feat(valve): Implement obstacle detection with configurable thresholds

Introduces separate configurable current thresholds for obstacle detection
during valve opening and closing movements.

- Added  state to .
- Added  and
   to .
- Modified  to implement obstacle detection in ,
  setting  on high current, and to load/save
  these new thresholds via settings.
- Added new setter/getter functions for obstacle thresholds to  and .
- Updated  with new shell commands (, )
  and updated  to display these settings.
- Updated  to document the new registers and error states.
- Updated  to include new register definitions, menu options,
  and display of obstacle current thresholds.

.gemini_commit_message.txt

@@ -0,0 +1,7 @@
+feat(modbus): Implement persistent and improved reconfiguration for Modbus server
+
+This commit enhances the Modbus server's configuration handling by:
+
+- Loading saved baudrate and unit ID settings during initialization, ensuring persistence across reboots.
+- Providing improved feedback during `modbus_reconfigure`, including logging for successful changes and informing the user when a device restart is required for changes to take effect.
+- Saving new configuration settings even if immediate reinitialization fails, allowing them to be applied on the next boot.

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "fwu.h": "c"
+    }
+}

README.de.md

@@ -1,3 +1,5 @@
+<img src="./docs/img/logo.png" alt="Logo" width="100"/>
+
 🇩🇪 Deutsch | [🇬🇧 English](README.md) | [🇫🇷 Français](README.fr.md) | [🇪🇸 Español](README.es.md)
 
 # Modulares Bewässerungssystem
@@ -11,6 +13,8 @@ Die detaillierte Dokumentation befindet sich im Verzeichnis [`docs/`](./docs/):
 *   **[Konzept](./docs/concept.de.md)**: Beschreibt die Systemarchitektur, die verwendeten Komponenten und die grundlegenden Design-Entscheidungen.
 *   **[MODBUS Register](./docs/modbus-registers.de.md)**: Definiert die Register-Map für die Kommunikation mit den Slave-Nodes.
 *   **[Projektplan](./docs/planning.de.md)**: Enthält den Entwicklungs- und Implementierungsplan.
+*   **[Firmware-Handbuch](./docs/firmware-manual.de.md)**: Beschreibt den Funktionsumfang und die Bedienung der Slave-Node-Firmware.
+*   **[Modbus Test-Tool](./software/tools/modbus_tool/README.de.md)**: Anleitung für das Python-basierte Kommandozeilen-Tool zum Testen der Slaves.
 
 ## Schnellstart
 

README.es.md

@@ -1,3 +1,5 @@
+<img src="./docs/img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](README.de.md) | [🇬🇧 English](README.md) | [🇫🇷 Français](README.fr.md) | 🇪🇸 Español
 
 # Sistema de riego modular

README.fr.md

@@ -1,3 +1,5 @@
+<img src="./docs/img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](README.de.md) | [🇬🇧 English](README.md) | 🇫🇷 Français | [🇪🇸 Español](README.es.md)
 
 # Système d'irrigation modulaire

README.md

@@ -1,3 +1,5 @@
+<img src="./docs/img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](README.de.md) | 🇬🇧 English | [🇫🇷 Français](README.fr.md) | [🇪🇸 Español](README.es.md)
 
 # Modular Irrigation System

docs/concept.de.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 🇩🇪 Deutsch | [🇬🇧 English](concept.en.md) | [🇫🇷 Français](concept.fr.md) | [🇪🇸 Español](concept.es.md)
 
 # Konzept: Modulares Bewässerungssystem
@@ -37,7 +39,7 @@ Die Slave-Nodes sind die Arbeitseinheiten im Feld. Um bei der Fertigung kleiner
 
 * **Mikrocontroller:** Ein `STM32G431PB`. Dieser ist zwar leistungsstark, bietet aber alle nötigen Peripherien (mehrere UARTs, ADCs, CAN) und ermöglicht ein einheitliches Hardware- und Software-Design.
 * **Peripherie pro Node:**
-    * **Zwei High-Side Ausgänge (+12V):** Realisiert über einen `VND7050AJ`. Perfekt zur Ansteuerung der 12V-Motorventile (`Öffnen`/`Schliessen`). Die `Sense`-Leitung des Treibers wird über einen AD-Wandler ausgelesen, um durch Messung des Motorstroms eine Endlagen-Erkennung ohne physische Endschalter zu realisieren (Motorstrom im Stillstand ≈ 0).
+    * **Zwei High-Side Ausgänge (+12V):** Realisiert über einen `VND7050AJ`. Perfekt zur Ansteuerung der 12V-Motorventile (`Öffnen`/`Schliessen`). Die `Sense`-Leitung des Treibers wird über einen AD-Wandler ausgelesen, um durch Messung des Motorstroms eine Endlagen-Erkennung ohne physische Endschalter zu realisieren (Motorstrom im Stillstand ≈ 0). Zusätzlich können die Temperatur und die Versorgungsspannung des Treibers ausgelesen werden.
     * **Zwei Low-Side Ausgänge (0V):** Über N-Kanal-MOSFETs geschaltete Ausgänge. Nutzbar zur Ansteuerung von 12V-LEDs in Tastern oder zum Schalten des Halbleiter-Relais für die Pumpe.
     * **Zwei digitale Eingänge:** Direkte, geschützte Eingänge am Controller zum Anschluss von Tastern oder den kapazitiven NPN-Sensoren.
 

docs/concept.en.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](concept.de.md) | 🇬🇧 English | [🇫🇷 Français](concept.fr.md) | [🇪🇸 Español](concept.es.md)
 
 # Concept: Modular Irrigation System

docs/concept.es.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](concept.de.md) | [🇬🇧 English](concept.en.md) | [🇫🇷 Français](concept.fr.md) | 🇪🇸 Español
 
 # Concepto: Sistema de riego modular

docs/concept.fr.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](concept.de.md) | [🇬🇧 English](concept.en.md) | 🇫🇷 Français | [🇪🇸 Español](concept.es.md)
 
 # Concept : Système d'irrigation modulaire

docs/img/logo.svg

@@ -0,0 +1,16 @@
+<svg width="100" height="120" viewBox="0 0 100 120" xmlns="http://www.w3.org/2000/svg" aria-labelledby="logoTitle">
+  <title id="logoTitle">Logo: Wassertropfen mit integriertem Chip</title>
+  
+  <path 
+    d="M50 115 C 85 85, 95 65, 95 45 A 45 45 0 1 0 5 45 C 5 65, 15 85, 50 115 Z" 
+    fill="#2563EB" 
+  />
+  
+  <g fill="#FFFFFF">
+    <rect x="25" y="35" width="50" height="8" rx="2"/>
+    <rect x="25" y="50" width="35" height="8" rx="2"/>
+    <rect x="70" y="50" width="5" height="8" rx="2"/>
+    <rect x="25" y="65" width="50" height="8" rx="2"/>
+  </g>
+  
+</svg>

docs/modbus-registers.de.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 🇩🇪 Deutsch | [🇬🇧 English](modbus-registers.en.md) | [🇫🇷 Français](modbus-registers.fr.md) | [🇪🇸 Español](modbus-registers.es.md)
 
