docs: Add Doxygen comment for movement_timeout_handler

feat: Configure valve logging via Kconfig

This commit adds a Kconfig option  to control the log level of the valve library.
- : Added the new Kconfig option.
- : Updated  to use  and adjusted log levels for debug messages.
- : Enabled debug logging for the valve library by setting .

refactor: Adjust k-vcc calibration value for VND7050AJ

Updated the  calibration value in  from 4139 to 3816 for the VND7050AJ driver.
Signed-off-by: Eduard Iten <eduard@iten.pro>

docs/modbus-registers.de.md

@@ -51,8 +51,6 @@ Alle Register sind in einer einzigen, durchgehenden Liste pro Register-Typ (`Inp
 | **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.                                                                |
-| **0x0005** | `OBSTACLE_CURRENT_THRESHOLD_OPEN_MA` | Ventil            | Stromschwellenwert in mA zur Hinderniserkennung beim Öffnen.                                                                              |
-| **0x0006** | `OBSTACLE_CURRENT_THRESHOLD_CLOSE_MA` | Ventil            | Stromschwellenwert in mA zur Hinderniserkennung 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/apps/slave_node/boards/weact_stm32g431_core.overlay

@@ -15,7 +15,7 @@
 		fault-reset-gpios = <&gpiob 3 GPIO_ACTIVE_LOW>;
 		io-channels = <&adc1 1>;
 		r-sense-ohms = <1500>;
-		k-vcc = <4139>;
+		k-vcc = <3816>;
 	};
 };
 

software/apps/slave_node/prj.conf

@@ -26,4 +26,4 @@ CONFIG_MODBUS_BUFFER_SIZE=256
 
 # Enable VND7050AJ
 CONFIG_VND7050AJ=y
-
+CONFIG_LOG_VALVE_LEVEL=4

software/include/lib/modbus_server.h

@@ -89,21 +89,14 @@ enum {
 	 */
 	REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002,
 	/**
-	 * @brief Minimum current threshold in mA for end-position detection during opening.
+	 * @brief Minimum current threshold in mA for end-position detection.
 	 */
 	REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003,
 	/**
-	 * @brief Minimum current threshold in mA for end-position detection during closing.
+	 * @brief Minimum current threshold in mA for end-position detection during
+	 * closing.
 	 */
 	REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA = 0x0004,
-	/**
-	 * @brief Obstacle current threshold in mA for opening.
-	 */
-	REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_OPEN_MA = 0x0005,
-	/**
-	 * @brief Obstacle current threshold in mA for closing.
-	 */
-	REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_CLOSE_MA = 0x0006,
 	/**
 	 * @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

@@ -17,6 +17,9 @@
 #define VALVE_CHANNEL_CLOSE 1
 #define VALVE_ENDPOSITION_CHECK_INTERVAL K_MSEC(100)
 
+#define VALVE_OBSTACLE_THRESHOLD_OPEN_MA 500
+#define VALVE_OBSTACLE_THRESHOLD_CLOSE_MA 500
+
 /**
  * @brief Represents the static state of the valve (open or closed).
  */
@@ -32,8 +35,7 @@ enum valve_movement {
 	VALVE_MOVEMENT_IDLE, /**< The valve is not moving. */
 	VALVE_MOVEMENT_OPENING, /**< The valve is currently opening. */
 	VALVE_MOVEMENT_CLOSING, /**< The valve is currently closing. */
-	VALVE_MOVEMENT_ERROR, /**< An error occurred during movement. */
+	VALVE_MOVEMENT_ERROR /**< An error occurred during movement. */
-	VALVE_MOVEMENT_OBSTACLE /**< An obstacle was detected during movement. */
 };
 
 /**
@@ -79,13 +81,6 @@ enum valve_state valve_get_state(void);
  */
 enum valve_movement valve_get_movement(void);
 
