diff --git a/software/apps/can_node/CMakeLists.txt b/software/apps/can_node/CMakeLists.txt
new file mode 100644
index 0000000..b9ea776
--- /dev/null
+++ b/software/apps/can_node/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.20)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(can_node LANGUAGES C)
+
+zephyr_include_directories(../../include)
+add_subdirectory(../../lib lib)
+
+target_sources(app PRIVATE src/main.c)
diff --git a/software/apps/can_node/Kconfig b/software/apps/can_node/Kconfig
new file mode 100644
index 0000000..8a35138
--- /dev/null
+++ b/software/apps/can_node/Kconfig
@@ -0,0 +1,2 @@
+rsource "../../lib/Kconfig"
+source "Kconfig.zephyr"
\ No newline at end of file
diff --git a/software/apps/can_node/VERSION b/software/apps/can_node/VERSION
new file mode 100644
index 0000000..2bdb1ca
--- /dev/null
+++ b/software/apps/can_node/VERSION
@@ -0,0 +1,5 @@
+VERSION_MAJOR = 0
+VERSION_MINOR = 0
+PATCHLEVEL = 1
+VERSION_TWEAK = 1
+EXTRAVERSION = devel
\ No newline at end of file
diff --git a/software/apps/can_node/boards/bluepill_f103rb.conf b/software/apps/can_node/boards/bluepill_f103rb.conf
new file mode 100644
index 0000000..17e55de
--- /dev/null
+++ b/software/apps/can_node/boards/bluepill_f103rb.conf
@@ -0,0 +1,7 @@
+# Disable UART console
+CONFIG_UART_CONSOLE=n
+
+# Enable RTT console
+CONFIG_RTT_CONSOLE=y
+CONFIG_USE_SEGGER_RTT=y
+CONFIG_SHELL_BACKEND_RTT=y
\ No newline at end of file
diff --git a/software/apps/can_node/boards/bluepill_f103rb.overlay b/software/apps/can_node/boards/bluepill_f103rb.overlay
new file mode 100644
index 0000000..614e991
--- /dev/null
+++ b/software/apps/can_node/boards/bluepill_f103rb.overlay
@@ -0,0 +1,43 @@
+/ {
+    chosen {
+        zephyr,console = &rtt;
+        zephyr,shell = &rtt;
+        zephyr,settings-partition = &storage_partition;
+    };
+
+    rtt: rtt {
+        compatible = "segger,rtt-uart";
+        #address-cells = <1>;
+        #size-cells = <0>;
+        label = "RTT";
+        status = "okay";
+    };
+};
+
+&flash0 {
+    partitions {
+        compatible = "fixed-partitions";
+        #address-cells = <1>;
+        #size-cells = <1>;
+
+        /* Application partition starts at the beginning of flash */
+        slot0_partition: partition@0 {
+            label = "image-0";
+            reg = <0x00000000 DT_SIZE_K(120)>;
+        };
+
+        /* Use the last 8K for settings */
+        storage_partition: partition@1E000 {
+            label = "storage";
+            reg = <0x0001E000 DT_SIZE_K(8)>;
+        };
+    };
+};
+
+&usart1 {
+	modbus0 {
+		compatible = "zephyr,modbus-serial";
+		status = "okay";
+	};
+	status = "okay";
+};
diff --git a/software/apps/can_node/boards/native_sim.overlay b/software/apps/can_node/boards/native_sim.overlay
new file mode 100644
index 0000000..6e3de37
--- /dev/null
+++ b/software/apps/can_node/boards/native_sim.overlay
@@ -0,0 +1,47 @@
+/ {
+	aliases {
+		vnd7050aj = &vnd7050aj;
+	};
+
+	vnd7050aj: vnd7050aj {
+		compatible = "st,vnd7050aj";
+		status = "okay";
+
+		input0-gpios = <&gpio0 1 GPIO_ACTIVE_HIGH>;
+		input1-gpios = <&gpio0 2 GPIO_ACTIVE_HIGH>;
+		select0-gpios = <&gpio0 3 GPIO_ACTIVE_HIGH>;
+		select1-gpios = <&gpio0 4 GPIO_ACTIVE_HIGH>;
+		sense-enable-gpios = <&gpio0 5 GPIO_ACTIVE_HIGH>;
+		fault-reset-gpios = <&gpio0 6 GPIO_ACTIVE_LOW>;
+		io-channels = <&adc0 0>;
+		r-sense-ohms = <1500>;
+		k-vcc = <4000>;
+	};
+
+	modbus_uart: uart_2 {
+		compatible = "zephyr,native-pty-uart";
+		status = "okay";
+		current-speed = <19200>;
+
+		modbus0: modbus0 {
+			compatible = "zephyr,modbus-serial";
+			status = "okay";
+		};
+	};
+
+};
+
+&adc0 {
+	#address-cells = <1>;
+	#size-cells = <0>;
+	ref-internal-mv = <3300>;