 # MODBUS Register Map Definition v1.0
@@ -27,26 +29,33 @@ Alle Register sind in einer einzigen, durchgehenden Liste pro Register-Typ (`Inp
 
 | Adresse (hex) | Name                           | Zugehörigkeit     | Beschreibung                                                                                                                              |
 | :------------ | :----------------------------- | :---------------- | :---------------------------------------------------------------------------------------------------------------------------------------- |
-| **0x0000** | `VENTIL_ZUSTAND_BEWEGUNG`        | Ventil            | Kombiniertes Status-Register. **High-Byte**: Bewegung (`0`=Idle, `1`=Öffnet, `2`=Schliesst, `3`=Fehler). **Low-Byte**: Zustand (`0`=Geschlossen, `1`=Geöffnet). |
+| **0x0000** | `VALVE_STATE_MOVEMENT`        | Ventil            | Kombiniertes Status-Register. **High-Byte**: Bewegung (`0`=Idle, `1`=Öffnet, `2`=Schliesst, `3`=Fehler). **Low-Byte**: Zustand (`0`=Geschlossen, `1`=Geöffnet). |
-| **0x0001** | `MOTORSTROM_MA`                | Ventil            | Aktueller Motorstrom in Milliampere (mA).                                                                                                 |
+| **0x0001** | `MOTORSTROM_OPEN_MA`           | Ventil            | Motorstrom beim Öffnen in Milliampere (mA).                                                                                               |
-| **0x0020** | `DIGITAL_EINGAENGE_ZUSTAND`    | Eingänge          | Bitmaske der digitalen Eingänge. Bit 0: Eingang 1, Bit 1: Eingang 2. `1`=Aktiv.                                                          |
+| **0x0002** | `MOTORSTROM_CLOSE_MA`          | Ventil            | Motorstrom beim Schließen in Milliampere (mA).                                                                                            |
-| **0x0021** | `TASTER_EVENTS`                | Eingänge          | Event-Flags für Taster (Clear-on-Read). Bit 0: Taster 1 gedrückt. Bit 1: Taster 2 gedrückt.                                                 |
+| **0x0020** | `DIGITAL_INPUTS_STATE`    | Eingänge          | Bitmaske der digitalen Eingänge. Bit 0: Eingang 1, Bit 1: Eingang 2. `1`=Aktiv.                                                          |
+| **0x0021** | `BUTTON_EVENTS`                | Eingänge          | Event-Flags für Taster (Clear-on-Read). Bit 0: Taster 1 gedrückt. Bit 1: Taster 2 gedrückt.                                                 |
 | **0x00F0** | `FIRMWARE_VERSION_MAJOR_MINOR` | System            | z.B. `0x0102` für v1.2.                                                                                                                   |
 | **0x00F1** | `FIRMWARE_VERSION_PATCH`       | System            | z.B. `3` für v1.2.3.                                                                                                                      |
 | **0x00F2** | `DEVICE_STATUS`                | System            | `0`=OK, `1`=Allgemeiner Fehler.                                                                                                           |
 | **0x00F3** | `UPTIME_SECONDS_LOW`           | System            | Untere 16 Bit der Uptime in Sekunden.                                                                                                     |
 | **0x00F4** | `UPTIME_SECONDS_HIGH`          | System            | Obere 16 Bit der Uptime.                                                                                                                  |
+| **0x00F5** | `SUPPLY_VOLTAGE_MV`            | System            | Aktuelle Versorgungsspannung in Millivolt (mV).                                                                                           |
 | **0x0100** | `FWU_LAST_CHUNK_CRC`           | Firmware-Update   | Enthält den CRC16 des zuletzt im Puffer empfangenen Daten-Chunks.                                                                         |
 
 ## 3. Holding Registers (4xxxx, Read/Write)
 
 | Adresse (hex) | Name                          | Zugehörigkeit     | Beschreibung                                                                                                                              |
 | :------------ | :---------------------------- | :---------------- | :---------------------------------------------------------------------------------------------------------------------------------------- |
-| **0x0000** | `VENTIL_BEFEHL`               | Ventil            | `1`=Öffnen, `2`=Schliessen, `0`=Bewegung stoppen.                                                                                           |
+| **0x0000** | `VALVE_COMMAND`               | Ventil            | `1`=Öffnen, `2`=Schliessen, `0`=Bewegung stoppen.                                                                                           |
-| **0x0001** | `MAX_OEFFNUNGSZEIT_S`         | Ventil            | Sicherheits-Timeout in Sekunden für den Öffnen-Vorgang.                                                                                    |
+| **0x0001** | `MAX_OPENING_TIME_S`         | Ventil            | Sicherheits-Timeout in Sekunden für den Öffnen-Vorgang.                                                                                    |
-| **0x0002** | `MAX_SCHLIESSZEIT_S`          | Ventil            | Sicherheits-Timeout in Sekunden für den Schliessen-Vorgang.                                                                                |
+| **0x0002** | `MAX_CLOSING_TIME_S`          | Ventil            | Sicherheits-Timeout in Sekunden für den Schliessen-Vorgang.                                                                                |
-| **0x0010** | `DIGITAL_AUSGAENGE_ZUSTAND`   | Ausgänge          | Bitmaske zum Lesen und Schreiben der Ausgänge. Bit 0: Ausgang 1, Bit 1: Ausgang 2. `1`=AN, `0`=AUS.                                         |
+| **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.                                                                                                 |
 | **0x0100** | `FWU_COMMAND`                 | Firmware-Update   | `1`: **Verify Chunk**: Der zuletzt übertragene Chunk wurde vom Client als gültig befunden. Der Slave soll ihn nun ins Flash schreiben. `2`: **Finalize Update**: Alle Chunks sind übertragen. Installation abschliessen und neu starten. |
 | **0x0101** | `FWU_CHUNK_OFFSET_LOW`        | Firmware-Update   | Untere 16 Bit des 32-Bit-Offsets, an den der nächste Chunk geschrieben werden soll.                                                         |
 | **0x0102** | `FWU_CHUNK_OFFSET_HIGH`       | Firmware-Update   | Obere 16 Bit des 32-Bit-Offsets.                                                                                                          |
@@ -76,10 +85,10 @@ Diese Register gehören zum externen Füllstandsensor und können auf dem Bus eb
 
 | Adresse (hex) | Name                       | R/W | Beschreibung                                                                                                                              |
 | :------------ | :------------------------- | :-- | :---------------------------------------------------------------------------------------------------------------------------------------- |
-| **0x0000** | `NODE_ADRESSE`             | R/W | Geräteadresse des Sensors (1-255).                                                                                                        |
+| **0x0000** | `NODE_ADDRESS`             | R/W | Geräteadresse des Sensors (1-255).                                                                                                        |
 | **0x0001** | `BAUDRATE`                 | R/W | `0`=1200, `1`=2400, `2`=4800, `3`=9600, `4`=19200, `5`=38400, `6`=57600, `7`=115200.                                                       |
-| **0x0002** | `EINHEIT`                  | R/W | `0`=Keine, `1`=cm, `2`=mm, `3`=MPa, `4`=Pa, `5`=kPa.                                                                                        |
+| **0x0002** | `UNIT`                  | R/W | `0`=Keine, `1`=cm, `2`=mm, `3`=MPa, `4`=Pa, `5`=kPa.                                                                                        |
-| **0x0003** | `NACHKOMMASTELLEN`         | R/W | Anzahl der Dezimalstellen für den Messwert (0-3).                                                                                         |
+| **0x0003** | `DECIMAL_PLACES`         | R/W | Anzahl der Dezimalstellen für den Messwert (0-3).                                                                                         |
-| **0x0004** | `MESSWERT_AKTUELL`         | R   | Der skalierte Messwert als vorzeichenbehafteter 16-Bit-Integer.                                                                           |
+| **0x0004** | `CURRENT_MEASUREMENT`         | R   | Der skalierte Messwert als vorzeichenbehafteter 16-Bit-Integer.                                                                           |
-| **0x0005** | `MESSBEREICH_NULLPUNKT`    | R/W | Rohwert für den Nullpunkt der Skala.                                                                                                      |
+| **0x0005** | `MEASUREMENT_RANGE_ZERO_POINT`    | R/W | Rohwert für den Nullpunkt der Skala.                                                                                                      |
-| **0x0006** | `MESSBEREICH_ENDPUNKT`     | R/W | Rohwert für den Endpunkt der Skala.                                                                                                       |
+| **0x0006** | `MEASUREMENT_RANGE_END_POINT`     | R/W | Rohwert für den Endpunkt der Skala.                                                                                                       |

docs/modbus-registers.en.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](modbus-registers.de.md) | 🇬🇧 English | [🇫🇷 Français](modbus-registers.fr.md) | [🇪🇸 Español](modbus-registers.es.md)
 