-/**
- * @brief Gets the motor current.
- *
- * @return The motor current in milliamps (currently simulated).
- */
-uint16_t valve_get_motor_current(void);
-
 /**
  * @brief Sets the maximum time for the valve to open.
  *
@@ -114,20 +109,6 @@ void valve_set_end_current_threshold_open(uint16_t current_ma);
  */
 void valve_set_end_current_threshold_close(uint16_t current_ma);
 
-/**
- * @brief Sets the current threshold for obstacle detection during opening.
- *
- * @param current_ma The current threshold in milliamps.
- */
-void valve_set_obstacle_current_threshold_open(uint16_t current_ma);
-
-/**
- * @brief Sets the current threshold for obstacle detection during closing.
- *
- * @param current_ma The current threshold in milliamps.
- */
-void valve_set_obstacle_current_threshold_close(uint16_t current_ma);
-
 /**
  * @brief Gets the current threshold for end-position detection during opening.
  *
@@ -156,20 +137,6 @@ uint16_t valve_get_max_open_time(void);
  */
 uint16_t valve_get_max_close_time(void);
 
-/**
- * @brief Gets the current threshold for obstacle detection during opening.
- *
- * @return The current threshold in milliamps.
- */
-uint16_t valve_get_obstacle_current_threshold_open(void);
-
-/**
- * @brief Gets the current threshold for obstacle detection during closing.
- *
- * @return The current threshold in milliamps.
- */
-uint16_t valve_get_obstacle_current_threshold_close(void);
-
 /**
  * @brief Gets the current drawn by the valve motor during opening.
  *

software/lib/modbus_server/modbus_server.c

@@ -81,6 +81,12 @@ static int holding_reg_rd(uint16_t addr, uint16_t *reg)
 	case REG_HOLDING_WATCHDOG_TIMEOUT_S:
 		*reg = watchdog_timeout_s;
 		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA:
+		*reg = valve_get_end_current_threshold_open();
+		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA:
+		*reg = valve_get_end_current_threshold_close();
+		break;
 	default:
 		*reg = 0;
 		break;
@@ -114,6 +120,12 @@ static int holding_reg_wr(uint16_t addr, uint16_t reg)
 	case REG_HOLDING_MAX_CLOSING_TIME_S:
 		valve_set_max_close_time(reg);
 		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA:
+		valve_set_end_current_threshold_open(reg);
+		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA:
+		valve_set_end_current_threshold_close(reg);
+		break;
 	case REG_HOLDING_WATCHDOG_TIMEOUT_S:
 		watchdog_timeout_s = reg;
 		if (watchdog_timeout_s > 0) {
@@ -176,6 +188,12 @@ static int input_reg_rd(uint16_t addr, uint16_t *reg)
 	case REG_INPUT_FIRMWARE_VERSION_PATCH:
 		*reg = APP_PATCHLEVEL;
 		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA:
+		*reg = valve_get_end_current_threshold_open();
+		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA:
+		*reg = valve_get_end_current_threshold_close();
+		break;
 	default:
 		*reg = 0;
 		break;

software/lib/shell_valve/shell_valve.c

@@ -55,32 +55,6 @@ static int cmd_valve_set_end_curr_close(const struct shell *sh, size_t argc, cha
 	return 0;
 }
 