+	ref-external1-mv = <5000>;
+
+	channel@0 {
+		reg = <0>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};
diff --git a/software/apps/can_node/boards/weact_stm32g431_core.overlay b/software/apps/can_node/boards/weact_stm32g431_core.overlay
new file mode 100644
index 0000000..97cdf12
--- /dev/null
+++ b/software/apps/can_node/boards/weact_stm32g431_core.overlay
@@ -0,0 +1,48 @@
+/ {
+	aliases {
+		vnd7050aj = &vnd7050aj;
+	};
+
+	vnd7050aj: vnd7050aj {
+		compatible = "st,vnd7050aj";
+		status = "okay";
+
+		input0-gpios = <&gpiob 3 GPIO_ACTIVE_HIGH>;
+		input1-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>;
+		select0-gpios = <&gpiob 0 GPIO_ACTIVE_HIGH>;
+		select1-gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>;
+		sense-enable-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;
+		fault-reset-gpios = <&gpiob 5 GPIO_ACTIVE_LOW>;
+		io-channels = <&adc1 1>;
+		r-sense-ohms = <1500>;
+		k-vcc = <4000>;
+	};
+};
+
+&adc1 {
+	status = "okay";
+	pinctrl-0 = <&adc1_in1_pa0>;
+	pinctrl-names = "default";
+	st,adc-clock-source = "SYNC";
+	st,adc-prescaler = <4>;
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	channel@1 {
+		reg = <1>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};
+
+&usart1 {
+	modbus0 {
+		compatible = "zephyr,modbus-serial";
+		status = "okay";
+	};
+	status = "okay";
+    pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>; // PA9=TX, PA10=RX for Modbus communication
+    pinctrl-names = "default";
+};
diff --git a/software/apps/can_node/cdc-acm.overlay b/software/apps/can_node/cdc-acm.overlay
new file mode 100644
index 0000000..32f5b3e
--- /dev/null
+++ b/software/apps/can_node/cdc-acm.overlay
@@ -0,0 +1,16 @@
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
+&zephyr_udc0 {
+	cdc_acm_uart0: cdc_acm_uart0 {
+		compatible = "zephyr,cdc-acm-uart";
+
+		modbus0 {
+			compatible = "zephyr,modbus-serial";
+			status = "okay";
+		};
+	};
+};
+
+&usart1 {
+	/delete-node/ modbus0;
+};
\ No newline at end of file
diff --git a/software/apps/can_node/dts/bindings/st,vnd7050aj.yaml b/software/apps/can_node/dts/bindings/st,vnd7050aj.yaml
new file mode 100644
index 0000000..a356d9f
--- /dev/null
+++ b/software/apps/can_node/dts/bindings/st,vnd7050aj.yaml
@@ -0,0 +1,88 @@
+# Copyright (c) 2024, Eduard Iten
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+  STMicroelectronics VND7050AJ dual-channel high-side driver.
+  This is a GPIO and ADC controlled device.
+
+compatible: "st,vnd7050aj"
+
+include: base.yaml
+
+properties:
+  input0-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to control output channel 0.
+
+  input1-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to control output channel 1.
+
+  select0-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO for MultiSense selection bit 0.
+
+  select1-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO for MultiSense selection bit 1.
+
+  sense-enable-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to enable the MultiSense output.
+
+  fault-reset-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to reset a latched fault (active-low).
+
+  io-channels:
+    type: phandle-array
+    required: true
+    description: |
+      ADC channel connected to the MultiSense pin. This should be an
+      io-channels property pointing to the ADC controller and channel number.
+
+  r-sense-ohms:
+    type: int
+    required: true
+    description: |
+      Value of the external sense resistor connected from the MultiSense
+      pin to GND, specified in Ohms. This is critical for correct
+      conversion of the analog readings.
+
+  k-factor:
+    type: int
+    default: 1500
+    description: |
+      Factor between PowerMOS and SenseMOS.