 # MODBUS Register Map Definition v1.0

docs/modbus-registers.es.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](modbus-registers.de.md) | [🇬🇧 English](modbus-registers.en.md) | [🇫🇷 Français](modbus-registers.fr.md) | 🇪🇸 Español
 
 # Definición del mapa de registros MODBUS v1.0

docs/modbus-registers.fr.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](modbus-registers.de.md) | [🇬🇧 English](modbus-registers.en.md) | 🇫🇷 Français | [🇪🇸 Español](modbus-registers.es.md)
 
 # Définition de la carte des registres MODBUS v1.0

docs/planning.de.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 🇩🇪 Deutsch | [🇬🇧 English](planning.en.md) | [🇫🇷 Français](planning.fr.md) | [🇪🇸 Español](planning.es.md)
 
 # Projektplan: Modulares Bewässerungssystem
@@ -7,11 +9,13 @@
 | ✅ | **Phase 0: Planung & Definition** | | |
 | ✅ | Konzept erstellen und finalisieren | 30.06.2025 | Architektur, Komponenten und grundlegende Architektur sind festgelegt. |
 | ✅ | MODBUS Register Map definieren | 30.06.2025 | Die "API" der Slaves ist definiert und bildet die Grundlage für die Software-Entwicklung. |
+| ✅ | Header- und deutsche Dokumentation aktualisiert | 10.07.2025 | Doxygen-Kommentare in Headern und deutsche .md-Dateien auf den neuesten Stand gebracht und übersetzt. |
 | ☐ | **Phase 1: Slave-Node Prototyp (STM32 Eval-Board)** | | **Ziel:** Ein einzelner Slave wird auf dem Eval-Board zum Leben erweckt. |
 | ✅ | 1.1 Entwicklungsumgebung für STM32/Zephyr einrichten | 30.06.2025 | Toolchain, VS Code, Zephyr-SDK, MCUBoot etc. installieren und ein "Hello World" zum Laufen bringen. |
-| ☐ | 1.2 Basis-Firmware für Slave-Node erstellen | | Hardware-Abstraktion (GPIOs, ADC, UART für RS485) implementieren. |
+| ✅ | 1.2 Hardware-Abstraktion (VND7050AJ, RS485) | 10.07.2025 | Implementierung der Treiber für den VND7050AJ und die RS485-Kommunikation. |
-| ☐ | 1.3 MODBUS-RTU Stack auf dem Slave implementieren | | Basierend auf der definierten Register-Map. Zuerst nur lesende Funktionen (Status, Version). |
+| ✅ | 1.3 Basis-Firmware für Slave-Node erstellen | 10.07.2025 | Hardware-Abstraktion (GPIOs) implementiert. |
-| ☐ | 1.4 Kernlogik implementieren (z.B. Ventilsteuerung) | | Umsetzung der `VENTIL_ZUSTAND_BEWEGUNG` Logik, Strommessung für Endlagen etc. |
+| ✅ | 1.3 MODBUS-RTU Stack auf dem Slave implementieren | 10.07.2025 | Basierend auf der definierten Register-Map. Zuerst nur lesende Funktionen (Status, Version). |
+| ✅ | 1.4 Kernlogik implementieren (z.B. Ventilsteuerung) | 10.07.2025 | Umsetzung der `VALVE_STATE_MOVEMENT` Logik, Strommessung für Endlagen etc. |
 | ☐ | **Phase 2: Verifikation der Slave-Firmware** | | **Ziel:** Nachweisen, dass der Slave sich exakt an die MODBUS-Spezifikation hält. |
 | ☐ | 2.1 Slave-Node mit PC via USB-MODBUS-Adapter testen | | **Kritischer Meilenstein.** Mit Tools wie "QModMaster" oder einem Python-Skript die Register lesen & schreiben. Die Slave-Firmware wird so unabhängig vom Gateway validiert. |
 | ☐ | 2.2 Firmware-Update Mechanismus testen | | Den kompletten Update-Prozess (Chunking, CRC-Check) mit einem Skript vom PC aus testen. Der Slave schreibt die Firmware dabei vorerst nur in einen ungenutzten RAM-Bereich. |

docs/planning.en.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](planning.de.md) | 🇬🇧 English | [🇫🇷 Français](planning.fr.md) | [🇪🇸 Español](planning.es.md)
 
 # Project Plan: Modular Irrigation System

docs/planning.es.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](planning.de.md) | [🇬🇧 English](planning.en.md) | [🇫🇷 Français](planning.fr.md) | 🇪🇸 Español
 
 # Plan del proyecto: Sistema de riego modular

docs/planning.fr.md

@@ -1,3 +1,5 @@
+<img src="./img/logo.png" alt="Logo" width="100"/>
+
 [🇩🇪 Deutsch](planning.de.md) | [🇬🇧 English](planning.en.md) | 🇫🇷 Français | [🇪🇸 Español](planning.es.md)
 
 # Plan de projet : Système d'irrigation modulaire

setup-format-hook.sh

@@ -0,0 +1,56 @@
+#!/bin/sh
+
+# This script sets up a Git pre-commit hook to automatically format C/C++ files
+# in the 'software/' subdirectory using clang-format.
+
+# Define the path for the pre-commit hook
+HOOK_DIR=".git/hooks"
+HOOK_FILE="$HOOK_DIR/pre-commit"
+
+# Create the hooks directory if it doesn't exist
+mkdir -p "$HOOK_DIR"
+
+# Create the pre-commit hook script using a 'here document'
+cat > "$HOOK_FILE" << 'EOF'
+#!/bin/sh
+
+# --- Pre-commit hook for clang-format ---
+#
+# This hook formats staged C, C++, and Objective-C files in the 'software/'
+# subdirectory before a commit is made.
+# It automatically finds the .clang-format file in the software/ directory.
+#
+
+# Directory to be formatted
+TARGET_DIR="software/"
+
+# Use git diff to find staged files that are Added (A), Copied (C), or Modified (M).
+# We filter for files only within the TARGET_DIR.
+# The grep regex matches common C/C++ and Objective-C file extensions.
+FILES_TO_FORMAT=$(git diff --cached --name-only --diff-filter=ACM "$TARGET_DIR" | grep -E '\.(c|h|cpp|hpp|cxx|hxx|cc|hh|m|mm)$')
+
+if [ -z "$FILES_TO_FORMAT" ]; then
+    # No relevant files to format, exit successfully.
+    exit 0
+fi
+
+echo "› Running clang-format on staged files in '$TARGET_DIR'..."
+
+# Run clang-format in-place on the identified files.
+# clang-format will automatically find the .clang-format file in the software/ directory
+# or any of its parent directories.
+echo "$FILES_TO_FORMAT" | xargs clang-format -i
+
+# Since clang-format may have changed the files, we need to re-stage them.
+echo "$FILES_TO_FORMAT" | xargs git add
+
+echo "› Formatting complete."
+
+exit 0
+EOF
+
+# Make the hook executable
+chmod +x "$HOOK_FILE"
+
+echo "✅ Git pre-commit hook has been set up successfully."
+echo "   It will now automatically format files in the '$PWD/software' directory before each commit."

