-b45a-0c8917de93ed")
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@@ -13113,7 +12431,7 @@
 		(uuid "bd042c9e-aef1-42b7-94d0-58babfa5611a")
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@@ -13122,7 +12440,7 @@
 		(uuid "bff4086b-e89d-4101-a8a5-3387c92e3e89")
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@@ -13131,7 +12449,7 @@
 		(uuid "ceaa1e55-9398-42cc-a3ca-3112f32fddbf")
 	)
 	(via
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 		(size 0.6)
 		(drill 0.2)
 		(layers "F.Cu" "B.Cu")
@@ -13140,7 +12458,7 @@
 		(uuid "de6f4437-a6f2-42ca-9abe-3a8cda6c5cf1")
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 		(size 0.6)
 		(drill 0.2)
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diff --git a/hardware/mcu.kicad_sch b/hardware/mcu.kicad_sch
index e649b4f..d16e18c 100644
--- a/hardware/mcu.kicad_sch
+++ b/hardware/mcu.kicad_sch
@@ -1441,26 +1441,29 @@
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 		)
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+		(symbol "Interface_CAN_LIN:SN65HVD230"
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+					(hide yes)
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@@ -1482,16 +1493,7 @@
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-					(hide yes)
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-			(property "ki_keywords" "High-Speed CAN Transceiver"
+			(property "ki_keywords" "can transeiver ti low-power"
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@@ -1509,10 +1511,10 @@
 					(hide yes)
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@@ -1522,11 +1524,11 @@
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@@ -1542,9 +1544,9 @@
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-				(hide yes)
-			)
-		)
-		(property "LCSC" "C1525"
-			(at 170.18 138.43 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(hide yes)
-			)
-		)
-		(pin "1"
-			(uuid "8c5c16ce-97f0-4c97-b869-6859dbabfd8c")
-		)
-		(pin "2"
-			(uuid "6934328e-192a-485d-b0fa-46efb86c22e2")
-		)
-		(instances
-			(project "Valve Node"
-				(path "/161a9599-9ba4-4610-99d7-67cfc29e63e3/5c46d7fe-34fa-4f56-9c85-0d1525266e94"
-					(reference "C208")
-					(unit 1)
-				)
-			)
-		)
-	)
 	(symbol
 		(lib_id "power:GND")
 		(at 194.31 48.26 0)
@@ -7832,103 +7426,6 @@
 			)
 		)
 	)
-	(symbol
-		(lib_id "Interface_CAN_LIN:TJA1042T-3")
-		(at 196.85 129.54 0)
-		(unit 1)
-		(exclude_from_sim no)
-		(in_bom yes)
-		(on_board yes)
-		(dnp no)
-		(uuid "f4fe0140-b1e8-4854-a46e-c8601fd5154e")
-		(property "Reference" "U202"
-			(at 197.866 120.142 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(justify left)
-			)
-		)
-		(property "Value" "TJA1042T-3"
-			(at 198.12 142.748 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(justify left)
-			)
-		)
-		(property "Footprint" "Package_SO:SOIC-8_3.9x4.9mm_P1.27mm"
-			(at 196.85 142.24 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-					(italic yes)
-				)
-				(hide yes)
-			)
-		)
-		(property "Datasheet" "http://www.nxp.com/docs/en/data-sheet/TJA1042.pdf"
-			(at 196.85 129.54 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(hide yes)
-			)
-		)
-		(property "Description" "High-Speed CAN Transceiver, separate VIO, standby mode, SOIC-8"
-			(at 196.85 129.54 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(hide yes)
-			)
-		)
-		(property "LCSC" "C132227"
-			(at 196.85 129.54 0)
-			(effects
-				(font
-					(size 1.27 1.27)
-				)
-				(hide yes)
-			)
-		)
-		(pin "7"
-			(uuid "f8ca2462-5130-43e9-823e-aa07ff43b60d")
-		)
-		(pin "4"
-			(uuid "7cb9452f-7feb-4412-bd85-e8a80e09837c")
-		)
-		(pin "6"
-			(uuid "24f1b9b6-fdc6-4fbb-9467-75ea535a0f24")
-		)
-		(pin "1"
-			(uuid "e0038046-6f49-4a46-bf6f-525c6fc41dab")
-		)
-		(pin "3"
-			(uuid "fb442efe-c494-4f81-81af-ece65acaa38f")
-		)
-		(pin "8"
-			(uuid "842b1e86-95c4-4c28-a05b-1e07d6ebc1bb")
-		)
-		(pin "5"
-			(uuid "9d52e6bf-7f32-45a9-bd19-ba0f5d4a9a15")
-		)
-		(pin "2"
-			(uuid "ca3d785b-ddc0-4178-aa79-815e23f56edb")
-		)
-		(instances
-			(project "Valve Node"
-				(path "/161a9599-9ba4-4610-99d7-67cfc29e63e3/5c46d7fe-34fa-4f56-9c85-0d1525266e94"
-					(reference "U202")
-					(unit 1)
-				)
-			)
-		)
-	)
 	(symbol
 		(lib_id "Device:C")
 		(at 194.31 39.37 0)
diff --git a/software/.vscode/extensions.json b/software/.vscode/extensions.json
new file mode 100644
index 0000000..2b32164
--- /dev/null
+++ b/software/.vscode/extensions.json
@@ -0,0 +1,10 @@
+{
+    "recommendations": [
+        "ms-vscode.cpptools-extension-pack",
+        "ms-python.python",
+        "ms-vscode.vscode-embedded-tools",
+        "ms-vscode.vscode-serial-monitor",
+        "marus25.cortex-debug",
+        "donjayamanne.python-environment-manager"
+    ]
+}
\ No newline at end of file
diff --git a/software/.vscode/launch.json b/software/.vscode/launch.json
new file mode 100644
index 0000000..a386ed2
--- /dev/null
+++ b/software/.vscode/launch.json
@@ -0,0 +1,28 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Launch",
+            "device": "STM32F103RB",
+            "cwd": "${workspaceFolder}",
+            "executable": "build/zephyr/zephyr.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            //"runToEntryPoint": "main",
+            "servertype": "jlink",
+            "gdbPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb",
+            "preLaunchTask": "West Build"
+        },
+        {
+            "name": "Attach",
+            "device": "nRF52840_xxAA",
+            "cwd": "${workspaceFolder}",
+            "executable": "build/zephyr/zephyr.elf",
+            "request": "attach",
+            "type": "cortex-debug",
+            // "runToEntryPoint": "main",
+            "servertype": "jlink",
+            "gdbPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb"
+        },
+    ]
+}
\ No newline at end of file
diff --git a/software/.vscode/settings.json b/software/.vscode/settings.json
index 15b66f3..4f59a24 100644
--- a/software/.vscode/settings.json
+++ b/software/.vscode/settings.json
@@ -1,15 +1,12 @@
 {
-    "nrf-connect.applications": [
-        "${workspaceFolder}\\modbus_test"
-    ],
-    "files.associations": {
-        "log.h": "c",
-        "modbus.h": "c",
-        "array": "c",
-        "string": "c",
-        "string_view": "c",
-        "canbus.h": "c",
-        "kernel.h": "c",
-        "settings.h": "c"
-    }
+        // Hush CMake
+		"cmake.configureOnOpen": false,
+
+		// IntelliSense
+		"C_Cpp.default.compilerPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc.exe",
+		"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
+
+		// File Associations
+		"files.associations": {
+		}
 }
\ No newline at end of file
diff --git a/software/.vscode/tasks.json b/software/.vscode/tasks.json
new file mode 100644
index 0000000..89ed6b2
--- /dev/null
+++ b/software/.vscode/tasks.json
@@ -0,0 +1,96 @@
+{
+	"version": "2.0.0",
+	"tasks": [
+		{
+			"label": "West Build",
+			"type": "shell",
+			"group": {
+				"kind": "build",
+				"isDefault": true
+			},
+			"linux": {
+				"command": "${userHome}/zephyrproject/.venv/bin/west"
+			},
+			"windows": {
+				"command": "${userHome}/zephyrproject/.venv/Scripts/west.exe"
+			},
+			"osx": {
+				"command": "${userHome}/zephyrproject/.venv/bin/west"
+			},
+			"args": [
+				"build",
+				"-p",
+				"auto",
+				"-b",
+				"valve_node"
+			],
+			"problemMatcher": [
+				"$gcc"
+			]
+		},
+		{
+			"label": "West Configurable Build",
+			"type": "shell",
+			"group": {
+				"kind": "build",
+			},
+			"linux": {
+				"command": "${userHome}/zephyrproject/.venv/bin/west"
+			},
+			"windows": {
+				"command": "${userHome}/zephyrproject/.venv/Scripts/west.exe"
+			},
+			"osx": {
+				"command": "${userHome}/zephyrproject/.venv/bin/west"
+			},
+			"args": [
+				"build",
+				"-p",
+				"${input:pristine}",
+				"-b",
+				"${input:board}"
+			],
+			"problemMatcher": [
+				"$gcc"
+			]
+		},
+		{
+			"label": "West Flash",
+			"type": "shell",
+			"linux": {
+				"command": "${userHome}/zephyrproject/.venv/bin/west"
+			},
+			"windows": {
+				"command": "${userHome}/zephyrproject/.venv/Scripts/west.exe"
+			},
+			"osx": {
+				"command": "${userHome}/zephyrproject/.venv/bin/west"
+			},
+			"args": [
+				"flash"
+			],
+			"problemMatcher": [
+				"$gcc"
+			]
+		}
+	],
+	"inputs": [
+		{
+			"id": "board",
+			"type": "promptString",
+			"default": "valve-node",
+			"description": "See https://docs.zephyrproject.org/latest/boards/index.html"
+		},
+		{
+			"id": "pristine",
+			"type": "pickString",
+			"description": "Choose when to run a pristine build",
+			"default": "auto",
+			"options": [
+				"auto",
+				"always",
+				"never"
+			]
+		}
+	]
+}
\ No newline at end of file
diff --git a/software/CMakeLists.txt b/software/CMakeLists.txt
new file mode 100644
index 0000000..5472451
--- /dev/null
+++ b/software/CMakeLists.txt
@@ -0,0 +1,25 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+list(APPEND BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(valve_node)
+
+target_sources(app PRIVATE src/main.c)
+target_sources(app PRIVATE lib/canbus.c)
+
+# source files for modbus waterlevel sensor
+zephyr_library_sources_ifdef(CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+    lib/waterlevel_sensor.c
+)
+
+#source files for valve
+zephyr_library_sources_ifdef(CONFIG_HAS_VALVE
+    lib/valve.c
+)
+
+zephyr_include_directories(
+    lib
+)
diff --git a/software/boards/iten/valve_node/Kconfig.valve_node b/software/boards/iten/valve_node/Kconfig.valve_node
index a52f9b8..1525006 100644
--- a/software/boards/iten/valve_node/Kconfig.valve_node
+++ b/software/boards/iten/valve_node/Kconfig.valve_node
@@ -1,7 +1,7 @@
 config BOARD_VALVE_NODE
     select SOC_STM32F103XB
 
-mainmenu "Controller Area Network sample application"
+mainmenu "APP CAN Settings"
 config LOOPBACK_MODE
 	bool "Loopback LOOPBACK_MODE"
 	default n
@@ -9,10 +9,50 @@ config LOOPBACK_MODE
 	  Set the can controller to loopback mode.
 	  This allows testing without a second board.
 