+
+  k-vcc:
+    type: int
+    default: 8000
+    description: |
+      VCC sense ratio multiplied by 1000. Used for supply voltage calculation.
+
+  t-sense-0:
+    type: int
+    default: 25
+    description: |
+      Temperature sense reference temperature in degrees Celsius.
+
+  v-sense-0:
+    type: int
+    default: 2070
+    description: |
+      Temperature sense reference voltage in millivolts.
+
+  k-tchip:
+    type: int
+    default: -5500
+    description: |
+      Temperature sense gain coefficient multiplied by 1000.
+      Used for chip temperature calculation.
+
diff --git a/software/apps/can_node/overlay-cdc-acm.conf b/software/apps/can_node/overlay-cdc-acm.conf
new file mode 100644
index 0000000..2b6aa2e
--- /dev/null
+++ b/software/apps/can_node/overlay-cdc-acm.conf
@@ -0,0 +1,4 @@
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_PRODUCT="Modbus slave node"
+CONFIG_UART_LINE_CTRL=y
+CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n
\ No newline at end of file
diff --git a/software/apps/can_node/prj.conf b/software/apps/can_node/prj.conf
new file mode 100644
index 0000000..174fec8
--- /dev/null
+++ b/software/apps/can_node/prj.conf
@@ -0,0 +1,31 @@
+# Enable Console and printk for logging
+CONFIG_CONSOLE=y
+CONFIG_LOG=y
+
+# Enable Shell
+CONFIG_SHELL=y
+CONFIG_REBOOT=y
+CONFIG_SHELL_MODBUS=n
+CONFIG_SHELL_VALVE=y
+CONFIG_SHELL_SYSTEM=y
+
+# Enable Settings Subsystem
+CONFIG_SETTINGS=y
+CONFIG_SETTINGS_NVS=y
+CONFIG_NVS=y
+CONFIG_FLASH=y
+CONFIG_FLASH_MAP=y
+CONFIG_FLASH_PAGE_LAYOUT=y
+
+# Config modbus
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_MODBUS=y
+CONFIG_MODBUS_ROLE_SERVER=y
+CONFIG_MODBUS_LOG_LEVEL_DBG=y
+
+# enable Valve Driver
+CONFIG_LIB_VALVE=y
+CONFIG_LOG_VALVE_LEVEL=4
+
+# Enable VND7050AJ
+CONFIG_VND7050AJ=y
\ No newline at end of file
diff --git a/software/apps/can_node/src/main.c b/software/apps/can_node/src/main.c
new file mode 100644
index 0000000..60b3f5a
--- /dev/null
+++ b/software/apps/can_node/src/main.c
@@ -0,0 +1,40 @@
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/settings/settings.h>
+#include <app_version.h>
+#include <lib/valve.h>
+#include <lib/vnd7050aj.h>
+
+LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
+
+int main(void)
+{
+	int rc;
+	LOG_INF("Starting Irrigation System CAN Node, Version %s", APP_VERSION_EXTENDED_STRING);
+
+	/* Initialize settings subsystem */
+	rc = settings_subsys_init();
+	if (rc != 0) {
+		LOG_ERR("Failed to initialize settings subsystem (%d)", rc);
+		return rc;
+	}
+	LOG_INF("Settings subsystem initialized");
+
+	/* Load settings from storage */
+	rc = settings_load();
+	if (rc == 0) {
+		LOG_INF("Settings loaded successfully");
+	} else {
+		LOG_WRN("Failed to load settings (%d)", rc);
+	}
+
+	/* Initialize valve system */
+	rc = valve_init();
+	if (rc != 0) {
+		LOG_ERR("Failed to initialize valve system (%d)", rc);
+		return rc;
+	}
+	LOG_INF("Valve system initialized");
+
+	return 0;
+}
diff --git a/software/apps/can_node/sysbuild.conf b/software/apps/can_node/sysbuild.conf
new file mode 100644
index 0000000..e9174e8
--- /dev/null
+++ b/software/apps/can_node/sysbuild.conf
@@ -0,0 +1,5 @@
+SB_CONFIG_BOOTLOADER_MCUBOOT=y
+SB_CONFIG_MCUBOOT_MODE_SINGLE_APP=y
+
+CONFIG_LOG=y
+CONFIG_MCUBOOT_LOG_LEVEL_INF=y
\ No newline at end of file
diff --git a/software/include/lib/can_ids.h b/software/include/lib/can_ids.h
new file mode 100644
index 0000000..e69de29