software/.clang-format

@@ -0,0 +1,142 @@
+# Zephyr Project .clang-format configuration
+# Based on Linux kernel style with Zephyr-specific adaptations
+
+# Use LLVM as the base style and customize from there
+BasedOnStyle: LLVM
+
+# Language settings
+Language: Cpp
+
+# Indentation settings
+IndentWidth: 8
+TabWidth: 8
+UseTab: ForIndentation
+
+# Line length
+ColumnLimit: 100
+
+# Brace settings
+BreakBeforeBraces: Linux
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: false
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  BeforeCatch: true
+  BeforeElse: false
+  IndentBraces: false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+  SplitEmptyNamespace: true
+
+# Always add braces for control statements (Zephyr requirement)
+RemoveBracesLLVM: false
+
+# Control statement settings
+SpaceBeforeParens: ControlStatements
+SpacesInParentheses: false
+
+# Function settings
+AllowShortFunctionsOnASingleLine: None
+AllowShortBlocksOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+
+# Pointer and reference alignment
+PointerAlignment: Right
+ReferenceAlignment: Right
+
+# Spacing settings
+SpaceAfterCStyleCast: false
+SpaceAfterLogicalNot: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeRangeBasedForLoopColon: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 1
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInContainerLiterals: false
+SpacesInSquareBrackets: false
+
+# Alignment settings
+AlignAfterOpenBracket: DontAlign
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlines: Right
+AlignOperands: false
+AlignTrailingComments: false
+
+# Breaking settings
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: false
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: None
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+BreakAfterJavaFieldAnnotations: false
+BreakStringLiterals: true
+
+# Penalties (used for line breaking decisions)
+PenaltyBreakAssignment: 2
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 60
+
+# Comment settings
+ReflowComments: true
+CommentPragmas: '^ IWYU pragma:'
+
+# Sorting settings
+SortIncludes: true
+SortUsingDeclarations: true
+
+# Preprocessor settings
+IndentPPDirectives: None
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+
+# Misc settings
+CompactNamespaces: false
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+FixNamespaceComments: true
+ForEachMacros: ['LISTIFY', 'FOR_EACH', 'FOR_EACH_FIXED_ARG', 'FOR_EACH_IDX', 'FOR_EACH_IDX_FIXED_ARG', 'FOR_EACH_NONEMPTY_TERM', 'Z_FOR_EACH', 'Z_FOR_EACH_FIXED_ARG', 'Z_FOR_EACH_IDX', 'Z_FOR_EACH_IDX_FIXED_ARG']
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex: '^<zephyr/.*\.h>'
+    Priority: 1
+  - Regex: '^<.*\.h>'
+    Priority: 2
+  - Regex: '^<.*'
+    Priority: 3
+  - Regex: '.*'
+    Priority: 4
+IndentCaseLabels: false
+IndentWrappedFunctionNames: false
+JavaScriptQuotes: Leave
+JavaScriptWrapImports: true
+KeepEmptyLinesAtTheStartOfBlocks: false
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBinPackProtocolList: Auto
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: true

software/.vscode/settings.json

@@ -1,12 +1,15 @@
 {
-        // Hush CMake
+	// Hush CMake
-		"cmake.configureOnOpen": false,
+	"cmake.configureOnOpen": false,
-
+	// IntelliSense
-		// IntelliSense
+	"C_Cpp.default.compilerPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc.exe",
-		"C_Cpp.default.compilerPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc.exe",
+	"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
-		"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
+	// File Associations
-
+	"files.associations": {
-		// File Associations
+		"app_version.h": "c"
-		"files.associations": {
+	},
-		}
+	"C_Cpp.clang_format_style": "file",
+	"nrf-connect.applications": [
+		"${workspaceFolder}/apps/slave_node"
+	],
 }

software/.vscode/tasks.json

@@ -2,32 +2,20 @@
 	"version": "2.0.0",
 	"tasks": [
 		{
-			"label": "West Build",
+            "label": "Format All C/C++ Files",
-			"type": "shell",
+            "type": "shell",
-			"group": {
+            "command": "find . -name \"*.c\" -o -name \"*.h\" | xargs clang-format -i",
-				"kind": "build",
+            "problemMatcher": [],
-				"isDefault": true
+            "group": {
-			},
+                "kind": "build",
-			"linux": {
+                "isDefault": true
-				"command": "${userHome}/zephyrproject/.venv/bin/west"
+            },
-			},
+            "presentation": {
-			"windows": {
+                "reveal": "silent",
-				"command": "${userHome}/zephyrproject/.venv/Scripts/west.exe"
+                "clear": true,
-			},
+                "panel": "shared"
-			"osx": {
+            }
-				"command": "${userHome}/zephyrproject/.venv/bin/west"
+        },
-			},
-			"args": [
-				"build",
-				"-p",
-				"auto",
-				"-b",
-				"valve_node"
-			],
-			"problemMatcher": [
-				"$gcc"
-			]
-		},
 		{
 			"label": "West Configurable Build",
 			"type": "shell",

software/CMakeLists.txt

@@ -1,14 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-
-cmake_minimum_required(VERSION 3.20.0)
-
-# This line should ideally be after project() and find_package(Zephyr)
-# target_include_directories(app PRIVATE ${ZEPHYR_BASE}/include/zephyr/drivers) # <-- WRONG POSITION
-
-list(APPEND BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
-
-find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
-project(valve_node)
-
-target_include_directories(app PRIVATE ${ZEPHYR_BASE}/include/zephyr/drivers)
-target_sources(app PRIVATE src/main2.c)

software/CMakeLists.txt.orig

@@ -1,25 +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(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
-)

software/Kconfig

@@ -0,0 +1,7 @@
+rsource "lib/Kconfig"
+rsource "lib/shell_valve/Kconfig"
+
+config SLAVE_NODE_APP
+	bool "Slave Node Application"
+	default y
+	select SHELL_VALVE

software/apps/gateway/CMakeLists.txt

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.20)
+
+# Include the main 'software' directory as a module to find boards, libs, etc.
+list(APPEND ZEPHYR_EXTRA_MODULES ${CMAKE_CURRENT_SOURCE_DIR}/../..)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(gateway)
+
+target_sources(app PRIVATE src/main.c)

software/apps/gateway/prj.conf

@@ -0,0 +1,2 @@
+# Gateway Configuration
+CONFIG_NETWORKING=y

software/apps/gateway/src/main.c

@@ -0,0 +1,13 @@
+/*
+ * Copyright (c) 2025 Eduard Iten
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/kernel.h>
+
+int main(void)
+{
+	printk("Hello from Gateway!\n");
+	return 0;
+}

software/apps/slave_node/.vscode/c_cpp_properties.json

@@ -0,0 +1,12 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c99",
+            "cppStandard": "gnu++17",
+            "intelliSenseMode": "linux-gcc-arm"
+        }
+    ],
+    "version": 4
+}

software/apps/slave_node/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.20)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(slave_node LANGUAGES C)
+zephyr_include_directories(../../include)
+add_subdirectory(../../lib lib)
+target_sources(app PRIVATE src/main.c)