+mainmenu "APP Logging Settings"
 config LOG_CAN_LEVEL
 	int "Log level for CAN"
 	default 3
 	range 0 7
 	help
 	  Set the log level for CAN messages.
-	  0 = None, 1 = Error, 2 = Warning, 3 = Info, 4 = Debug, 5 = Trace, 6 = Debug2, 7 = Debug3
\ No newline at end of file
+	  0 = None, 1 = Error, 2 = Warning, 3 = Info, 4 = Debug, 5 = Trace, 6 = Debug2, 7 = Debug3
+
+config LOG_SETTINGS_LEVEL
+	int "Log level for settings"
+	default 3
+	range 0 7
+	help
+	  Set the log level for CAN messages.
+	  0 = None, 1 = Error, 2 = Warning, 3 = Info, 4 = Debug, 5 = Trace, 6 = Debug2, 7 = Debug3
+
+config LOG_WATERLEVELSENSOR_LEVEL
+	int "Log level for waterlevel sensor"
+	default 3
+	range 0 7
+	help
+	  Set the log level for CAN messages.
+	  0 = None, 1 = Error, 2 = Warning, 3 = Info, 4 = Debug, 5 = Trace, 6 = Debug2, 7 = Debug3
+
+config LOG_VALVE_LEVEL
+	int "Log level for valve control"
+	default 3
+	range 0 7
+	help
+	  Set the log level for valve control messages.
+	  0 = None, 1 = Error, 2 = Warning, 3 = Info, 4 = Debug, 5 = Trace, 6 = Debug2, 7 = Debug3
+
+mainmenu "Irrigation controller node configuration"
+config HAS_MODBUS_WATERLEVEL_SENSOR
+    bool "Has modbus water level sensor"
+    default n
+    help
+      Enable modbus water level sensor support.
+      This allows reading the water level from a modbus device.
+
+config HAS_VALVE
+	bool "Has valve control"
+	default n
+	help
+	  Enable valve control support.
+	  This allows controlling valves via CAN messages.
\ No newline at end of file
diff --git a/software/boards/iten/valve_node/board.cmake b/software/boards/iten/valve_node/board.cmake
index 9b122cd..ebd92d6 100644
--- a/software/boards/iten/valve_node/board.cmake
+++ b/software/boards/iten/valve_node/board.cmake
@@ -8,3 +8,4 @@ board_runner_args(jlink "--device=STM32F103RB" "--speed=4000")
 include(${ZEPHYR_BASE}/boards/common/stm32cubeprogrammer.board.cmake)
 include(${ZEPHYR_BASE}/boards/common/openocd-stm32.board.cmake)
 include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/blackmagicprobe.board.cmake)
diff --git a/software/boards/iten/valve_node/valve_node.dts b/software/boards/iten/valve_node/valve_node.dts
index bd39f4a..f1f38ab 100644
--- a/software/boards/iten/valve_node/valve_node.dts
+++ b/software/boards/iten/valve_node/valve_node.dts
@@ -13,12 +13,18 @@
 	model = "Iten engineering Valve Node";
 	compatible = "iten,valve-node", "st,stm32f103rb";
 
+	can_loopback0: can_loopback0 {
+		status = "disabled";
+		compatible = "zephyr,can-loopback";
+	};
+
 	chosen {
 		zephyr,console = &usart1;
 		zephyr,shell-uart = &usart1;
 		zephyr,sram = &sram0;
 		zephyr,flash = &flash0;
 		zephyr,canbus = &can1;
+		//zephyr,canbus = &can_loopback0;
 	};
 
 	leds: leds {
@@ -73,6 +79,10 @@
 			gpios = <&gpiob 13 0>;
 			label = "Motor Open";
 		};
+		fake: fake {
+			gpios = <&gpiob 11 GPIO_PULL_UP>;
+			label = "CAN RX pullup";
+		};
 	};
 };
 
@@ -174,7 +184,7 @@
 	pinctrl-0 = <&can_rx_pa11 &can_tx_pa12>;
 	pinctrl-names = "default";
 	status= "okay";
-	bus-speed = < 125000 >;
+	bus-speed = <125000>;
 };
 
 &exti {
diff --git a/software/boards/iten/valve_node/valve_node_defconfig b/software/boards/iten/valve_node/valve_node_defconfig
index 8eb026e..5e3d242 100644
--- a/software/boards/iten/valve_node/valve_node_defconfig
+++ b/software/boards/iten/valve_node/valve_node_defconfig
@@ -18,6 +18,7 @@ CONFIG_MODBUS_ROLE_CLIENT=y
 CONFIG_CAN=y
 CONFIG_CAN_INIT_PRIORITY=80
 #CONFIG_CAN_MAX_FILTER=5
+CONFIG_CAN_ACCEPT_RTR=y
 
 # settings
 CONFIG_FLASH=y
diff --git a/software/lib/canbus.c b/software/lib/canbus.c
index bac6b69..e2f78ab 100644
--- a/software/lib/canbus.c
+++ b/software/lib/canbus.c
@@ -1,81 +1,152 @@
 #include "canbus.h"
 #include <zephyr/logging/log.h>
 #include <zephyr/kernel.h>
-#include "settings.h"
+#include <zephyr/sys/byteorder.h>
+#include <zephyr/drivers/can.h>
+#include <stdlib.h>
+
+#ifdef CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+#include "waterlevel_sensor.h"
+#endif // CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+
+#ifdef CONFIG_HAS_VALVE
+#include "valve.h"
+#endif // CONFIG_HAS_VALVE
 
 const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
 
-K_THREAD_STACK_DEFINE(rx_thread_stack, RX_THREAD_STACK_SIZE);
-
-static uint8_t node_id = 12; // Default node ID
-
 LOG_MODULE_REGISTER(canbus, CONFIG_LOG_CAN_LEVEL);
 
-static int canbus_set(const char *key, size_t len, settings_read_cb read_cb, void *cb_arg)
+K_MSGQ_DEFINE(canbus_msgq, sizeof(struct can_frame), CANBUS_RX_MSGQ_SIZE, 4);
+K_THREAD_STACK_DEFINE(canbus_rx_stack, CANBUS_RX_THREAD_STACK_SIZE);
+
+uint8_t node_id = 0; // Default node ID, can be set later
+uint8_t can_msg_id = 0;
+
+k_tid_t canbus_rx_thread_id;
+struct k_thread canbus_rx_thread_data;
+
+int canbus_rx_filter_id = -1;
+
+void canbus_rx_callback(const struct device *dev, struct can_frame *frame, void *user_data)
 {
-    const char *next;
     int rc;
+    ARG_UNUSED(dev);
+    ARG_UNUSED(user_data);
 
-    // Handle setting values for CAN bus configuration
-    LOG_DBG("Setting CAN bus configuration: key=%s, len=%zu", key, len);
-    if (settings_name_steq(key, "node_id", &next) && next != NULL)
+    if (frame->id >> 8 != node_id) // Check if the frame ID matches the node ID
     {
-        if (len != sizeof(node_id))
-        {
-            LOG_ERR("Invalid length for node_id setting: %zu", len);
-            return -EINVAL; // Invalid argument
-        }
-
-        rc = read_cb(cb_arg, &node_id, sizeof(node_id));
-        if (rc < 0)
-        {
-            LOG_ERR("Failed to read node_id setting: %d", rc);
-            return rc; // Read error
-        }
-        LOG_DBG("Set CAN bus node ID to: %d", node_id);
+        LOG_DBG("Received CAN frame with ID %d, but it does not match node ID %d", frame->id >> 8, node_id);
+        return; // Ignore frames that do not match the node ID
+    }
+
+    // Process the received CAN frame
+    rc = k_msgq_put(&canbus_msgq, frame, K_NO_WAIT);
+    if (rc != 0)
+    {
+        LOG_ERR("Failed to put CAN frame into message queue: %d", rc);
     }
-    return 0; // Return 0 on success
 }
 