-static int cmd_valve_set_obs_curr_open(const struct shell *sh, size_t argc, char **argv)
-{
-	if (argc != 2) {
-		shell_print(sh, "Usage: valve set_obs_curr_open <milliamps>");
-		return -EINVAL;
-	}
-
-	uint16_t current_ma = (uint16_t)atoi(argv[1]);
-	valve_set_obstacle_current_threshold_open(current_ma);
-	shell_print(sh, "Obstacle current threshold (open) set to %u mA.", current_ma);
-	return 0;
-}
-
-static int cmd_valve_set_obs_curr_close(const struct shell *sh, size_t argc, char **argv)
-{
-	if (argc != 2) {
-		shell_print(sh, "Usage: valve set_obs_curr_close <milliamps>");
-		return -EINVAL;
-	}
-
-	uint16_t current_ma = (uint16_t)atoi(argv[1]);
-	valve_set_obstacle_current_threshold_close(current_ma);
-	shell_print(sh, "Obstacle current threshold (close) set to %u mA.", current_ma);
-	return 0;
-}
-
 static int cmd_valve_show(const struct shell *sh, size_t argc, char **argv)
 {
 	const int label_width = 30;
@@ -98,16 +72,6 @@ static int cmd_valve_show(const struct shell *sh, size_t argc, char **argv)
 	    label_width,
 	    "End Current Threshold (Close):",
 	    valve_get_end_current_threshold_close());
-	shell_print(sh,
-	    "%*s %u mA",
-	    label_width,
-	    "Obstacle Current Threshold (Open):",
-	    valve_get_obstacle_current_threshold_open());
-	shell_print(sh,
-	    "%*s %u mA",
-	    label_width,
-	    "Obstacle Current Threshold (Close):",
-	    valve_get_obstacle_current_threshold_close());
 	return 0;
 }
 
@@ -122,14 +86,6 @@ SHELL_STATIC_SUBCMD_SET_CREATE(sub_valve_settings,
         NULL,
         "Set end current threshold for closing (mA)",
         cmd_valve_set_end_curr_close),
-    SHELL_CMD(set_obs_curr_open,
-        NULL,
-        "Set obstacle current threshold for opening (mA)",
-        cmd_valve_set_obs_curr_open),
-    SHELL_CMD(set_obs_curr_close,
-        NULL,
-        "Set obstacle current threshold for closing (mA)",
-        cmd_valve_set_obs_curr_close),
     SHELL_CMD(show, NULL, "Show valve configuration", cmd_valve_show),
     SHELL_SUBCMD_SET_END);
 

software/lib/valve/Kconfig

@@ -3,3 +3,12 @@ config LIB_VALVE
     default y
     help
       Enable the Valve Library.
+
+if LIB_VALVE
+config LOG_VALVE_LEVEL
+    int "Valve Log Level"
+    default 3
+    help
+      Set the log level for the Valve Library.
+      0 = None, 1 = Error, 2 = Warning, 3 = Info, 4 = Debug
+endif # LIB_VALVE

software/lib/valve/valve.c

@@ -21,17 +21,15 @@
 #endif
 const struct device *vnd7050aj_dev = DEVICE_DT_GET(VND_NODE);
 
-LOG_MODULE_REGISTER(valve, LOG_LEVEL_INF);
+LOG_MODULE_REGISTER(valve, CONFIG_LOG_VALVE_LEVEL);
 
 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_open_ma = 10;
-static uint16_t end_current_threshold_close_ma = 10; // Default value for close
+static uint16_t end_current_threshold_close_ma = 10;
-static uint16_t obstacle_current_threshold_open_ma = 600; // Default value for open
+static struct k_work_delayable valve_work;
-static uint16_t obstacle_current_threshold_close_ma = 600; // Default value for close
-static struct k_work_delayable valve_work; // Work item for scheduling valve movement timeouts
 static struct k_timer movement_timer;
 
