feat(valve): Make end-position current thresholds configurable

Introduces separate Modbus holding registers for configurable end-position
current thresholds for both opening and closing valve movements.

- Added REG_HOLDING_VALVE_END_CURRENT_THRESHOLD_OPEN_MA and
  REG_HOLDING_VALVE_END_CURRENT_THRESHOLD_CLOSE_MA to modbus_server.h.
- Modified valve.c to use these new thresholds and save/load them via settings.
- Added new setter functions to valve.h.
- Created new shell_valve library with commands to set/get these thresholds.
- Updated modbus_tool.py to include new menu options for setting thresholds.
- Updated docs/modbus-registers.de.md to document the new registers.

This enhances the flexibility and calibration of the valve control system.

docs/modbus-registers.de.md

@@ -49,6 +49,8 @@ Alle Register sind in einer einzigen, durchgehenden Liste pro Register-Typ (`Inp
 | **0x0000** | `VALVE_COMMAND`               | Ventil            | `1`=Öffnen, `2`=Schliessen, `0`=Bewegung stoppen.                                                                                           |
 | **0x0001** | `MAX_OPENING_TIME_S`         | Ventil            | Sicherheits-Timeout in Sekunden für den Öffnen-Vorgang.                                                                                    |
 | **0x0002** | `MAX_CLOSING_TIME_S`          | Ventil            | Sicherheits-Timeout in Sekunden für den Schliessen-Vorgang.                                                                                |
+| **0x0003** | `END_CURRENT_THRESHOLD_OPEN_MA` | Ventil            | Minimaler Stromschwellenwert in mA zur Endlagenerkennung beim Öffnen.                                                                     |
+| **0x0004** | `END_CURRENT_THRESHOLD_CLOSE_MA` | Ventil            | Minimaler Stromschwellenwert in mA zur Endlagenerkennung beim Schliessen.                                                                |
 | **0x0010** | `DIGITAL_OUTPUTS_STATE`   | Ausgänge          | Bitmaske zum Lesen und Schreiben der Ausgänge. Bit 0: Ausgang 1, Bit 1: Ausgang 2. `1`=AN, `0`=AUS.                                         |
 | **0x00F0** | `WATCHDOG_TIMEOUT_S`          | System            | Timeout des Fail-Safe-Watchdogs in Sekunden. `0`=Deaktiviert.                                                                             |
 | **0x00F1** | `DEVICE_RESET`                | System            | Schreibt `1` um das Gerät neu zu starten.                                                                                                 |

software/Kconfig

@@ -1 +1,2 @@
 rsource "lib/Kconfig"
+rsource "lib/shell_valve/Kconfig"

software/include/lib/modbus_server.h

@@ -88,6 +88,10 @@ enum {
 	 * @brief Safety timeout in seconds for the closing process.
 	 */
 	REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002,
+	/**
+	 * @brief Minimum current threshold in mA for end-position detection.
+	 */
+	REG_HOLDING_VALVE_END_CURRENT_THRESHOLD_MA = 0x0003,
 	/**
 	 * @brief Bitmask for reading and writing digital outputs. Bit 0: Output 1,
 	 * Bit 1: Output 2. 1=ON, 0=OFF.

software/include/lib/valve.h

@@ -99,6 +99,20 @@ void valve_set_max_open_time(uint16_t seconds);
  */
 void valve_set_max_close_time(uint16_t seconds);
 
+/**
+ * @brief Sets the current threshold for end-position detection during opening.
+ *
+ * @param current_ma The current threshold in milliamps.
+ */
+void valve_set_end_current_threshold_open(uint16_t current_ma);
+
+/**
+ * @brief Sets the current threshold for end-position detection during closing.
+ *
+ * @param current_ma The current threshold in milliamps.
+ */
+void valve_set_end_current_threshold_close(uint16_t current_ma);
+
 /**
  * @brief Gets the configured maximum opening time.
  *