-struct settings_handler canbus_settings_handler = {
-    .name = "canbus",
-    .h_set = canbus_set, // No settings set handler
-};
+void canbus_thread(void *arg1, void *arg2, void *arg3)
+{
+    ARG_UNUSED(arg1);
+    ARG_UNUSED(arg2);
+    ARG_UNUSED(arg3);
+
+    LOG_INF("CAN bus thread started");
+
+    // Main loop for CAN bus operations
+    while (1)
+    {
+        int rc;
+        struct can_frame frame;
+        k_msgq_get(&canbus_msgq, &frame, K_FOREVER); // Wait for a message from the queue
+        LOG_DBG("Received CAN frame with ID: 0x%02x, DLC: %d, RTR: %d",
+                frame.id, frame.dlc, (uint8_t)(frame.flags & CAN_FRAME_RTR));
+        LOG_HEXDUMP_DBG(frame.data, frame.dlc, "CAN frame data");
+        uint8_t reg = frame.id & 0xFF;               // Extract register from the frame ID
+        bool is_rtr = (frame.flags & CAN_FRAME_RTR) != 0; // Check if it's a remote transmission request
+        switch (reg)
+        {
+#ifdef CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+        case CANBUS_REG_WATERLEVEL_LEVEL:
+        case CANBUS_REG_WATERLEVEL_ZERO_POINT:
+        case CANBUS_REG_WATERLEVEL_MAX_POINT:
+            waterlevel_command_t command;
+            command.cmd = is_rtr ? WATERLEVEL_CMD_GET : WATERLEVEL_CMD_SET; // Determine command type based on RTR
+            command.reg = reg;                                              // Set the register ID
+            int16_t value = 0; // Initialize value to 0
+            if (!is_rtr) // If it's not a remote request, extract the value from the frame data
+            {
+                if (frame.dlc < sizeof(command.data))
+                {                    LOG_ERR("Received frame with insufficient data length: %d", frame.dlc);
+                    continue; // Skip processing if data length is insufficient
+                }
+                value = sys_be16_to_cpu(*(uint16_t *)frame.data); // Convert data from big-endian to host byte order
+                command.data = value; // Set the data field
+                LOG_DBG("Setting command data to: %d", value);
+            }
+            extern struct k_msgq waterlevel_sensor_msgq;                    // Declare the water level sensor message queue
+            k_msgq_put(&waterlevel_sensor_msgq, &command, K_NO_WAIT);
+            break;
+#endif // CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+#ifdef CONFIG_HAS_VALVE
+        case CANBUS_REG_VALVE_STATUS:
+        case CANBUS_REG_VALVE_OPERATION:
+        if (is_rtr)
+            {
+                LOG_DBG("Received remote request for valve status or operation");
+                if (reg == CANBUS_REG_VALVE_STATUS)
+                {
+                    valve_send_status(); // Send the current valve status
+                }
+                else if (reg == CANBUS_REG_VALVE_OPERATION)
+                {
+                    valve_send_operation(); // Send the current valve operation state
+                } else {
+                    LOG_ERR("Unknown valve register: 0x%02x", reg);
+                    continue; // Skip processing if the register is unknown
+                }
+            }
+            else
+            {
+                LOG_ERR("Received CAN frame with data for valve status or operation, but RTR is not set");
+                continue; // Skip processing if RTR is not set for valve status or operation
+            }
+            break;
+        case CANBUS_REG_VALVE_COMMAND:
+        {
+            if (is_rtr) {
+                LOG_ERR("Received remote request for valve command, but this is not supported");
+                continue; // Skip processing if RTR is set for valve command
+            } else {
+                // Extract the command from the frame data
+                if (frame.dlc < sizeof(uint8_t)) {
+                    LOG_ERR("Received frame with insufficient data length for valve command: %d", frame.dlc);
+                    continue; // Skip processing if data length is insufficient
+                }
+                uint8_t command = frame.data[0]; // Get the command from the first byte of data
+                LOG_DBG("Received valve command: 0x%02x", command);
+                rc = valve_cmd(command); // Send the command to the valve
+                if (rc < 0) {
+                    LOG_ERR("Failed to send valve command: %d", rc);
+                    continue; // Skip processing if sending the command failed
+                }
+            }
+            break;
+        }
+        default:
+            LOG_DBG("Received CAN frame with unknown register: 0x%02x", reg);
+            break;
+        }
+        #endif // CONFIG_HAS_VALVE
+    }
+}
 
 int canbus_init(void)
 {
-    int rc;
-    settings_subsys_init();
-    settings_register(&canbus_settings_handler);
-    settings_load();
-
-    rc = settings_get_val_len("canbus/node_id");
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to check CAN bus settings: %d", rc);
-        return rc;
-    }
-
-    else if (rc == 0)
-    {
-        LOG_WRN("No CAN bus node id found in settings, using default default (%d)", node_id);
-        settings_save_one("canbus/node_id", &node_id, sizeof(node_id));
-        if (rc < 0)
-        {
-            LOG_ERR("Failed to save default CAN bus node id: %d", rc);
-            return rc;
-        }
-    }
-    else
-    {
-        rc = settings_load_one("canbus/node_id", &node_id, sizeof(node_id));
-        if (rc < 0)
-        {
-            LOG_ERR("Failed to load CAN bus node id from settings: %d", rc);
-            return rc;
-        }
-        LOG_DBG("Loaded CAN bus node id: %d", node_id);
-    }
+    int rc = 0;
 
     if (!device_is_ready(can_dev))
     {
@@ -91,5 +162,125 @@ int canbus_init(void)
         return rc;
     }
 #endif
+
+    rc = can_start(can_dev);
+    if (rc != 0)
+    {
+        printf("Error starting CAN controller [%d]", rc);
+        return 0;
+    }
+    LOG_DBG("CAN device %s is ready", can_dev->name);
+    // Initialize the CAN RX thread
+    canbus_rx_thread_id = k_thread_create(&canbus_rx_thread_data, canbus_rx_stack,
+                                          K_THREAD_STACK_SIZEOF(canbus_rx_stack), canbus_thread,
+                                          NULL, NULL, NULL,
+                                          CANBUS_RX_THREAD_PRIORITY, 0, K_NO_WAIT);
+    k_thread_name_set(canbus_rx_thread_id, "canbus_rx");
+
+    const struct can_filter filter = {
+        .id = node_id << 8, // Standard ID with node ID in the first byte
+        .mask = 0x700,      // Mask to match the first byte of the ID
+        .flags = 0,         // No special flags
+    };
+    canbus_rx_filter_id = can_add_rx_filter(can_dev, canbus_rx_callback, NULL, &filter);
+    LOG_DBG("CAN RX filter added for node ID %d", canbus_rx_filter_id);
+    return 0;
+}
+
+void canbus_tx8_callback(const struct device *dev, int error, void *user_data)
+{
+    ARG_UNUSED(dev);
+    uint8_t frame_id = *(uint8_t *)user_data; // Retrieve the frame ID from user data
+
+    if (error != 0)
+    {
+        LOG_ERR("CAN transmission error. Error code: %d, Frame ID: %d", error, frame_id);
+    }
+    else
+    {
+        LOG_DBG("CAN message with Frame ID %d sent successfully", frame_id);
+    }
+    free(user_data); // Free the allocated memory for frame ID
+}
+
+int canbus_send8(uint16_t reg, uint8_t value)
+{
+    int rc = 0;
+    struct can_frame frame = {
+        .id = (node_id << 8) | reg, // Standard ID with node ID in the first byte
+        .dlc = sizeof(value),        // Data Length Code (DLC)
+    };
+    frame.data[0] = value; // Set the value in the first byte of the data
+    uint8_t *frame_id = malloc(sizeof(uint8_t)); // Allocate memory for frame ID
+    LOG_DBG("Preparing to send 8-bit value 0x%02x to register 0x%02x on node %d", value, reg, node_id);
+    if (frame_id == NULL)
+    {
+        LOG_ERR("Failed to allocate memory for frame ID");
+        return -ENOMEM; // Not enough memory
+    }
+    *frame_id = can_msg_id++; // Increment message ID for uniqueness
+    LOG_DBG("Using frame ID: %d", *frame_id);
+    rc = can_send(can_dev, &frame, CANBUS_TX_TIMEOUT, canbus_tx8_callback, frame_id);
+    // Send the CAN frame with a timeout and callback
+    if (rc != 0)
+    {
+        LOG_ERR("Failed to queue CAN frame: %d", rc);
+        free(frame_id); // Free the allocated memory for frame ID
+        return rc;
+    }
+    return 0;
+}
+
+void canbus_tx16_callback(const struct device *dev, int error, void *user_data)
+{
+    ARG_UNUSED(dev);
+    uint8_t frame_id = *(uint8_t *)user_data; // Retrieve the frame ID from user data
+
+    if (error != 0)
+    {
+        LOG_ERR("CAN transmission error. Error code: %d, Frame ID: %d", error, frame_id);
+    }
+    else
+    {
+        LOG_DBG("CAN message with Frame ID %d sent successfully", frame_id);
+    }
+    free(user_data); // Free the allocated memory for frame ID
+}
+
+int canbus_send16(uint16_t reg, uint16_t value)
+{
+    int rc = 0;
+    union data_type
+    {
+        int16_t value;
+        uint8_t bytes[2];
+    } data;
+    data.value = sys_cpu_to_be16(value); // Convert value to big-endian format
+
+    struct can_frame frame = {
+        .id = (node_id << 8) | reg, // Standard ID with node ID in the first byte
+        .dlc = sizeof(data),        // Data Length Code (DLC)
+    };
+    memcpy(frame.data, data.bytes, sizeof(data)); // Copy data into the frame
+    uint8_t *frame_id = malloc(sizeof(uint8_t));  // Allocate memory for frame ID
+    LOG_DBG("Preparing to send 16-bit value 0x%04x to register 0x%02x on node %d", value, reg, node_id);
+    if (frame_id == NULL)
+    {
+        LOG_ERR("Failed to allocate memory for frame ID");
+        return -ENOMEM; // Not enough memory
+    }
+    *frame_id = can_msg_id++; // Increment message ID for uniqueness
+    LOG_DBG("Using frame ID: %d", *frame_id);
+    rc = can_send(can_dev, &frame, CANBUS_TX_TIMEOUT, canbus_tx16_callback, frame_id);
+    // Send the CAN frame with a timeout and callback
+    if (rc != 0)
+    {
+        LOG_ERR("Failed to queue CAN frame: %d", rc);
+        free(frame_id); // Free the allocated memory for frame ID
+        return rc;
+    }
+
+    LOG_DBG("Queued 16-bit value 0x%04x to register 0x%02x on node %d, frame ID: %d",
+            value, reg, node_id, *frame_id);
     return 0;
 }
\ No newline at end of file
diff --git a/software/lib/canbus.h b/software/lib/canbus.h
index c58a404..51e6ea2 100644
--- a/software/lib/canbus.h
+++ b/software/lib/canbus.h
@@ -1,13 +1,16 @@
 #ifndef __CANBUS_H__
 #define __CANBUS_H__
 