 /**
@@ -49,33 +47,39 @@ 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 > obstacle_current_threshold_open_ma) {
+		LOG_DBG("Current load during opening: %d mA", current_ma);
-			LOG_ERR("Obstacle detected during opening! Current: %d mA", current_ma);
+		if (current_ma > VALVE_OBSTACLE_THRESHOLD_OPEN_MA) {
-			current_movement = VALVE_MOVEMENT_OBSTACLE;
+			LOG_ERR(
-			goto work_handler_finish;
+			    "Obstacle detected during opening (current: %d mA), stopping motor.",
-		}
+			    current_ma);
-		if (current_ma > end_current_threshold_open_ma) {
+			current_movement = VALVE_MOVEMENT_ERROR;
+			valve_stop();
+			goto work_handler_cleanup;
+		} else if (current_ma > end_current_threshold_open_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
 		}
-		LOG_INF("Valve finished opening");
+		LOG_DBG("Valve finished opening");
 	} else if (current_movement == VALVE_MOVEMENT_CLOSING) {
 		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, &current_ma);
-		if (current_ma > obstacle_current_threshold_close_ma) {
+		LOG_DBG("Current load during closing: %d mA", current_ma);
-			LOG_ERR("Obstacle detected during closing! Current: %d mA", current_ma);
+		if (current_ma > VALVE_OBSTACLE_THRESHOLD_CLOSE_MA) {
-			current_movement = VALVE_MOVEMENT_OBSTACLE;
+			LOG_ERR(
-			goto work_handler_finish;
+			    "Obstacle detected during closing (current: %d mA), stopping motor.",
-		}
+			    current_ma);
-		if (current_ma > end_current_threshold_close_ma) {
+			current_movement = VALVE_MOVEMENT_ERROR;
+			valve_stop();
+			goto work_handler_cleanup;
+		} else if (current_ma > end_current_threshold_close_ma) {
 			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
 			return;
 		}
 		current_state = VALVE_STATE_CLOSED;
-		LOG_INF("Valve finished closing");
+		LOG_DBG("Valve finished closing");
 	}
 	current_movement = VALVE_MOVEMENT_IDLE;
 
-work_handler_finish:
+work_handler_cleanup:
 	// Reset the movement timer
 	k_timer_stop(&movement_timer);
 
@@ -83,6 +87,15 @@ work_handler_finish:
 	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
 }
 
+/**
+ * @brief Timer handler for valve movement timeouts.
+ *
+ * This function is called when the maximum allowed time for valve movement
+ * (opening or closing) has been reached. It stops the valve motor, cancels
+ * any pending end-position checks, and sets the movement status to error.
+ *
+ * @param timer Pointer to the k_timer instance that expired.
+ */
 void movement_timeout_handler(struct k_timer *timer)
 {
 	// Stop the end position check if the timer expires
@@ -117,27 +130,20 @@ int valve_init(void)
 	settings_load_one("valve/end_current_threshold_close",
 	    &end_current_threshold_close_ma,
 	    sizeof(end_current_threshold_close_ma));
-	settings_load_one("valve/obstacle_current_threshold_open",
-	    &obstacle_current_threshold_open_ma,
-	    sizeof(obstacle_current_threshold_open_ma));
-	settings_load_one("valve/obstacle_current_threshold_close",
-	    &obstacle_current_threshold_close_ma,
-	    sizeof(obstacle_current_threshold_close_ma));
 
 	LOG_INF("Valve initialized: max_open=%us, max_close=%us, end_curr_open=%umA, "
-	        "end_curr_close=%umA, obs_curr_open=%umA, obs_curr_close=%umA",
+	        "end_curr_close=%umA",
 	    max_opening_time_s,
 	    max_closing_time_s,
 	    end_current_threshold_open_ma,
-	    end_current_threshold_close_ma,
+	    end_current_threshold_close_ma);
-	    obstacle_current_threshold_open_ma,
-	    obstacle_current_threshold_close_ma);
 	valve_close();
 	return 0;
 }
 
 void valve_open(void)
 {
+	LOG_DBG("Opening valve");
 	vnd7050aj_reset_fault(vnd7050aj_dev);
 	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
 	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, true);
@@ -152,6 +158,7 @@ void valve_open(void)
 
 void valve_close(void)
 {
+	LOG_DBG("Closing valve");
 	vnd7050aj_reset_fault(vnd7050aj_dev);
 	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, false);
 	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, true);
@@ -179,10 +186,6 @@ enum valve_movement valve_get_movement(void)
 {
 	return current_movement;
 }
-uint16_t valve_get_motor_current(void)
-{
-	return (current_movement != VALVE_MOVEMENT_IDLE) ? 150 : 10;
-}
 
 void valve_set_max_open_time(uint16_t seconds)
 {
@@ -211,22 +214,6 @@ void valve_set_end_current_threshold_close(uint16_t current_ma)
 	    sizeof(end_current_threshold_close_ma));
 }
 