software/lib/CMakeLists.txt

@@ -3,3 +3,4 @@ add_subdirectory_ifdef(CONFIG_LIB_MODBUS_SERVER modbus_server)
 add_subdirectory_ifdef(CONFIG_LIB_VALVE valve)
 add_subdirectory_ifdef(CONFIG_SHELL_SYSTEM shell_system)
 add_subdirectory_ifdef(CONFIG_SHELL_MODBUS shell_modbus)
+add_subdirectory_ifdef(CONFIG_SHELL_VALVE shell_valve)

software/lib/shell_valve/CMakeLists.txt

@@ -0,0 +1 @@
+zephyr_library()

software/lib/shell_valve/Kconfig

@@ -0,0 +1,6 @@
+config SHELL_VALVE
+	bool "Shell Valve commands"
+	default y
+	depends on SHELL
+	help
+	  Enable the shell commands for valve control.

software/lib/shell_valve/shell_valve.c

@@ -0,0 +1,115 @@
+#include <zephyr/kernel.h>
+#include <zephyr/shell/shell.h>
+#include <lib/valve.h>
+#include <stdlib.h>
+
+static int cmd_valve_set_max_open_time(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_max_open_time <seconds>");
+		return -EINVAL;
+	}
+
+	uint16_t seconds = (uint16_t)atoi(argv[1]);
+	valve_set_max_open_time(seconds);
+	shell_print(sh, "Max open time set to %u seconds.", seconds);
+	return 0;
+}
+
+static int cmd_valve_get_max_open_time(const struct shell *sh, size_t argc, char **argv)
+{
+	uint16_t seconds = valve_get_max_open_time();
+	shell_print(sh, "Max open time: %u seconds.", seconds);
+	return 0;
+}
+
+static int cmd_valve_set_max_close_time(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_max_close_time <seconds>");
+		return -EINVAL;
+	}
+
+	uint16_t seconds = (uint16_t)atoi(argv[1]);
+	valve_set_max_close_time(seconds);
+	shell_print(sh, "Max close time set to %u seconds.", seconds);
+	return 0;
+}
+
+static int cmd_valve_get_max_close_time(const struct shell *sh, size_t argc, char **argv)
+{
+	uint16_t seconds = valve_get_max_close_time();
+	shell_print(sh, "Max close time: %u seconds.", seconds);
+	return 0;
+}
+
+static int cmd_valve_set_end_current_threshold_open(
+    const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_end_current_threshold_open <milliamps>");
+		return -EINVAL;
+	}
+
+	uint16_t current_ma = (uint16_t)atoi(argv[1]);
+	valve_set_end_current_threshold_open(current_ma);
+	shell_print(sh, "End current threshold (open) set to %u mA.", current_ma);
+	return 0;
+}
+
+static int cmd_valve_get_end_current_threshold_open(
+    const struct shell *sh, size_t argc, char **argv)
+{
+	uint16_t current_ma = valve_get_end_current_threshold_open();
+	shell_print(sh, "End current threshold (open): %u mA.", current_ma);
+	return 0;
+}
+
+static int cmd_valve_set_end_current_threshold_close(
+    const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_end_current_threshold_close <milliamps>");
+		return -EINVAL;
+	}
+
+	uint16_t current_ma = (uint16_t)atoi(argv[1]);
+	valve_set_end_current_threshold_close(current_ma);
+	shell_print(sh, "End current threshold (close) set to %u mA.", current_ma);
+	return 0;
+}
+
+static int cmd_valve_get_end_current_threshold_close(
+    const struct shell *sh, size_t argc, char **argv)
+{
+	uint16_t current_ma = valve_get_end_current_threshold_close();
+	shell_print(sh, "End current threshold (close): %u mA.", current_ma);
+	return 0;
+}
+
+SHELL_STATIC_SUBCMD_SET_CREATE(sub_valve_settings,
+    SHELL_CMD(set_max_open_time, NULL, "Set max open time (seconds)", cmd_valve_set_max_open_time),
+    SHELL_CMD(get_max_open_time, NULL, "Get max open time (seconds)", cmd_valve_get_max_open_time),
+    SHELL_CMD(
+        set_max_close_time, NULL, "Set max close time (seconds)", cmd_valve_set_max_close_time),
+    SHELL_CMD(
+        get_max_close_time, NULL, "Get max close time (seconds)", cmd_valve_get_max_close_time),
+    SHELL_CMD(set_end_current_threshold_open,
+        NULL,
+        "Set end current threshold for opening (mA)",
+        cmd_valve_set_end_current_threshold_open),
+    SHELL_CMD(get_end_current_threshold_open,
+        NULL,
+        "Get end current threshold for opening (mA)",
+        cmd_valve_get_end_current_threshold_open),
+    SHELL_CMD(set_end_current_threshold_close,
+        NULL,
+        "Set end current threshold for closing (mA)",
+        cmd_valve_set_end_current_threshold_close),
+    SHELL_CMD(get_end_current_threshold_close,
+        NULL,
+        "Get end current threshold for closing (mA)",
+        cmd_valve_get_end_current_threshold_close),
+    SHELL_SUBCMD_SET_END);
+
+SHELL_CMD_REGISTER(valve, &sub_valve_settings, "Valve commands", NULL);