software/apps/slave_node/Kconfig

@@ -0,0 +1,2 @@
+rsource "../../lib/Kconfig"
+source "Kconfig.zephyr"

software/apps/slave_node/VERSION

@@ -0,0 +1,5 @@
+VERSION_MAJOR = 0
+VERSION_MINOR = 0
+PATCHLEVEL = 1
+VERSION_TWEAK = 1
+EXTRAVERSION = devel

software/apps/slave_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

software/apps/slave_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";
+};

software/apps/slave_node/boards/weact_stm32g431_core.overlay

@@ -0,0 +1,48 @@
+/ {
+	aliases {
+		vnd7050aj = &vnd7050aj;
+	};
+
+	vnd7050aj: vnd7050aj {
+		compatible = "st,vnd7050aj";
+		status = "okay";
+
+		input0-gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>;
+		input1-gpios = <&gpiob 9 GPIO_ACTIVE_HIGH>;
+		select0-gpios = <&gpiob 5 GPIO_ACTIVE_HIGH>;
+		select1-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;
+		sense-enable-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>;
+		fault-reset-gpios = <&gpiob 3 GPIO_ACTIVE_LOW>;
+		io-channels = <&adc1 1>;
+		r-sense-ohms = <1500>;
+		k-vcc = <4139>;
+	};
+};
+
+&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";
+};

software/apps/slave_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;
+};

software/apps/slave_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

software/apps/slave_node/prj.conf

@@ -0,0 +1,29 @@
+# Enable Console and printk for logging
+CONFIG_CONSOLE=y
+CONFIG_LOG=y
+
+# Enable Shell
+CONFIG_SHELL=y
+CONFIG_REBOOT=y
+CONFIG_SHELL_MODBUS=y
+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_SETTINGS_LOG_LEVEL_DBG=y
+
+# Config modbus
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_MODBUS=y
+CONFIG_MODBUS_ROLE_SERVER=y
+CONFIG_MODBUS_BUFFER_SIZE=256
+
+# Enable VND7050AJ
+CONFIG_VND7050AJ=y
+

software/apps/slave_node/src/main.c

@@ -0,0 +1,28 @@
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/settings/settings.h>
+#include <lib/fwu.h>
+#include <lib/modbus_server.h>
+#include <lib/valve.h>
+
+LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
+
+int main(void)
+{
+	LOG_INF("Starting Irrigation System Slave Node");
+
+	if (settings_subsys_init() || settings_load()) {
+		LOG_ERR("Settings initialization or loading failed");
+	}
+
+	valve_init();
+	fwu_init();
+
+	if (modbus_server_init()) {
+		LOG_ERR("Modbus RTU server initialization failed");
+		return 0;
+	}
+
+	LOG_INF("Irrigation System Slave Node started successfully");
+	return 0;
+}

software/boards/iten/bluepill_f103rb/Kconfig.bluepill_f103rb

@@ -0,0 +1,5 @@
+# Copyright (c) 2025 Eduard Iten
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_BLUEPILL_F103RB
+	select SOC_STM32F103XB

software/boards/iten/bluepill_f103rb/bluepill_f103rb.dts

@@ -0,0 +1,106 @@
+/*
+ * Copyright (c) 2025 Eduard Iten
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/dts-v1/;
+#include <st/f1/stm32f1.dtsi>
+#include <st/f1/stm32f103Xb.dtsi>
+#include <st/f1/stm32f103r(8-b)tx-pinctrl.dtsi>
+#include <zephyr/dt-bindings/input/input-event-codes.h>
+
+/ {
+	model = "Blue-Pill STM32F103RB";
+	compatible = "iten,bluepill-f103rb";
+
+	chosen {
+		zephyr,console = &usart1;
+		zephyr,shell-uart = &usart1;
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+	};
+
+	leds {
+		compatible = "gpio-leds";
+		led_status: led_status {
+			gpios = <&gpioc 13 GPIO_ACTIVE_LOW>;
+			label = "User LED";
+		};
+	};
+
+	aliases {
+		led0 = &led_status;
+		watchdog0 = &iwdg;
+	};
+};
+
+
+&clk_lsi {
+	status = "okay";
+};
+
+&clk_hse {
+	clock-frequency = <DT_FREQ_M(8)>;
+	status = "okay";
+};
+
+&pll {
+	mul = <9>;
+	clocks = <&clk_hse>;
+	status = "okay";
+};
+
+&rcc {
+	clocks = <&pll>;
+	clock-frequency = <DT_FREQ_M(72)>;
+	ahb-prescaler = <1>;
+	apb1-prescaler = <2>;
+	apb2-prescaler = <1>;
+	adc-prescaler = <6>;
+};
+
+
+&usart1 {
+	pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>;
+	pinctrl-names = "default";
+	current-speed = <115200>;
+	status = "okay";
+};
+
+&iwdg {
+	status = "okay";
+};
+
+
+&clk_lsi {
+	status = "okay";
+};
+
+&clk_hse {
+	clock-frequency = <DT_FREQ_M(8)>;
+	status = "okay";
+};
+
+&pll {
+	mul = <9>;
+	clocks = <&clk_hse>;
+	status = "okay";
+};
+
+&rcc {
+	clocks = <&pll>;
+	clock-frequency = <DT_FREQ_M(72)>;
+	ahb-prescaler = <1>;
+	apb1-prescaler = <2>;
+	apb2-prescaler = <1>;
+	adc-prescaler = <6>;
+};
+
+&exti {
+	status = "okay";
+};
+
+&dma1 {
+	status = "okay";
+};

software/boards/iten/bluepill_f103rb/bluepill_f103rb_defconfig

@@ -0,0 +1,4 @@
+# Copyright (c) 2025 Eduard Iten
+# SPDX-License-Identifier: Apache-2.0
+CONFIG_SERIAL=y
+CONFIG_GPIO=y

software/boards/iten/bluepill_f103rb/board.cmake

@@ -1,11 +1,12 @@
+# Copyright (c) 2025 Eduard Iten
 # SPDX-License-Identifier: Apache-2.0
 
 # keep first
-board_runner_args(stm32cubeprogrammer "--port=swd" "--reset-mode=hw")
 board_runner_args(jlink "--device=STM32F103RB" "--speed=4000")
+board_runner_args(stm32cubeprogrammer "--port=swd" "--reset-mode=hw")
 
 # keep first
+include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
 include(${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)

software/boards/iten/bluepill_f103rb/board.yml

@@ -0,0 +1,8 @@
+# Copyright (c) 2025 Eduard Iten
+# SPDX-License-Identifier: Apache-2.0
+
+board:
+  name: bluepill_f103rb
+  vendor: iten
+  socs:
+  - name: stm32f103xb

software/boards/iten/valve_node/Kconfig.valve_node

@@ -1,58 +0,0 @@
-config BOARD_VALVE_NODE
-    select SOC_STM32F103XB
-
-mainmenu "APP CAN Settings"
-config LOOPBACK_MODE
-	bool "Loopback LOOPBACK_MODE"
-	default n
-	help
-	  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
-
-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.