-#include <zephyr/drivers/can.h>
-#include <zephyr/kernel.h>
+#include <stdint.h>
+#include "canbus_registers.h"
 
-#define RX_THREAD_STACK_SIZE 512
-#define RX_THREAD_PRIORITY 2
+#define CANBUS_RX_THREAD_STACK_SIZE (512) // Stack size for the CAN RX thread
+#define CANBUS_RX_THREAD_PRIORITY (5) // Priority for the CAN RX thread
+#define CANBUS_RX_MSGQ_SIZE (5) // Size of the message queue for CAN RX thread
+#define CANBUS_TX_TIMEOUT K_MSEC(100) // Timeout for sending CAN messages in milliseconds
 
 int canbus_init(void);
-int canbus_send_message(const struct can_frame *frame);
+int canbus_send8(uint16_t reg, uint8_t value);
+int canbus_send16(uint16_t reg, uint16_t value);
 
 #endif // __CANBUS_H__
\ No newline at end of file
diff --git a/software/lib/canbus_registers.h b/software/lib/canbus_registers.h
new file mode 100644
index 0000000..5463b53
--- /dev/null
+++ b/software/lib/canbus_registers.h
@@ -0,0 +1,42 @@
+#ifndef __CANBUS_REGISTERS_H__
+#define __CANBUS_REGISTERS_H__
+
+enum canbus_registers {
+    CANBUS_REG_REBOOT = 0x00,
+    CANBUS_REG_STATE = 0x01,
+    CANBUS_REG_ERROR = 0x02,
+
+    CANBUS_REG_VALVE_STATUS = 0x10,
+    CANBUS_REG_VALVE_OPERATION = 0x11,
+    CANBUS_REG_VALVE_COMMAND = 0x12,
+
+    CANBUS_REG_WATERLEVEL_STATE = 0x20,
+    CANBUS_REG_WATERLEVEL_LEVEL = 0x21,
+    CANBUS_REG_WATERLEVEL_ZERO_POINT = 0x22,
+    CANBUS_REG_WATERLEVEL_MAX_POINT = 0x23,
+};
+
+enum valve_status {
+    VALVE_STATE_CLOSED = 0x00,
+    VALVE_STATE_OPEN = 0x01,
+    VALVE_STATE_ERROR = 0x02,
+    VALVE_STATE_UNKNOWN = 0x03,
+};
+
+enum valve_operation_state {
+    VALVE_OPERATION_IDLE = 0x00,
+    VALVE_OPERATION_OPENING = 0x01,
+    VALVE_OPERATION_CLOSING = 0x02,
+};
+
+enum valve_command {
+    VALVE_COMMAND_STOP = 0x00,
+    VALVE_COMMAND_OPEN = 0x01,
+    VALVE_COMMAND_CLOSE = 0x02,
+};
+
+enum waterlevel_state {
+    WATERLEVEL_STATE_OK = 0x00,
+    WATERLEVEL_STATE_MODBUS_ERROR = 0x02,
+};
+#endif // __CANBUS_REGISTERS_H__
\ No newline at end of file
diff --git a/software/lib/modbus.c b/software/lib/modbus.c
deleted file mode 100644
index ed118cf..0000000
--- a/software/lib/modbus.c
+++ /dev/null
@@ -1,163 +0,0 @@
-#include "modbus.h"
-#include <zephyr/kernel.h>
-#include <zephyr/sys/util.h>
-#include <zephyr/modbus/modbus.h>
-#include <zephyr/logging/log.h>
-
-LOG_MODULE_REGISTER(mbc, CONFIG_LOG_DEFAULT_LEVEL);
-
-#define MODBUS_NODE DT_COMPAT_GET_ANY_STATUS_OKAY(zephyr_modbus_serial)
-
-static int client_iface;
-
-static struct
-{
-    int level;   // Water level value
-    int minimum; // Minimum value
-    int maximum; // Maximum value
-    int factor; // Factor for unit conversion
-} measurement;
-
-int mb_init_client(void)
-{
-    const char iface_name[] = {DEVICE_DT_NAME(MODBUS_NODE)};
-    client_iface = modbus_iface_get_by_name(iface_name);
-    LOG_DBG("Modbus client interface: %d", client_iface);
-    if (client_iface < 0)
-    {
-        LOG_ERR("Failed to get Modbus interface by name: %s", iface_name);
-        return client_iface;
-    }
-    return modbus_init_client(client_iface, client_param);
-}
-
-int mb_read_holding_registers(int node, uint16_t reg_addr, uint16_t *data, size_t len)
-{
-    return modbus_read_holding_regs(client_iface, node, reg_addr, data, len);
-}
-
-int mb_read()
-{
-    int rc;
-    int16_t data[5] = {0};
-    rc = mb_read_holding_registers(1, 0x0002, data, sizeof(data) / sizeof(data[0]));
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to read holding registers: %d", rc);
-        return rc;
-    }
-    LOG_HEXDUMP_DBG(data, sizeof(data), "Holding Registers Data");
-
-    int unit, decimals;
-    unit = data[0];
-    decimals = data[1];
-    int factor;
-    switch (unit)
-    {
-    case 1: // cm
-        factor = 10;
-        break;
-    case 2: // mm
-        factor = 1;
-        break;
-    default:
-        LOG_ERR("Unknown unit: %d", unit);
-        return -EINVAL;
-    }
-    switch(decimals)
-    {
-    case 0: // no decimals
-        factor /= 1;
-        break;
-    case 1: // one decimal
-        factor /= 10;
-        break;
-    case 2: // two decimals
-        factor /= 100;
-        break;
-    default:
-        LOG_ERR("Unknown decimals: %d", decimals);
-        return -EINVAL;
-    }
-    measurement.factor = factor;
-    measurement.level = data[2] * factor;
-    measurement.minimum = data[3] * factor;
-    measurement.maximum = data[4] * factor; 
-    LOG_DBG("Water level: %dmm, Minimum: %dmm, Maximum: %dmm", 
-            measurement.level, measurement.minimum, measurement.maximum);
-    return 0;
-}
-
-int mb_read_water_level(double *mb_read_water_level)
-{  
-    int rc = mb_read();
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to read water level: %d", rc);
-        return rc;
-    }
-    *mb_read_water_level = (double)measurement.level / 1000.0; // Convert to meters
-
-    return 0;
-}
-
-int mb_read_water_level_mm(int *mb_read_water_level)
-{  
-    int rc = mb_read();
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to read water level: %d", rc);
-        return rc;
-    }
-    *mb_read_water_level = measurement.level;
-
-    return 0;
-}
-
-int mb_read_minimum_mm(int *mb_read_minimum)
-{
-    int rc = mb_read();
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to read water level: %d", rc);
-        return rc;
-    }
-    *mb_read_minimum = measurement.minimum;
-    return 0;
-}
-
-int mb_read_maximum_mm(int *mb_read_maximum)
-{
-    int rc = mb_read();
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to read water level: %d", rc);
-        return rc;
-    }
-    *mb_read_maximum = measurement.maximum;
-    return 0;
-}
-
-int mb_write_minimum_mm(int minimum)
-{
-    int rc = mb_read();
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to read water level: %d", rc);
-        return rc;
-    }
-    modbus_write_holding_reg(client_iface, 1, 0x0005, minimum / measurement.factor);
-    return 0;
-}
-
-int mb_write_maximum_mm(int maximum)
-{
-    int rc = mb_read();
-    if (rc < 0)
-    {
-        LOG_ERR("Failed to read water level: %d", rc);
-        return rc;
-    }
-    modbus_write_holding_reg(client_iface, 1, 0x0006, maximum / measurement.factor);
-    return 0;
-}
diff --git a/software/lib/modbus.h b/software/lib/modbus.h
deleted file mode 100644
index 3d43bac..0000000
--- a/software/lib/modbus.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#ifndef __waterlevel_h
-#define __waterlevel_h
-
-#include <zephyr/modbus/modbus.h>
-
-const static struct modbus_iface_param client_param = {
-	.mode = MODBUS_MODE_RTU,
-	.rx_timeout = 50000,
-	.serial = {
-		.baud = 9600,
-		.parity = UART_CFG_PARITY_NONE,
-	},
-};
-
-int mb_init_client(void);
-int mb_read_holding_registers(int node, uint16_t reg_addr, uint16_t *data, size_t len);
-int mb_read_water_level(double *mb_read_water_level);
-int mb_read_water_level_mm(int *mb_read_water_level_mm);
-int mb_read_minimum_mm(int *mb_read_minimum);
-int mb_read_maximum_mm(int *mb_read_maximum);
-int mb_write_minimum_mm(int minimum);
-int mb_write_maximum_mm(int maximum);
-
-#endif
\ No newline at end of file
diff --git a/software/lib/settings.h b/software/lib/settings.h
deleted file mode 100644
index 523df6f..0000000
--- a/software/lib/settings.h
+++ /dev/null
@@ -1,17 +0,0 @@
-#ifndef __SETTINGS_H__
-#define __SETTINGS_H__
-
-#include <zephyr/settings/settings.h>
-
-#include <errno.h>
-#include <zephyr/sys/printk.h>
-
-#if defined(CONFIG_SETTINGS_FILE)
-#include <zephyr/fs/fs.h>
-#include <zephyr/fs/littlefs.h>
-#endif
-
-#define STORAGE_PARTITION storage_partition
-#define STORAGE_PARTITION_ID FIXED_PARTITION_ID(STORAGE_PARTITION)
-
-#endif // __SETTINGS_H__
\ No newline at end of file
diff --git a/software/lib/valve.c b/software/lib/valve.c
new file mode 100644
index 0000000..4966540
--- /dev/null
+++ b/software/lib/valve.c
@@ -0,0 +1,163 @@
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+
+#include "canbus.h"
+#include "canbus_registers.h"
+#include "valve.h"
+
+LOG_MODULE_REGISTER(valve, CONFIG_LOG_VALVE_LEVEL);
+
+K_THREAD_STACK_DEFINE(valve_thread_stack, VALVE_THREAD_STACK_SIZE);
+K_MSGQ_DEFINE(valve_msgq, sizeof(int), VALVE_MSGQ_SIZE, 4);
+
+k_tid_t valve_thread_id;
+struct k_thread valve_thread_data;
+
+valve_status_t valve_status_data = {
+    .valve_state = VALVE_STATE_UNKNOWN,
+    .valve_operation = VALVE_OPERATION_IDLE,
+};
+
+int valve_start_thread(void)
+{
+    int rc;
+
+    // Initialize the valve
+    rc = valve_init();
+    if (rc < 0)
+    {
+        LOG_ERR("Failed to initialize valve: %d", rc);
+        return rc;
+    }
+
+    // Create the valve thread