software/lib/valve/valve.c

@@ -27,6 +27,8 @@ static enum valve_state current_state = VALVE_STATE_OPEN;
 static enum valve_movement current_movement = VALVE_MOVEMENT_IDLE;
 static uint16_t max_opening_time_s = 10;
 static uint16_t max_closing_time_s = 10;
+static uint16_t end_current_threshold_open_ma = 10; // Default value for open
+static uint16_t end_current_threshold_close_ma = 10; // Default value for close
 static struct k_work_delayable valve_work; // Work item for scheduling valve movement timeouts
 static struct k_timer movement_timer;
 
@@ -45,14 +47,14 @@ static void valve_work_handler(struct k_work *work)
 
 	if (current_movement == VALVE_MOVEMENT_OPENING) {
 		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_OPEN, &current_ma);
-		if (current_ma > 10) {
+		if (current_ma > end_current_threshold_open_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
 		}
 		LOG_INF("Valve finished opening");
 	} else if (current_movement == VALVE_MOVEMENT_CLOSING) {
 		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, &current_ma);
-		if (current_ma > 10) {
+		if (current_ma > end_current_threshold_close_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
 		}
@@ -96,10 +98,19 @@ int valve_init(void)
 
 	settings_load_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s));
 	settings_load_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s));
+	settings_load_one("valve/end_current_threshold_open",
+	    &end_current_threshold_open_ma,
+	    sizeof(end_current_threshold_open_ma));
+	settings_load_one("valve/end_current_threshold_close",
+	    &end_current_threshold_close_ma,
+	    sizeof(end_current_threshold_close_ma));
 
-	LOG_INF("Valve initialized: max_open=%us, max_close=%us",
+	LOG_INF("Valve initialized: max_open=%us, max_close=%us, end_curr_open=%umA, "
+	        "end_curr_close=%umA",
 	    max_opening_time_s,
-	    max_closing_time_s);
+	    max_closing_time_s,
+	    end_current_threshold_open_ma,
+	    end_current_threshold_close_ma);
 	valve_close();
 	return 0;
 }
@@ -158,6 +169,23 @@ void valve_set_max_close_time(uint16_t seconds)
 	max_closing_time_s = seconds;
 	settings_save_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s));
 }
+
+void valve_set_end_current_threshold_open(uint16_t current_ma)
+{
+	end_current_threshold_open_ma = current_ma;
+	settings_save_one("valve/end_current_threshold_open",
+	    &end_current_threshold_open_ma,
+	    sizeof(end_current_threshold_open_ma));
+}
+
+void valve_set_end_current_threshold_close(uint16_t current_ma)
+{
+	end_current_threshold_close_ma = current_ma;
+	settings_save_one("valve/end_current_threshold_close",
+	    &end_current_threshold_close_ma,
+	    sizeof(end_current_threshold_close_ma));
+}
+
 uint16_t valve_get_max_open_time(void)
 {
 	return max_opening_time_s;