software/boards/iten/valve_node/board.yml

@@ -1,10 +0,0 @@
-board:
-  name: valve_node
-  full_name: Irrigation system CANbus valve node
-  socs:
-  - name: stm32f103xb
-  # revision:
-  #   format: number
-  #   default: "1"
-  #   revisions:
-  #   -name: "1"

software/boards/iten/valve_node/valve_node.dts

@@ -1,206 +0,0 @@
-/*
- * Copyright (c) 2017 Linaro Limited
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/dts-v1/;
-#include <st/f1/stm32f1.dtsi>
-#include <st/f1/stm32f103Xb.dtsi>
-#include <st/f1/stm32f103r(8-b)tx-pinctrl.dtsi>
-#include <zephyr/dt-bindings/input/input-event-codes.h>
-
-/ {
-	model = "Iten engineering Valve Node";
-	compatible = "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;
-	};
-
-	leds: leds {
-		compatible = "gpio-leds";
-
-		green_led_2: led_2 {
-			gpios = <&gpiob 2 GPIO_ACTIVE_HIGH>;
-			label = "User LD2";
-		};
-	};
-
-	gpio_keys {
-		compatible = "gpio-keys";
-
-		user_button: button {
-			label = "User";
-			gpios = <&gpioc 13 GPIO_ACTIVE_LOW>;
-			zephyr,code = <INPUT_KEY_0>;
-		};
-
-		endstopopen: endstop_open {
-			gpios = <&gpiob 4 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>;
-			label = "Endstop Open";
-		};
-
-		endstopclose: endstop_closed {
-			gpios = <&gpiob 5 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>;
-			label = "Endstop Close";
-		};
-
-		statusopen: status_open {
-			gpios = <&gpiob 14 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>;
-			label = "Status Open";
-		};
-
-		statusclose: status_close {
-			gpios = <&gpioa 8 (GPIO_ACTIVE_LOW | GPIO_PULL_UP)>;
-			label = "Status Close";
-		};
-	};
-
-	aliases {
-		led0 = &green_led_2;
-		sw0 = &user_button;
-		watchdog0 = &iwdg;
-		die-temp0 = &die_temp;
-		adc-motor-current = &motor_current_channel;
-		adc-vref = &vref_channel;
-	};
-
-};
-
-&clk_lsi {
-	status = "okay";
-};
-
-&clk_hse {
-	clock-frequency = <DT_FREQ_M(8)>;
-	status = "okay";
-};
-
-&pll {
-	mul = <9>;
-	clocks = <&clk_hse>;
-	status = "okay";
-};
-
-&rcc {
-	clocks = <&pll>;
-	clock-frequency = <DT_FREQ_M(72)>;
-	ahb-prescaler = <1>;
-	apb1-prescaler = <2>;
-	apb2-prescaler = <1>;
-	adc-prescaler = <6>;
-};
-
-&usart1 {
-	pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>;
-	pinctrl-names = "default";
-	status = "okay";
-	current-speed = <115200>;
-};
-
-&usart2 {
-	pinctrl-0 = <&usart2_tx_pa2 &usart2_rx_pa3>;
-	current-speed = <9600>;
-	pinctrl-names = "default";
-	status = "okay";
-	modbus0 {
-		compatible = "zephyr,modbus-serial";
-		status = "okay";
-	};
-};
-
-&usart3 {
-	pinctrl-0 = <&usart3_tx_pb10 &usart3_rx_pb11>;
-	current-speed = <115200>;
-	pinctrl-names = "default";
-};
-
-&i2c1 {
-	pinctrl-0 = <&i2c1_scl_remap1_pb8 &i2c1_sda_remap1_pb9>;
-	pinctrl-names = "default";
-	status = "okay";
-	clock-frequency = <I2C_BITRATE_FAST>;
-};
-
-&iwdg {
-	status = "okay";
-};
-
-&rtc {
-	clocks = <&rcc STM32_CLOCK_BUS_APB1 0x10000000>,
-		   <&rcc STM32_SRC_LSI RTC_SEL(2)>;
-	status = "okay";
-};
-
-&adc1 {
-	pinctrl-0 = <&adc_pb1_pins>;
-	pinctrl-names = "default";
-	status = "okay";
-
-	#address-cells = <1>;
-	#size-cells = <0>;
-
-	motor_current_channel: channel@9 {
-		reg = <0x9>;
-		zephyr,gain = "ADC_GAIN_1";
-		zephyr,reference = "ADC_REF_VDD_1";
-		zephyr,acquisition-time = <49159>;
-		zephyr,resolution = <12>;
-	};
-
-	vref_channel: channel@11 { /* 17 dezimal = 11 hex */
-		reg = <0x11>;
-		zephyr,gain = "ADC_GAIN_1";
-		zephyr,reference = "ADC_REF_VDD_1";
-		zephyr,acquisition-time = <49159>;
-		zephyr,resolution = <12>;
-	};
-};
-
-&die_temp {
-	status = "okay";
-};
-
-&dma1 {
-	status = "okay";
-};
-
-&flash0 {
-	partitions {
-		compatible = "fixed-partitions";
-		#address-cells = <1>;
-		#size-cells = <1>;
-
-		storage_partition: partition@1f800 {
-			label = "storage";
-			reg = <0x0001f800 DT_SIZE_K(2)>;
-		};
-	};
-};
-
-&can1 {
-	pinctrl-0 = <&can_rx_pa11 &can_tx_pa12>;
-	pinctrl-names = "default";
-	status= "okay";
-	bitrate = <125000>;
-};
-
-&exti {
-	status = "okay";
-};
-
-&pinctrl {
-	adc_pb1_pins: adc_pb1_pins {
-		pinmux = <STM32F1_PINMUX('B', 1, ANALOG, NO_REMAP)>;
-	};
-};

software/boards/iten/valve_node/valve_node_defconfig

@@ -1,31 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-
-# enable uart driver
-CONFIG_SERIAL=y
-# enable console
-CONFIG_CONSOLE=y
-
-# enable GPIO
-CONFIG_GPIO=y
-
-# modbus config
-CONFIG_UART_INTERRUPT_DRIVEN=y
-CONFIG_UART_LINE_CTRL=n
-CONFIG_MODBUS=y
-CONFIG_MODBUS_ROLE_CLIENT=y
-
-# can config
-CONFIG_CAN=y
-CONFIG_CAN_INIT_PRIORITY=80
-#CONFIG_CAN_MAX_FILTER=5
-CONFIG_CAN_ACCEPT_RTR=y
-
-# settings
-CONFIG_FLASH=y
-CONFIG_FLASH_MAP=y
-CONFIG_SETTINGS=y
-CONFIG_SETTINGS_RUNTIME=y
-CONFIG_NVS=y
-CONFIG_SETTINGS_NVS=y
-CONFIG_HEAP_MEM_POOL_SIZE=256
-CONFIG_MPU_ALLOW_FLASH_WRITE=y

software/include/lib/fwu.h

@@ -0,0 +1,47 @@
+#ifndef FWU_H
+#define FWU_H
+
+#include <stdint.h>
+
+/**
+ * @file fwu.h
+ * @brief API for the Firmware Update (FWU) library.
+ *
+ * This library provides the core logic for handling the over-the-air firmware
+ * update process via Modbus. It manages the data buffer, processes commands,
+ * and calculates CRC checksums for data verification.
+ */
+
+/**
+ * @brief Initializes the firmware update module.
+ *
+ * This function currently does nothing but is a placeholder for future
+ * initialization logic.
+ */
+void fwu_init(void);
+
+/**
+ * @brief Handles incoming Modbus register writes related to firmware updates.
+ *
+ * This function is the main entry point for the FWU process. It parses the
+ * address and value from a Modbus write operation and takes appropriate action,
+ * such as storing metadata (offset, size) or data chunks, and processing
+ * commands (verify, finalize).
+ *
+ * @param addr The Modbus register address being written to.
+ * @param reg The 16-bit value being written to the register.
+ */
+void fwu_handler(uint16_t addr, uint16_t reg);
+
+/**
+ * @brief Gets the CRC16-CCITT of the last received firmware chunk.
+ *
+ * After a data chunk is fully received into the buffer, this function can be
+ * called to retrieve the calculated CRC checksum. The master can then compare
+ * this with its own calculated CRC to verify data integrity.
+ *
+ * @return The 16-bit CRC of the last chunk.
+ */
+uint16_t fwu_get_last_chunk_crc(void);
+
+#endif // FWU_H