-void valve_set_obstacle_current_threshold_open(uint16_t current_ma)
-{
-	obstacle_current_threshold_open_ma = current_ma;
-	settings_save_one("valve/obstacle_current_threshold_open",
-	    &obstacle_current_threshold_open_ma,
-	    sizeof(obstacle_current_threshold_open_ma));
-}
-
-void valve_set_obstacle_current_threshold_close(uint16_t current_ma)
-{
-	obstacle_current_threshold_close_ma = current_ma;
-	settings_save_one("valve/obstacle_current_threshold_close",
-	    &obstacle_current_threshold_close_ma,
-	    sizeof(obstacle_current_threshold_close_ma));
-}
-
 uint16_t valve_get_max_open_time(void)
 {
 	return max_opening_time_s;
@@ -246,16 +233,6 @@ uint16_t valve_get_end_current_threshold_close(void)
 	return end_current_threshold_close_ma;
 }
 
-uint16_t valve_get_obstacle_current_threshold_open(void)
-{
-	return obstacle_current_threshold_open_ma;
-}
-
-uint16_t valve_get_obstacle_current_threshold_close(void)
-{
-	return obstacle_current_threshold_close_ma;
-}
-
 int32_t valve_get_opening_current(void)
 {
 	int32_t current;

software/tools/modbus_tool/modbus_tool.py

@@ -27,8 +27,6 @@ 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_OBSTACLE_CURRENT_THRESHOLD_OPEN_MA = 0x0005
-REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_CLOSE_MA = 0x0006
 REG_HOLDING_DIGITAL_OUTPUTS_STATE = 0x0010
 REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0
 REG_HOLDING_DEVICE_RESET = 0x00F1
@@ -92,7 +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=6, 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)
 
@@ -101,7 +99,7 @@ def poll_status(slave_id, interval):
                     raise ModbusException(str(res))
             
             valve_state_raw = ir_valve.registers[0]
-            movement_map = {0: "Idle", 1: "Opening", 2: "Closing", 3: "Error", 4: "Obstacle"}
+            movement_map = {0: "Idle", 1: "Opening", 2: "Closing", 3: "Error"}
             state_map = {0: "Closed", 1: "Open"}
             new_data["movement"] = movement_map.get(valve_state_raw >> 8, 'Unknown')
             new_data["state"] = state_map.get(valve_state_raw & 0xFF, 'Unknown')
@@ -111,8 +109,6 @@ def poll_status(slave_id, interval):
             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["obs_curr_open"] = f"{hr_valve.registers[4]}mA"
-            new_data["obs_curr_close"] = f"{hr_valve.registers[5]}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}"
@@ -238,7 +234,7 @@ def main_menu(stdscr, slave_id):
     stdscr.bkgd(' ', curses.color_pair(1))
 
     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 Obstacle Current Open", "Set Obstacle Current Close", "Set Watchdog", "Back"]
+    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
@@ -289,10 +285,6 @@ def main_menu(stdscr, slave_id):
                     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 Obstacle Current Open":
-                    input_mode, input_prompt, input_target_reg = True, "Enter Obstacle Current Threshold Open (mA): ", REG_HOLDING_OBSTACLE_CURRENT_THRESHOLD_OPEN_MA
-                elif selected_option == "Set Obstacle Current Close":
-                    input_mode, input_prompt, input_target_reg = True, "Enter Obstacle Current Threshold Close (mA): ", REG_HOLDING_OBSTACLE_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":
@@ -332,8 +324,6 @@ def main_menu(stdscr, slave_id):
                 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(6, col3, "Obs Curr Open:", bold); stdscr.addstr(6, col3 + 16, str(current_data.get('obs_curr_open', 'N/A')), normal)
-                stdscr.addstr(7, col3, "Obs Curr Close:", bold); stdscr.addstr(7, col3 + 16, str(current_data.get('obs_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)