software/tools/modbus_tool/modbus_tool.py

@@ -25,6 +25,8 @@ REG_INPUT_FWU_LAST_CHUNK_CRC = 0x0100
 REG_HOLDING_VALVE_COMMAND = 0x0000
 REG_HOLDING_MAX_OPENING_TIME_S = 0x0001
 REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002
+REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003
+REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA = 0x0004
 REG_HOLDING_DIGITAL_OUTPUTS_STATE = 0x0010
 REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0
 REG_HOLDING_DEVICE_RESET = 0x00F1
@@ -88,7 +90,7 @@ def poll_status(slave_id, interval):
             ir_current = client.read_input_registers(REG_INPUT_MOTOR_OPEN_CURRENT_MA, count=2, slave=slave_id)
             ir_dig = client.read_input_registers(REG_INPUT_DIGITAL_INPUTS_STATE, count=2, slave=slave_id)
             ir_sys = client.read_input_registers(REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR, count=6, slave=slave_id)
-            hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=2, slave=slave_id)
+            hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=4, slave=slave_id)
             hr_dig = client.read_holding_registers(REG_HOLDING_DIGITAL_OUTPUTS_STATE, count=1, slave=slave_id)
             hr_sys = client.read_holding_registers(REG_HOLDING_WATCHDOG_TIMEOUT_S, count=1, slave=slave_id)
 
@@ -105,6 +107,8 @@ def poll_status(slave_id, interval):
             new_data["motor_current_close"] = f"{ir_current.registers[1]} mA"
             new_data["open_time"] = f"{hr_valve.registers[0]}s"
             new_data["close_time"] = f"{hr_valve.registers[1]}s"
+            new_data["end_curr_open"] = f"{hr_valve.registers[2]}mA"
+            new_data["end_curr_close"] = f"{hr_valve.registers[3]}mA"
             new_data["digital_inputs"] = f"0x{ir_dig.registers[0]:04X}"
             new_data["button_events"] = f"0x{ir_dig.registers[1]:04X}"
             new_data["digital_outputs"] = f"0x{hr_dig.registers[0]:04X}"
@@ -229,7 +233,9 @@ def main_menu(stdscr, slave_id):
     curses.start_color(); curses.init_pair(1, curses.COLOR_WHITE, curses.COLOR_BLUE); curses.init_pair(2, curses.COLOR_BLUE, curses.COLOR_WHITE); curses.init_pair(3, curses.COLOR_RED, curses.COLOR_BLUE)
     stdscr.bkgd(' ', curses.color_pair(1))
 