+    valve_thread_id = k_thread_create(&valve_thread_data, valve_thread_stack,
+                                      K_THREAD_STACK_SIZEOF(valve_thread_stack),
+                                      (k_thread_entry_t)valve_cmd, NULL, NULL, NULL,
+                                      VALVE_THREAD_PRIORITY, 0, K_NO_WAIT);
+    k_thread_name_set(valve_thread_id, "valve");
+
+    LOG_INF("Valve thread started successfully");
+while (1)
+    {
+        // Wait for commands from the message queue
+        int cmd;
+        rc = k_msgq_get(&valve_msgq, &cmd, VALVE_STATE_INTERVAL);
+        if (rc == 0)
+        {
+            // Process the command
+            rc = valve_cmd(cmd);
+            if (rc < 0)
+            {
+                LOG_ERR("Failed to process valve command: %d", rc);
+            }
+        }
+        else
+        {
+            valve_send_status();    // Send current valve status periodically
+        }
+    }  
+    return 0;
+}
+int valve_init(void)
+{
+    return 0;
+}
+
+int valve_cmd(int cmd)
+{
+    switch (cmd)
+    {
+    case VALVE_COMMAND_OPEN:
+        if (valve_status_data.valve_state != VALVE_STATE_OPEN)
+        {
+            valve_status_data.valve_state = VALVE_STATE_OPEN;
+            valve_status_data.valve_operation = VALVE_OPERATION_OPENING;
+            valve_send_status();    // Send updated status before opening
+            valve_send_operation(); // Send updated operation state before opening
+            k_sleep(VALVE_OPENING_TIME);                              // Simulate opening time
+            valve_status_data.valve_operation = VALVE_OPERATION_IDLE; // Set operation to idle after opening
+            valve_send_status();                                      // Send updated status after opening
+            valve_send_operation();                                   // Send updated operation state after opening
+        }
+        break;
+    case VALVE_COMMAND_CLOSE:
+        if (valve_status_data.valve_state != VALVE_STATE_CLOSED)
+        {
+            valve_status_data.valve_operation = VALVE_OPERATION_CLOSING;
+            valve_send_operation();                                   // Send updated operation state before closing
+            k_sleep(VALVE_CLOSING_TIME);                              // Simulate closing time
+            valve_status_data.valve_state = VALVE_STATE_CLOSED;       // Set valve state to closed after closing
+            valve_status_data.valve_operation = VALVE_OPERATION_IDLE; // Set operation to idle after closing
+            valve_send_status();                                      // Send updated status after closing
+            valve_send_operation();                                   // Send updated operation state after closing
+        }
+        break;
+    case VALVE_COMMAND_STOP:
+        valve_status_data.valve_operation = VALVE_OPERATION_IDLE;
+        break;
+    default:
+        LOG_ERR("Unknown valve command: %d", cmd);
+        return -EINVAL; // Invalid command
+    }
+    return 0;
+}
+
+int valve_send_status(void)
+{
+    int rc = canbus_send8(CANBUS_REG_VALVE_STATUS, valve_status_data.valve_state);
+    if (rc != 0)
+    {
+        LOG_ERR("Failed to send valve status: %d", rc);
+        return rc;
+    }
+    char *state_str;
+    switch (valve_status_data.valve_state)
+    {
+    case VALVE_STATE_CLOSED:
+        state_str = "CLOSED";
+        break;
+    case VALVE_STATE_OPEN:
+        state_str = "OPEN";
+        break;
+    case VALVE_STATE_ERROR:
+        state_str = "ERROR";
+        break;
+    case VALVE_STATE_UNKNOWN:
+        state_str = "UNKNOWN";
+        break;
+    default:
+        state_str = "INVALID";
+        break;
+    }
+    LOG_INF("Valve status sent: %s", state_str);
+    return 0;
+}
+
+int valve_send_operation(void)
+{
+    int rc = canbus_send8(CANBUS_REG_VALVE_OPERATION, valve_status_data.valve_operation);
+    if (rc != 0)
+    {
+        LOG_ERR("Failed to send valve operation: %d", rc);
+        return rc;
+    }
+    char *operation_str;
+    switch (valve_status_data.valve_operation)
+    {
+    case VALVE_OPERATION_IDLE:
+        operation_str = "IDLE";
+        break;
+    case VALVE_OPERATION_OPENING:
+        operation_str = "OPENING";
+        break;
+    case VALVE_OPERATION_CLOSING:
+        operation_str = "CLOSING";
+        break;
+    default:
+        operation_str = "UNKNOWN";
+        break;
+    }
+    LOG_INF("Valve operation sent: %s", operation_str);
+    return 0;
+}
\ No newline at end of file
diff --git a/software/lib/valve.h b/software/lib/valve.h
new file mode 100644
index 0000000..94f4538
--- /dev/null
+++ b/software/lib/valve.h
@@ -0,0 +1,27 @@
+#ifndef __VALVE_H__
+#define __VALVE_H__
+
+#define VALVE_OPENING_TIME K_MSEC(4500)        // Time to open the valve
+#define VALVE_CLOSING_TIME K_MSEC(4500)        // Time to close the valve
+#define VALVE_MAX_OPENING_TIME K_MSEC(5000)    // Maximum time to open the valve
+#define VALVE_MAX_CLOSING_TIME K_MSEC(5000)    // Maximum time to close the valve
+#define VALVE_STATE_INTERVAL K_SECONDS(5 * 60) // Interval to check the valve state
+#define VALVE_THREAD_STACK_SIZE (512)          // Stack size for the valve thread
+#define VALVE_THREAD_PRIORITY (2)              // Priority for the valve thread
+#define VALVE_MSGQ_SIZE (5)                    // Size of the message queue for valve operations
+
+#include <stdint.h>
+#include "canbus_registers.h"
+
+typedef struct {
+    uint8_t valve_state;
+    uint8_t valve_operation;
+} valve_status_t;
+
+int valve_init(void);
+int valve_cmd(int cmd);
+int valve_send_status(void);
+int valve_send_operation(void);
+
+
+#endif // __VALVE_H__
\ No newline at end of file
diff --git a/software/lib/waterlevel_sensor.c b/software/lib/waterlevel_sensor.c
new file mode 100644
index 0000000..3d441f8
--- /dev/null
+++ b/software/lib/waterlevel_sensor.c
@@ -0,0 +1,384 @@
+#include "waterlevel_sensor.h"
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/modbus/modbus.h>
+#include <stdlib.h>
+#include "canbus.h"
+
+LOG_MODULE_REGISTER(wls, CONFIG_LOG_WATERLEVELSENSOR_LEVEL);
+
+#define MODBUS_NODE DT_COMPAT_GET_ANY_STATUS_OKAY(zephyr_modbus_serial)
+
+struct k_thread waterlevel_sensor_thread_data;
+K_THREAD_STACK_DEFINE(waterlevel_sensor_stack, WATERLEVEL_SENSOR_STACK_SIZE);
+K_MSGQ_DEFINE(waterlevel_sensor_msgq, sizeof(waterlevel_command_t), WATERLEVEL_MESSAGE_QUEUE_SIZE, 4);
+
+static int modbus_client_iface;
+
+volatile static struct
+{
+    int level;   // Water level value
+    int zeropoint; // Minimum value
+    int maxpoint; // Maximum value
+    int factor;  // Factor for unit conversion
+    bool factor_set; // Flag to indicate if factor is set
+} waterlevel_measurement = {
+    .factor_set = false,
+};
+
+struct modbus_iface_param client_param = {
+    .mode = MODBUS_MODE_RTU,
+    .rx_timeout = 50000, // Timeout for receiving data in milliseconds
+    .serial = {
+        .baud = 9600,
+        .parity = UART_CFG_PARITY_NONE,
+        .stop_bits_client = UART_CFG_STOP_BITS_1, // 1 stop bit for Modbus RTU
+    },
+};
+
+static int waterlevel_modbus_init() {
+    const char iface_name[] = {DEVICE_DT_NAME(MODBUS_NODE)};
+    modbus_client_iface = modbus_iface_get_by_name(iface_name);
+    if (modbus_client_iface < 0)
+    {
+        LOG_ERR("Failed to get Modbus interface by name: %s", iface_name);
+        return modbus_client_iface;
+    }
+    LOG_DBG("Initializing modbus client interface: %s", iface_name);
+    return modbus_init_client(modbus_client_iface, client_param);
+}
+
+static int waterlevel_modbus_read(void) {
+    int rc;
+    union 
+    {
+        struct
+        {
+            int16_t unit;      // Unit of measurement (e.g., cm, mm)
+            int16_t decimals;  // Number of decimal places for the measurement
+            int16_t level;     // Water level value
+            int16_t zeropoint; // Zero point for the measurement
+            int16_t maxpoint;  // Maximum point for the measurement
+        };
+        int16_t data[5]; // Data array for holding registers
+    } waterlevel_modbus_data;
+    rc = modbus_read_holding_regs(modbus_client_iface, WATERLEVEL_SENSOR_MODBUS_NODE_ID, 0x0002, waterlevel_modbus_data.data, sizeof(waterlevel_modbus_data.data) / sizeof(waterlevel_modbus_data.data[0]));
+    if (rc < 0)
+    {
+        LOG_ERR("Failed to read holding registers, node <%d>, returncode: %d", WATERLEVEL_SENSOR_MODBUS_NODE_ID, rc);
+        return rc;
+    }
+
+    LOG_DBG("Got values. Unit: %d, Decimals: %d, Level: %d, Zero Point: %d, Max Point: %d", 
+            waterlevel_modbus_data.unit, 