software/include/lib/modbus_server.h

@@ -0,0 +1,184 @@
+#ifndef MODBUS_SERVER_H
+#define MODBUS_SERVER_H
+
+#include <stdint.h>
+
+/**
+ * @file modbus_server.h
+ * @brief API for the Modbus server implementation.
+ *
+ * This file defines the Modbus register map and provides functions to
+ * initialize and manage the Modbus server.
+ */
+
+/**
+ * @brief Modbus Input Register Addresses (Read-Only).
+ * @see docs/modbus-registers.de.md
+ */
+enum {
+	/**
+	 * @brief Combined status register for the valve.
+	 * High-Byte: Movement (0=Idle, 1=Opening, 2=Closing, 3=Error).
+	 * Low-Byte: State (0=Closed, 1=Open).
+	 */
+	REG_INPUT_VALVE_STATE_MOVEMENT = 0x0000,
+	/**
+	 * @brief Motor current during opening in milliamperes (mA).
+	 */
+	REG_INPUT_MOTOR_OPEN_CURRENT_MA = 0x0001,
+	/**
+	 * @brief Motor current during closing in milliamperes (mA).
+	 */
+	REG_INPUT_MOTOR_CLOSE_CURRENT_MA = 0x0002,
+	/**
+	 * @brief Bitmask of digital inputs. Bit 0: Input 1, Bit 1: Input 2.
+	 * 1=Active.
+	 */
+	REG_INPUT_DIGITAL_INPUTS_STATE = 0x0020,
+	/**
+	 * @brief Event flags for buttons (Clear-on-Read). Bit 0: Button 1 pressed.
+	 * Bit 1: Button 2 pressed.
+	 */
+	REG_INPUT_BUTTON_EVENTS = 0x0021,
+	/**
+	 * @brief Firmware version, e.g., 0x0102 for v1.2.
+	 */
+	REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR = 0x00F0,
+	/**
+	 * @brief Firmware version patch level, e.g., 3 for v1.2.3.
+	 */
+	REG_INPUT_FIRMWARE_VERSION_PATCH = 0x00F1,
+	/**
+	 * @brief Device status (0=OK, 1=General Error).
+	 */
+	REG_INPUT_DEVICE_STATUS = 0x00F2,
+	/**
+	 * @brief Lower 16 bits of uptime in seconds.
+	 */
+	REG_INPUT_UPTIME_SECONDS_LOW = 0x00F3,
+	/**
+	 * @brief Upper 16 bits of uptime in seconds.
+	 */
+	REG_INPUT_UPTIME_SECONDS_HIGH = 0x00F4,
+	/**
+	 * @brief Current supply voltage in millivolts (mV).
+	 */
+	REG_INPUT_SUPPLY_VOLTAGE_MV = 0x00F5,
+	/**
+	 * @brief CRC16 of the last received data chunk in the buffer for firmware
+	 * update.
+	 */
+	REG_INPUT_FWU_LAST_CHUNK_CRC = 0x0100
+};
+
+/**
+ * @brief Modbus Holding Register Addresses (Read/Write).
+ * @see docs/modbus-registers.de.md
+ */
+enum {
+	/**
+	 * @brief Valve control command (1=Open, 2=Close, 0=Stop movement).
+	 */
+	REG_HOLDING_VALVE_COMMAND = 0x0000,
+	/**
+	 * @brief Safety timeout in seconds for the opening process.
+	 */
+	REG_HOLDING_MAX_OPENING_TIME_S = 0x0001,
+	/**
+	 * @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 during opening.
+	 */
+	REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003,
+	/**
+	 * @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.
+	 */
+	REG_HOLDING_DIGITAL_OUTPUTS_STATE = 0x0010,
+	/**
+	 * @brief Fail-safe watchdog timeout in seconds. 0=Disabled.
+	 */
+	REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0,
+	/**
+	 * @brief Writing 1 restarts the device.
+	 */
+	REG_HOLDING_DEVICE_RESET = 0x00F1,
+	/**
+	 * @brief Command for firmware update.
+	 * 1: Verify Chunk - Slave writes the last chunk to flash.
+	 * 2: Finalize Update - Complete installation and restart.
+	 */
+	REG_HOLDING_FWU_COMMAND = 0x0100,
+	/**
+	 * @brief Lower 16 bits of the 32-bit offset for the next firmware update
+	 * chunk.
+	 */
+	REG_HOLDING_FWU_CHUNK_OFFSET_LOW = 0x0101,
+	/**
+	 * @brief Upper 16 bits of the 32-bit offset for the next firmware update
+	 * chunk.
+	 */
+	REG_HOLDING_FWU_CHUNK_OFFSET_HIGH = 0x0102,
+	/**
+	 * @brief Size of the next firmware update chunk in bytes (max. 256).
+	 */
+	REG_HOLDING_FWU_CHUNK_SIZE = 0x0103,
+	/**
+	 * @brief Start address of the 256-byte buffer for firmware update data.
+	 */
+	REG_HOLDING_FWU_DATA_BUFFER = 0x0180,
+};
+
+/**
+ * @brief Initializes the Modbus server.
+ *
+ * This function sets up the Modbus RTU server interface, loads saved settings
+ * (baudrate, unit ID), and starts listening for requests.
+ *
+ * @return 0 on success, or a negative error code on failure.
+ */
+int modbus_server_init(void);
+
+/**
+ * @brief Reconfigures the Modbus server at runtime.
+ *
+ * Updates the baudrate and unit ID of the server. If the reconfiguration
+ * fails, the settings are saved and will be applied after a device reset.
+ *
+ * @param baudrate The new baudrate to set.
+ * @param unit_id The new Modbus unit ID (slave address).
+ * @return 0 on success, or a negative error code if immediate reconfiguration
+ * fails. Returns 0 even on failure if settings could be saved for the next
+ * boot.
+ */
+int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id);
+
+/**
+ * @brief Gets the current baudrate of the Modbus server.
+ *
+ * @return The current baudrate.
+ */
+uint32_t modbus_get_baudrate(void);
+
+/**
+ * @brief Gets the current unit ID of the Modbus server.
+ *
+ * @return The current unit ID.
+ */
+uint8_t modbus_get_unit_id(void);
+
+#endif // MODBUS_SERVER_H