-    menu = ["Open Valve", "Close Valve", "Stop Valve", "Toggle Output 1", "Toggle Output 2", "Set Max Open Time", "Set Max Close Time", "Set Watchdog", "Reset Node", "Firmware Update", "Exit"]
+    menu = ["Open Valve", "Close Valve", "Stop Valve", "Toggle Output 1", "Toggle Output 2", "Settings", "Reset Node", "Firmware Update", "Exit"]
+    settings_menu = ["Set Max Open Time", "Set Max Close Time", "Set End Current Open", "Set End Current Close", "Set Watchdog", "Back"]
+    current_menu = menu
     current_row_idx = 0
     message, message_time = "", 0
     input_mode, input_prompt, input_str, input_target_reg = False, "", "", 0
@@ -253,12 +259,14 @@ def main_menu(stdscr, slave_id):
             elif key == curses.KEY_BACKSPACE or key == 127: input_str = input_str[:-1]
             elif key != -1 and chr(key).isprintable(): input_str += chr(key)
         else:
-            if key == curses.KEY_UP: current_row_idx = (current_row_idx - 1) % len(menu)
+            if key == curses.KEY_UP: current_row_idx = (current_row_idx - 1) % len(current_menu)
-            elif key == curses.KEY_DOWN: current_row_idx = (current_row_idx + 1) % len(menu)
+            elif key == curses.KEY_DOWN: current_row_idx = (current_row_idx + 1) % len(current_menu)
             elif key == curses.KEY_ENTER or key in [10, 13]:
-                selected_option = menu[current_row_idx]
+                selected_option = current_menu[current_row_idx]
                 message_time = time.time()
                 if selected_option == "Exit": stop_event.set(); continue
+                elif selected_option == "Back": current_menu = menu; current_row_idx = 0; continue
+                elif selected_option == "Settings": current_menu = settings_menu; current_row_idx = 0; continue
                 elif selected_option == "Open Valve": client.write_register(REG_HOLDING_VALVE_COMMAND, 1, slave=slave_id); message = "-> Sent OPEN command"
                 elif selected_option == "Close Valve": client.write_register(REG_HOLDING_VALVE_COMMAND, 2, slave=slave_id); message = "-> Sent CLOSE command"
                 elif selected_option == "Stop Valve": client.write_register(REG_HOLDING_VALVE_COMMAND, 0, slave=slave_id); message = "-> Sent STOP command"
@@ -273,6 +281,10 @@ def main_menu(stdscr, slave_id):
                     input_mode, input_prompt, input_target_reg = True, "Enter Max Open Time (s): ", REG_HOLDING_MAX_OPENING_TIME_S
                 elif selected_option == "Set Max Close Time":
                     input_mode, input_prompt, input_target_reg = True, "Enter Max Close Time (s): ", REG_HOLDING_MAX_CLOSING_TIME_S
+                elif selected_option == "Set End Current Open":
+                    input_mode, input_prompt, input_target_reg = True, "Enter End Current Threshold Open (mA): ", REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA
+                elif selected_option == "Set End Current Close":
+                    input_mode, input_prompt, input_target_reg = True, "Enter End Current Threshold Close (mA): ", REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA
                 elif selected_option == "Set Watchdog":
                     input_mode, input_prompt, input_target_reg = True, "Enter Watchdog Timeout (s): ", REG_HOLDING_WATCHDOG_TIMEOUT_S
                 elif selected_option == "Reset Node":
@@ -310,13 +322,15 @@ def main_menu(stdscr, slave_id):
                 stdscr.addstr(1, col3, "Max Open Time:", bold); stdscr.addstr(1, col3 + 16, str(current_data.get('open_time', 'N/A')), normal)
                 stdscr.addstr(2, col3, "Max Close Time:", bold); stdscr.addstr(2, col3 + 16, str(current_data.get('close_time', 'N/A')), normal)
                 stdscr.addstr(3, col3, "Watchdog:", bold); stdscr.addstr(3, col3 + 16, str(current_data.get('watchdog', 'N/A')), normal)
+                stdscr.addstr(4, col3, "End Curr Open:", bold); stdscr.addstr(4, col3 + 16, str(current_data.get('end_curr_open', 'N/A')), normal)
+                stdscr.addstr(5, col3, "End Curr Close:", bold); stdscr.addstr(5, col3 + 16, str(current_data.get('end_curr_close', 'N/A')), normal)
                 stdscr.addstr(1, col4, "Firmware:", bold); stdscr.addstr(1, col4 + 14, str(current_data.get('firmware', 'N/A')), normal)
                 stdscr.addstr(2, col4, "Uptime:", bold); stdscr.addstr(2, col4 + 14, str(current_data.get('uptime', 'N/A')), normal)
                 stdscr.addstr(3, col4, "Dev. Status:", bold); stdscr.addstr(3, col4 + 14, str(current_data.get('device_status', 'N/A')), normal)
                 stdscr.addstr(4, col4, "Supply V:", bold); stdscr.addstr(4, col4 + 14, str(current_data.get('supply_voltage', 'N/A')), normal)
             stdscr.addstr(6, 0, "─" * (w - 1), normal)
-            for idx, row in enumerate(menu):
+            for idx, row in enumerate(current_menu):
-                draw_button(stdscr, h // 2 - len(menu) + (idx * 2), w // 2 - len(row) // 2, row, idx == current_row_idx)
+                draw_button(stdscr, h // 2 - len(current_menu) + (idx * 2), w // 2 - len(row) // 2, row, idx == current_row_idx)
             if time.time() - message_time < 2.0: stdscr.addstr(h - 2, 0, message.ljust(w - 1), curses.color_pair(1) | curses.A_BOLD)
             if input_mode:
                 curses.curs_set(1); stdscr.addstr(h - 2, 0, (input_prompt + input_str).ljust(w-1), curses.color_pair(2)); stdscr.move(h - 2, len(input_prompt) + len(input_str))