+            waterlevel_modbus_data.decimals, 
+            waterlevel_modbus_data.level, 
+            waterlevel_modbus_data.zeropoint, 
+            waterlevel_modbus_data.maxpoint);
+
+    LOG_HEXDUMP_DBG(waterlevel_modbus_data.data, sizeof(waterlevel_modbus_data.data), "Waterlevel Sensor Holding Registers Data");
+           
+    switch (waterlevel_modbus_data.unit)
+    {
+    case 1: // cm
+        waterlevel_measurement.factor = 10;
+        break;
+    case 2: // mm
+        waterlevel_measurement.factor = 1;
+        break;
+    default:
+        LOG_ERR("Unknown unit: %d", waterlevel_modbus_data.unit);
+        waterlevel_measurement.factor_set = false;
+        return -EINVAL;
+    }
+    switch (waterlevel_modbus_data.decimals)
+    {
+    case 0: // no decimals
+        waterlevel_measurement.factor /= 1;
+        break;
+    case 1: // one decimal
+        waterlevel_measurement.factor /= 10;
+        break;
+    case 2: // two decimals
+        waterlevel_measurement.factor /= 100;
+        break;
+    default:
+        LOG_ERR("Unknown decimals: %d", waterlevel_modbus_data.decimals);
+        waterlevel_measurement.factor_set = false;
+        return -EINVAL;
+    }
+    waterlevel_measurement.factor_set = true;
+    waterlevel_measurement.level = waterlevel_modbus_data.level * waterlevel_measurement.factor;
+    waterlevel_measurement.zeropoint = waterlevel_modbus_data.zeropoint * waterlevel_measurement.factor;
+    waterlevel_measurement.maxpoint = waterlevel_modbus_data.maxpoint * waterlevel_measurement.factor;
+    
+    LOG_DBG("Water level: %dmm, zero point: %dmm, maximum point: %dmm", 
+            waterlevel_measurement.level, 
+            waterlevel_measurement.zeropoint, 
+            waterlevel_measurement.maxpoint);
+    LOG_HEXDUMP_DBG(waterlevel_modbus_data.data, sizeof(waterlevel_modbus_data.data), "Waterlevel Sensor Holding Registers Data");
+    return 0;
+}
+
+static int waterlevel_send_level(void) {
+    if (!waterlevel_measurement.factor_set) {
+        LOG_ERR("Factor not set, cannot send water level");
+        return -EINVAL;
+    }
+
+    LOG_INF("Sending water level: %dmm", waterlevel_measurement.level);
+    canbus_send16(CANBUS_REG_WATERLEVEL_LEVEL, waterlevel_measurement.level);
+    return 0;
+}
+
+static int waterlevel_send_zero_point(void) {
+    if (!waterlevel_measurement.factor_set) {
+        LOG_ERR("Factor not set, cannot send zero point");
+        return -EINVAL;
+    }
+
+    LOG_INF("Sending water zero point: %dmm", waterlevel_measurement.zeropoint);
+    canbus_send16(CANBUS_REG_WATERLEVEL_ZERO_POINT, waterlevel_measurement.zeropoint);
+    return 0;
+}
+
+static int waterlevel_send_max_point(void) {
+    if (!waterlevel_measurement.factor_set) {
+        LOG_ERR("Factor not set, cannot send maximum point");
+        return -EINVAL;
+    }
+
+    LOG_INF("Sending water maximum point: %dmm", waterlevel_measurement.maxpoint);
+    canbus_send16(CANBUS_REG_WATERLEVEL_MAX_POINT, waterlevel_measurement.maxpoint);
+    return 0;
+}
+
+static int waterlevel_set_zero_point(int zeropoint) {
+    if (!waterlevel_measurement.factor_set) {
+        LOG_ERR("Factor not set, cannot set zero point");
+        return -EINVAL;
+    }
+
+    int16_t zeropoint_modbus = zeropoint / waterlevel_measurement.factor;
+    int rc = modbus_write_holding_regs(modbus_client_iface, WATERLEVEL_SENSOR_MODBUS_NODE_ID, 0x0005, &zeropoint_modbus, 1);
+    if (rc < 0) {
+        LOG_ERR("Failed to write zero point: %d", rc);
+        return rc;
+    }
+
+    waterlevel_measurement.zeropoint = zeropoint; // Update the local measurement structure    
+    LOG_INF("Zero point set to: %dmm", waterlevel_measurement.zeropoint);
+    rc = waterlevel_send_zero_point();
+    if (rc < 0) {
+        LOG_ERR("Failed to send zero point: %d", rc);
+        return rc;
+    }
+    return 0;
+}
+
+static int waterlevel_set_max_point(int maxpoint) {
+    if (!waterlevel_measurement.factor_set) {
+        LOG_ERR("Factor not set, cannot set maximum point");
+        return -EINVAL;
+    }
+
+    int16_t maxpoint_modbus = maxpoint / waterlevel_measurement.factor;
+    int rc = modbus_write_holding_regs(modbus_client_iface, WATERLEVEL_SENSOR_MODBUS_NODE_ID, 0x0006, &maxpoint_modbus, 1);
+    if (rc < 0) {
+        LOG_ERR("Failed to write maximum point: %d", rc);
+        return rc;
+    }
+
+    waterlevel_measurement.maxpoint = maxpoint; // Update the local measurement structure
+    LOG_INF("Maximum point set to: %dmm", waterlevel_measurement.maxpoint);
+    rc = waterlevel_send_max_point();
+    if (rc < 0) {
+        LOG_ERR("Failed to send maximum point: %d", rc);
+        return rc;
+    }
+    return 0;
+}
+
+void waterlevel_sensor_thread(void *arg1, void *arg2, void *arg3)
+{
+    ARG_UNUSED(arg1);
+    ARG_UNUSED(arg2);
+    ARG_UNUSED(arg3);
+
+    // Initialize the Modbus client
+    int rc = waterlevel_modbus_init();
+    if (rc < 0)
+    {
+        LOG_ERR("Failed to initialize Modbus client: %d", rc);
+        return;
+    }
+
+    rc = waterlevel_modbus_read();
+    if (rc < 0) {
+        LOG_ERR("Failed to read initial water level: %d", rc);  
+        return;
+    }
+    waterlevel_send_level();
+    waterlevel_send_zero_point();
+    waterlevel_send_max_point();
+
+    // Initialize the last transmission time and level
+    // Use k_uptime_get_32() to get the current uptime in milliseconds
+    // and store the initial water level measurement.
+    // This will be used to determine when to send updates.
+
+    uint32_t last_transmission_time_ms = k_uptime_get_32();
+    int32_t last_transmission_level = waterlevel_measurement.level;
+
+    while (1)
+    {     
+        uint32_t current_time_ms = k_uptime_get_32();
+        uint32_t delta_time = current_time_ms-last_transmission_time_ms;
+        waterlevel_command_t command;
+
+        rc = waterlevel_modbus_read();
+        if (rc < 0)
+        {
+            LOG_ERR("Failed to read water level: %d", rc);
+            continue;
+        }
+
+        if (delta_time >= WATERLEVEL_SENSOR_MAX_UPDATE_INTERVAL_MS ||
+            abs(waterlevel_measurement.level - last_transmission_level) >= WATERLEVEL_SENSOR_MIN_DELTA) {
+            rc = waterlevel_send_level();
+            if (rc < 0) {
+                LOG_ERR("Failed to send water level: %d", rc);
+            } else {
+                last_transmission_time_ms = current_time_ms;
+                last_transmission_level = waterlevel_measurement.level;
+            }
+        }
+
+        while (k_msgq_get(&waterlevel_sensor_msgq, &command, K_NO_WAIT) == 0)
+        {
+            switch(command.cmd)
+            {
+                case WATERLEVEL_CMD_SET:
+                    switch (command.reg)
+                    {
+                        case CANBUS_REG_WATERLEVEL_ZERO_POINT: // Set zero point
+                            rc = waterlevel_set_zero_point(command.data);
+                            if (rc < 0) {
+                                LOG_ERR("Failed to set zero point: %d", rc);
+                            }
+                            break;
+                        case CANBUS_REG_WATERLEVEL_MAX_POINT: // Set maximum point
+                            rc = waterlevel_set_max_point(command.data);
+                            if (rc < 0) {
+                                LOG_ERR("Failed to set maximum point: %d", rc);
+                            }
+                            break;
+                        default:
+                            LOG_ERR("Unknown register for SET command: 0x%02X", command.reg);
+                            break;
+                    }
+                    break;
+                case WATERLEVEL_CMD_GET:
+                    switch (command.reg)
+                    {
+                        case CANBUS_REG_WATERLEVEL_LEVEL: // Get water level
+                            waterlevel_send_level();
+                            break;
+                        case CANBUS_REG_WATERLEVEL_ZERO_POINT: // Get zero point
+                            waterlevel_send_zero_point();
+                            break;
+                        case CANBUS_REG_WATERLEVEL_MAX_POINT: // Get maximum point
+                            waterlevel_send_max_point();
+                            break;
+                        default:
+                            LOG_ERR("Unknown register for GET command: 0x%02X", command.reg);
+                            break;
+                    }
+                    break;
+                default:
+                    LOG_ERR("Unknown command type: %d", command.cmd);
+                    break;
+            }
+        }   
+    }
+}
+
+int waterlevel_sensor_start_thread(void)
+{
+    k_tid_t waterlevel_sensor_thread_id;
+
+    // Start the thread
+    waterlevel_sensor_thread_id = k_thread_create(&waterlevel_sensor_thread_data, waterlevel_sensor_stack,
+                    K_THREAD_STACK_SIZEOF(waterlevel_sensor_stack), waterlevel_sensor_thread,
+                    NULL, NULL, NULL,
+                    WATERLEVEL_SENSOR_THREAD_PRIORITY, 0, K_NO_WAIT);
+
+    if (waterlevel_sensor_thread_id == NULL)
+    {
+        LOG_ERR("Failed to create water level sensor thread");
+        return -ENOMEM;
+    }
+    k_thread_name_set(waterlevel_sensor_thread_id, "waterlevel_sensor");
+
+    LOG_INF("Water level sensor thread started successfully");
+    return 0;
+}
+
+#ifdef CONFIG_SHELL
+#include <zephyr/shell/shell.h>
+
+void waterlevel_set_zero_point_shell(const struct shell *shell, size_t argc, char **argv) {
+    if (argc != 2) {
+        shell_error(shell, "Usage: waterlevel_sensor set_zero_point <zeropoint>");
+        return;
+    }
+
+    int zeropoint = atoi(argv[1]);
+    int rc = waterlevel_set_zero_point(zeropoint);
+    if (rc < 0) {
+        shell_error(shell, "Failed to set zero point: %d", rc);
+    } else {
+        shell_print(shell, "Zero point set to: %dmm", zeropoint);
+    }
+}
+
+void waterlevel_set_max_point_shell(const struct shell *shell, size_t argc, char **argv) {
+    if (argc != 2) {
+        shell_error(shell, "Usage: waterlevel_sensor set_max_point <maxpoint>");
+        return;
+    }
+
+    int maxpoint = atoi(argv[1]);
+    int rc = waterlevel_set_max_point(maxpoint);
+    if (rc < 0) {
+        shell_error(shell, "Failed to set maximum point: %d", rc);
+    } else {
+        shell_print(shell, "Maximum point set to: %dmm", maxpoint);
+    }
+}
+
+void waterlevel_sensor_print_shell(const struct shell *shell, size_t argc, char **argv) {
+    ARG_UNUSED(argc);
+    ARG_UNUSED(argv);
+
+    waterlevel_modbus_read();
+    if (!waterlevel_measurement.factor_set) {
+        shell_error(shell, "Factor not set, cannot print water level");
+        return;
+    }
+
+    shell_print(shell, "Current water level: %4dmm", waterlevel_measurement.level);
+    shell_print(shell, "Zero point:          %4dmm", waterlevel_measurement.zeropoint);
+    shell_print(shell, "Maximum point:       %4dmm", waterlevel_measurement.maxpoint);
+}
+
+// Define the shell commands for the water level sensor
+SHELL_STATIC_SUBCMD_SET_CREATE(
+    waterlevel_sensor_cmds,
+    SHELL_CMD(print, NULL, "Print the current water level, zero point, and maximum point", waterlevel_sensor_print_shell),
+    SHELL_CMD(setzero, NULL, "Set the zero point for the water level sensor", waterlevel_set_zero_point_shell),
+    SHELL_CMD(setmax, NULL, "Set the maximum point for the water level sensor", waterlevel_set_max_point_shell),
+    SHELL_SUBCMD_SET_END);
+
+SHELL_CMD_REGISTER(wls, &waterlevel_sensor_cmds, "Water level sensor commands", NULL);
+#endif // CONFIG_SHELL
diff --git a/software/lib/waterlevel_sensor.h b/software/lib/waterlevel_sensor.h
new file mode 100644
index 0000000..e8ab7e5
--- /dev/null
+++ b/software/lib/waterlevel_sensor.h
@@ -0,0 +1,27 @@
+#ifndef __WATERLEVEL_SENSOR_H__
+#define __WATERLEVEL_SENSOR_H__
+
+#define WATERLEVEL_SENSOR_STACK_SIZE (512)
+#define WATERLEVEL_SENSOR_THREAD_PRIORITY (2)
+#define WATERLEVEL_MESSAGE_QUEUE_SIZE (5) // Size of the message queue for water level sensor thread
+#define WATERLEVEL_SENSOR_READ_INTERVAL_MS (5000) // Interval for reading the water level sensor in milliseconds
+#define WATERLEVEL_SENSOR_MIN_DELTA (2) // Minimum change in water level to trigger an update
+#define WATERLEVEL_SENSOR_MAX_UPDATE_INTERVAL_MS (600000) // Maximum interval for updating the water level in milliseconds
+
+#define WATERLEVEL_SENSOR_MODBUS_NODE_ID (0x01) // Modbus node ID for the water level sensor
+#define WATERLEVEL_SENSOR_MODBUS_BAUD_RATE (9600) // Baud rate for Modbus communication
+
+#include <inttypes.h>
+
+int waterlevel_sensor_start_thread(void);
+
+typedef struct {
+    uint8_t reg;
+    enum {
+        WATERLEVEL_CMD_SET,
+        WATERLEVEL_CMD_GET,
+    } cmd;
+    int16_t data; // Data to be set
+} waterlevel_command_t;
+
+#endif // __WATERLEVEL_SENSOR_H__
\ No newline at end of file
diff --git a/software/prj.conf b/software/prj.conf
new file mode 100644
index 0000000..f297171
--- /dev/null
+++ b/software/prj.conf
@@ -0,0 +1,17 @@
+CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR=y
+CONFIG_HAS_VALVE=y
+
+CONFIG_LOG=y
+CONFIG_LOG_DEFAULT_LEVEL=3
+# CONFIG_LOG_CAN_LEVEL=4
+# CONFIG_LOG_WATERLEVELSENSOR_LEVEL=4
+# CONFIG_LOG_VALVE_LEVEL=4
+CONFIG_CBPRINTF_FP_SUPPORT=y
+CONFIG_UART_CONSOLE=y # Console on USART1
+
+# CAN loopback mode for testing
+#CONFIG_LOOPBACK_MODE=y
+CONFIG_SHELL=y
+CONFIG_CAN_SHELL=y
+CONFIG_GPIO_SHELL=y
+CONFIG_REBOOT=y
\ No newline at end of file
diff --git a/software/src/main.c b/software/src/main.c
new file mode 100644
index 0000000..8cb48fb
--- /dev/null
+++ b/software/src/main.c
@@ -0,0 +1,53 @@
+#include <zephyr/logging/log.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/byteorder.h>
+#include <zephyr/shell/shell.h>
+#include "canbus.h"
+#include "canbus_registers.h"
+
+#ifdef CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+// Include the water level sensor header file when the feature is enabled
+#include "waterlevel_sensor.h"
+#endif // CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+
+#ifdef CONFIG_HAS_VALVE
+#include "valve.h"
+#endif // CONFIG_HAS_VALVE
+
+LOG_MODULE_REGISTER(main, CONFIG_LOG_DEFAULT_LEVEL);
+
+int main(void)
+{
+    LOG_INF("Starting main application...");
+    canbus_init();
+    k_sleep(K_MSEC(3000)); // Allow some time for CAN initialization
+#ifdef CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+    int rc = waterlevel_sensor_start_thread();
+    if (rc < 0)
+    {
+        LOG_ERR("Failed to start water level sensor thread: %d", rc);
+        return rc;
+    }
+#endif // CONFIG_HAS_MODBUS_WATERLEVEL_SENSOR
+
+    valve_cmd(VALVE_COMMAND_CLOSE); // Ensure the valve is closed at startup
+    
+    LOG_INF("Main application started successfully.");
+    return 0; // Return 0 on success
+}
+
+#ifdef CONFIG_SHELL
+#include <zephyr/shell/shell.h>
+#include <zephyr/sys/reboot.h>
+
+static int reboot_shell_cmd(const struct shell *shell, size_t argc, char **argv)
+{
+    ARG_UNUSED(argc);
+    ARG_UNUSED(argv);
+    shell_print(shell, "Rebooting the node in 1 second...");
+    k_sleep(K_SECONDS(1));
+    sys_reboot(SYS_REBOOT_COLD);
+    return 0;
+}
+SHELL_CMD_REGISTER(reboot, NULL, "Reboot the node", reboot_shell_cmd);
+#endif // CONFIG_SHELL
diff --git a/software/test_canbus/.gitignore b/software/test_canbus/.gitignore
deleted file mode 100644
index 378eac2..0000000
--- a/software/test_canbus/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-build
diff --git a/software/test_canbus/.vscode/c_cpp_properties.json b/software/test_canbus/.vscode/c_cpp_properties.json
deleted file mode 100644
index b1f27e8..0000000
--- a/software/test_canbus/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "Win32",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [
-                "_DEBUG",
-                "UNICODE",
-                "_UNICODE"
-            ]
-        }
-    ],
-    "version": 4
-}
\ No newline at end of file
diff --git a/software/test_canbus/CMakeLists.txt b/software/test_canbus/CMakeLists.txt
deleted file mode 100644
index 3989c64..0000000
--- a/software/test_canbus/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-
-cmake_minimum_required(VERSION 3.20.0)
-
-list(APPEND BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/..)
-
-find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
-project(hello_world)
-
-target_sources(app PRIVATE src/main.c)
-target_sources(app PRIVATE ../lib/canbus.c)
-target_include_directories(app PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/../lib
-)
diff --git a/software/test_canbus/boards/nucleo_f103rb.overlay b/software/test_canbus/boards/nucleo_f103rb.overlay
deleted file mode 100644
index a3e38dc..0000000
--- a/software/test_canbus/boards/nucleo_f103rb.overlay
+++ /dev/null
@@ -1,9 +0,0 @@
-&usart1 {
-	status = "okay";
-	current-speed = <9600>;
-	modbus0 {
-		compatible = "zephyr,modbus-serial";
-		status = "okay";
-		// de-gpios = <&arduino_header 15 GPIO_ACTIVE_LOW>;	/* D9 */
-	};
-};
\ No newline at end of file
diff --git a/software/test_canbus/prj.conf b/software/test_canbus/prj.conf
deleted file mode 100644
index b95fd27..0000000
--- a/software/test_canbus/prj.conf
+++ /dev/null
@@ -1,10 +0,0 @@
-CONFIG_LOG=y
-CONFIG_LOG_DEFAULT_LEVEL=3
-CONFIG_CBPRINTF_FP_SUPPORT=y
-
-CONFIG_UART_CONSOLE=y # Console on USART1
-#CONFIG_RTT_CONSOLE=y
-#CONFIG_USE_SEGGER_RTT=y
-
-CONFIG_LOOPBACK_MODE=y
-CONFIG_LOG_CAN_LEVEL=4
\ No newline at end of file
diff --git a/software/test_canbus/src/main.c b/software/test_canbus/src/main.c
deleted file mode 100644
index eec6388..0000000
--- a/software/test_canbus/src/main.c
+++ /dev/null
@@ -1,26 +0,0 @@
-/* Testing MODBUS functionality
-   This code initializes a Modbus client, sets the zero point and the 2m point for water level,
-   and reads the water level in both meters and millimeters.
-   It uses the Zephyr RTOS and its Modbus library to communicate with a Modbus server.
-*/
-
-#include <zephyr/logging/log.h>
-#include <zephyr/kernel.h>
-#include <zephyr/drivers/gpio.h>
-
-#include "canbus.h"
-
-LOG_MODULE_REGISTER(main, CONFIG_LOG_DEFAULT_LEVEL);
-
-int main(void)
-{
-	int rc;
-	rc = canbus_init();
-	if (rc != 0)
-	{
-		LOG_ERR("Failed to initialize CAN bus: %d", rc);
-		return rc;
-	}
-	LOG_INF("CAN bus initialized successfully");
-	return 0;
-}
diff --git a/software/test_modbus/.gitignore b/software/test_modbus/.gitignore
deleted file mode 100644
index 378eac2..0000000
--- a/software/test_modbus/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-build
diff --git a/software/test_modbus/.vscode/c_cpp_properties.json b/software/test_modbus/.vscode/c_cpp_properties.json
deleted file mode 100644
index b1f27e8..0000000
--- a/software/test_modbus/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-    "configurations": [
-        {
-            "name": "Win32",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [
-                "_DEBUG",
-                "UNICODE",
-                "_UNICODE"
-            ]
-        }
-    ],
-    "version": 4
-}
\ No newline at end of file
diff --git a/software/test_modbus/CMakeLists.txt b/software/test_modbus/CMakeLists.txt
deleted file mode 100644
index 5d2c3bf..0000000
--- a/software/test_modbus/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-
-cmake_minimum_required(VERSION 3.20.0)
-
-list(APPEND BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/..)
-
-find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
-project(hello_world)
-
-target_sources(app PRIVATE src/main.c)
-target_sources(app PRIVATE ../lib/modbus.c)
-target_include_directories(app PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/../lib
-)
diff --git a/software/test_modbus/boards/nucleo_f103rb.overlay b/software/test_modbus/boards/nucleo_f103rb.overlay
deleted file mode 100644
index a3e38dc..0000000
--- a/software/test_modbus/boards/nucleo_f103rb.overlay
+++ /dev/null
@@ -1,9 +0,0 @@
-&usart1 {
-	status = "okay";
-	current-speed = <9600>;
-	modbus0 {
-		compatible = "zephyr,modbus-serial";
-		status = "okay";
-		// de-gpios = <&arduino_header 15 GPIO_ACTIVE_LOW>;	/* D9 */
-	};
-};
\ No newline at end of file
diff --git a/software/test_modbus/prj.conf b/software/test_modbus/prj.conf
deleted file mode 100644
index 502f667..0000000
--- a/software/test_modbus/prj.conf
+++ /dev/null
@@ -1,7 +0,0 @@
-CONFIG_LOG=y
-CONFIG_LOG_DEFAULT_LEVEL=3
-CONFIG_CBPRINTF_FP_SUPPORT=y
-
-CONFIG_UART_CONSOLE=y # Console on USART1
-#CONFIG_RTT_CONSOLE=y
-#CONFIG_USE_SEGGER_RTT=y
\ No newline at end of file
diff --git a/software/test_modbus/src/main.c b/software/test_modbus/src/main.c
deleted file mode 100644
index 7a79b40..0000000
--- a/software/test_modbus/src/main.c
+++ /dev/null
@@ -1,78 +0,0 @@
-/* Testing MODBUS functionality
-   This code initializes a Modbus client, sets the zero point and the 2m point for water level,
-   and reads the water level in both meters and millimeters.
-   It uses the Zephyr RTOS and its Modbus library to communicate with a Modbus server.
-*/
-
-#include <zephyr/logging/log.h>
-#include <zephyr/kernel.h>
-#include <zephyr/drivers/gpio.h>
-
-#include "modbus.h"
-
-LOG_MODULE_REGISTER(main, CONFIG_LOG_DEFAULT_LEVEL);
-
-/* 1000 msec = 1 sec */
-#define SLEEP_TIME_MS 1000
-
-int main(void)
-{
-	int rc;
-
-	rc = mb_init_client();
-	if (rc != 0)
-	{
-		LOG_ERR("Failed to initialize Modbus client: %d", rc);
-		return rc;
-	}
-	LOG_INF("Modbus client initialized successfully");
-
-	double water_level = 0.0;
-	int water_level_mm, water_level_min_mm, water_level_max_mm = 0;
-
-	rc = mb_write_minimum_mm(42); // Set the zero point for water level
-	if (rc < 0)
-	{
-		LOG_ERR("Failed to write minimum water level: %d", rc);
-		return rc;
-	}
-	rc = mb_write_maximum_mm(2000); // Set the 2m point for water level
-	if (rc < 0)
-	{
-		LOG_ERR("Failed to write maximum water level: %d", rc);
-		return rc;
-	}
-	rc = mb_read_minimum_mm(&water_level_min_mm);
-	if (rc < 0)
-	{
-		LOG_ERR("Failed to read minimum water level: %d", rc);
-		return rc;
-	}
-	rc = mb_read_maximum_mm(&water_level_max_mm);
-	if (rc < 0)
-	{
-		LOG_ERR("Failed to read maximum water level: %d", rc);
-		return rc;
-	}
-	LOG_INF("Water zero point is set to: %dmm", water_level_min_mm);
-	LOG_INF("Water 2m point is set to: %dmm", water_level_max_mm);
-
-	/* Read water level */
-	rc = mb_read_water_level(&water_level);
-	if (rc < 0)
-	{
-		LOG_ERR("Failed to read water level: %d", rc);
-		return rc;
-	}
-	rc = mb_read_water_level_mm(&water_level_mm);
-	if (rc < 0)
-	{
-		LOG_ERR("Failed to read water level: %d", rc);
-		return rc;
-	}
-	LOG_INF("Water level: %.3fm", water_level);
-	LOG_INF("Water level: %dmm", water_level_mm);
-	LOG_INF("Modbus test completed successfully");
-
-	return 0;
-}
diff --git a/software/worspace.code-workspace b/software/worspace.code-workspace
new file mode 100644
index 0000000..47b5bb9
--- /dev/null
+++ b/software/worspace.code-workspace
@@ -0,0 +1,132 @@
+{
+	"folders": [
+		{
+			"path": "."
+		}
+	],
+	"settings": {
+		// Hush CMake
+		"cmake.configureOnOpen": false,
+
+		// IntelliSense
+		"C_Cpp.default.compilerPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc",
+		"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
+
+		// File Associations
+		"files.associations": {
+			"waterlevel_sensor.h": "c",
+			"shell.h": "c",
+			"can.h": "c"
+		}
+	},
+	"tasks": {
+		"version": "2.0.0",
+		"tasks": [
+			{
+				"label": "West Build",
+				"type": "shell",
+				"group": {
+					"kind": "build",
+					"isDefault": true
+				},
+				"command": "${userHome}/zephyrproject/.venv/bin/west",
+				"args": [
+					"build",
+					"-p",
+					"auto",
+					"-b",
+					"valve_node"
+				],
+				"problemMatcher": [
+					"$gcc"
+				],
+			},
+			{
+				"label": "West Configurable Build",
+				"type": "shell",
+				"group": {
+					"kind": "build",
+				},
+				"command": "${userHome}/zephyrproject/.venv/bin/west",
+				"args": [
+					"build",
+					"-p",
+					"${input:pristine}",
+					"-b",
+					"${input:board}"
+				],
+				"problemMatcher": [
+					"$gcc"
+				]
+			},
+			{
+				"label": "West Flash",
+				"type": "shell",
+				"command": "${userHome}/zephyrproject/.venv/bin/west",
+				"args": [
+					"flash"
+				],
+				"problemMatcher": [
+					"$gcc"
+				]
+			}
+		],
+		"inputs": [
+			{
+				"id": "board",
+				"type": "promptString",
+				"default": "vave_node",
+				"description": "See https://docs.zephyrproject.org/latest/boards/index.html"
+			},
+			{
+				"id": "pristine",
+				"type": "pickString",
+				"description": "Choose when to run a pristine build",
+				"default": "auto",
+				"options": [
+					"auto",
+					"always",
+					"never"
+				]
+			}
+		]
+	},
+	"launch": {
+		"version": "0.2.0",
+		"configurations": [
+			{
+				"name": "Launch",
+				"device": "STM32F103RB",
+				"cwd": "${workspaceFolder}",
+				"executable": "build/zephyr/zephyr.elf",
+				"request": "launch",
+				"type": "cortex-debug",
+				//"runToEntryPoint": "main",
+				"servertype": "jlink",
+				"gdbPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb",
+				"preLaunchTask": "West Build"
+			},
+			{
+				"name": "Attach",
+				"device": "STM32F103RB",
+				"cwd": "${workspaceFolder}",
+				"executable": "build/zephyr/zephyr.elf",
+				"request": "attach",
+				"type": "cortex-debug",
+				//"runToEntryPoint": "main",
+				"servertype": "jlink",
+				"gdbPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb"
+			},
+		]
+	},
+	"extensions": {
+		"recommendations": [
+			"ms-vscode.cpptools-extension-pack",
+			"ms-python.python",
+			"ms-vscode.vscode-embedded-tools",
+			"ms-vscode.vscode-serial-monitor",
+			"marus25.cortex-debug",
+			"donjayamanne.python-environment-manager"
+		]
+	}
+}