software/include/lib/valve.h

@@ -0,0 +1,200 @@
+#ifndef VALVE_H
+#define VALVE_H
+
+#include <zephyr/drivers/gpio.h>
+#include <stdint.h>
+
+/**
+ * @file valve.h
+ * @brief API for controlling the motorized valve.
+ *
+ * This library provides functions to initialize, open, close, and stop the
+ * valve. It also allows getting the valve's state and movement status, and
+ * configuring the maximum opening and closing times.
+ */
+
+#define VALVE_CHANNEL_OPEN 0
+#define VALVE_CHANNEL_CLOSE 1
+#define VALVE_ENDPOSITION_CHECK_INTERVAL K_MSEC(100)
+
+/**
+ * @brief Represents the static state of the valve (open or closed).
+ */
+enum valve_state {
+	VALVE_STATE_CLOSED, /**< The valve is fully closed. */
+	VALVE_STATE_OPEN, /**< The valve is fully open. */
+};
+
+/**
+ * @brief Represents the dynamic movement status of the valve.
+ */
+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_OBSTACLE /**< An obstacle was detected during movement. */
+};
+
+/**
+ * @brief Initializes the valve control system.
+ *
+ * Configures the GPIOs and loads saved settings for timeouts.
+ * This function must be called before any other valve functions.
+ *
+ * @return 0 on success, or a negative error code on failure.
+ */
+int valve_init(void);
+
+/**
+ * @brief Starts opening the valve.
+ *
+ * The valve will open for the configured maximum opening time.
+ */
+void valve_open(void);
+
+/**
+ * @brief Starts closing the valve.
+ *
+ * The valve will close for the configured maximum closing time.
+ */
+void valve_close(void);
+
+/**
+ * @brief Stops any ongoing valve movement immediately.
+ */
+void valve_stop(void);
+
+/**
+ * @brief Gets the current static state of the valve.
+ *
+ * @return The current valve state (VALVE_STATE_CLOSED or VALVE_STATE_OPEN).
+ */
+enum valve_state valve_get_state(void);
+
+/**
+ * @brief Gets the current movement status of the valve.
+ *
+ * @return The current movement status.
+ */
+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.
+ *
+ * @param seconds The timeout in seconds.
+ */
+void valve_set_max_open_time(uint16_t seconds);
+
+/**
+ * @brief Sets the maximum time for the valve to close.
+ *
+ * @param seconds The timeout in 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 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.
+ *
+ * @return The current threshold in milliamps.
+ */
+uint16_t valve_get_end_current_threshold_open(void);
+
+/**
+ * @brief Gets the current threshold for end-position detection during closing.
+ *
+ * @return The current threshold in milliamps.
+ */
+uint16_t valve_get_end_current_threshold_close(void);
+
+/**
+ * @brief Gets the configured maximum opening time.
+ *
+ * @return The timeout in seconds.
+ */
+uint16_t valve_get_max_open_time(void);
+
+/**
+ * @brief Gets the configured maximum closing time.
+ *
+ * @return The timeout in seconds.
+ */
+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.
+ *
+ * @return The motor current in milliamps.
+ */
+int32_t valve_get_opening_current(void);
+
+/**
+ * @brief Gets the current drawn by the valve motor during closing.
+ *
+ * @return The motor current in milliamps.
+ */
+int32_t valve_get_closing_current(void);
+
+/**
+ * @brief Gets the temperature of the valve motor driver.
+ *
+ * @return The temperature in degrees Celsius.
+ */
+int32_t valve_get_vnd_temp(void);
+
+/**
+ * @brief Gets the voltage supplied to the valve motor driver.
+ *
+ * @return The voltage in millivolts.
+ */
+int32_t valve_get_vnd_voltage(void);
+#endif // VALVE_H

software/lib/CMakeLists.txt

@@ -0,0 +1,6 @@
+add_subdirectory_ifdef(CONFIG_LIB_FWU fwu)
+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/Kconfig

@@ -0,0 +1,9 @@
+menu "Irrigation system software libraries"
+
+rsource "fwu/Kconfig"
+rsource "modbus_server/Kconfig"
+rsource "valve/Kconfig"
+rsource "shell_system/Kconfig"
+rsource "shell_modbus/Kconfig"
+rsource "shell_valve/Kconfig"
+endmenu

software/lib/canbus.c

@@ -1,286 +0,0 @@
-#include "canbus.h"
-#include <zephyr/logging/log.h>
-#include <zephyr/kernel.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));
-
-LOG_MODULE_REGISTER(canbus, CONFIG_LOG_CAN_LEVEL);
-
-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)
-{
-    int rc;
-    ARG_UNUSED(dev);
-    ARG_UNUSED(user_data);
-
-    if (frame->id >> 8 != node_id) // Check if the frame ID matches the 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);
-    }
-}
-
-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 = 0;
-
-    if (!device_is_ready(can_dev))
-    {
-        LOG_ERR("CAN device %s is not ready", can_dev->name);
-        return -ENODEV;
-    }
-
-#ifdef CONFIG_LOOPBACK_MODE
-    rc = can_set_mode(can_dev, CAN_MODE_LOOPBACK);
-    if (rc != 0)
-    {
-        LOG_ERR("Failed to set CAN loopback mode: %d", rc);
-        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;
-}

software/lib/canbus.h

@@ -1,16 +0,0 @@
-#ifndef __CANBUS_H__
-#define __CANBUS_H__
-
-#include <stdint.h>
-#include "canbus_registers.h"
-
-#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_send8(uint16_t reg, uint8_t value);
-int canbus_send16(uint16_t reg, uint16_t value);
-
-#endif // __CANBUS_H__

software/lib/canbus_registers.h

@@ -1,42 +0,0 @@
-#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__

software/lib/fwu/CMakeLists.txt

@@ -0,0 +1 @@
+zephyr_library_sources(fwu.c)

software/lib/fwu/Kconfig

@@ -0,0 +1,5 @@
+config LIB_FWU
+    bool "Enable Firmware Update Library"
+    default y
+    help
+      Enable the Firmware Update Library.

software/lib/fwu/fwu.c

@@ -0,0 +1,64 @@
+/**
+ * @file fwu.c
+ * @brief Implementation of the Firmware Update (FWU) library.
+ *
+ * This file implements the logic for receiving a new firmware image in chunks
+ * over Modbus. It maintains a buffer for the incoming data, calculates the CRC
+ * of the received chunk, and handles commands to verify the chunk and finalize
+ * the update process. The actual writing to flash is simulated.
+ */
+
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/sys/byteorder.h>
+#include <zephyr/sys/crc.h>
+#include <lib/fwu.h>
+
+LOG_MODULE_REGISTER(fwu, LOG_LEVEL_INF);
+
+#define FWU_BUFFER_SIZE 256
+static uint8_t fwu_buffer[FWU_BUFFER_SIZE]; // Buffer to store incoming
+                                            // firmware data chunks
+static uint32_t fwu_chunk_offset = 0; // Offset for the current firmware chunk in the overall image
+static uint16_t fwu_chunk_size = 0; // Size of the current firmware chunk
+static uint16_t fwu_last_chunk_crc = 0; // CRC16 of the last received firmware chunk
+
+void fwu_init(void)
+{
+}
+
+void fwu_handler(uint16_t addr, uint16_t reg)
+{
+	// This is a simplified handler. In a real scenario, you would have a proper
+	// mapping between register addresses and actions.
+	if (addr == 0x0100) { // FWU_COMMAND
+		if (reg == 1) {
+			LOG_INF("FWU: Chunk at offset %u (size %u) verified.",
+			    fwu_chunk_offset,
+			    fwu_chunk_size);
+		} else if (reg == 2) {
+			LOG_INF("FWU: Finalize command received. Rebooting (simulated).");
+		}
+	} else if (addr == 0x0101) { // FWU_CHUNK_OFFSET_LOW
+		fwu_chunk_offset = (fwu_chunk_offset & 0xFFFF0000) | reg;
+	} else if (addr == 0x0102) { // FWU_CHUNK_OFFSET_HIGH
+		fwu_chunk_offset = (fwu_chunk_offset & 0x0000FFFF) | ((uint32_t)reg << 16);
+	} else if (addr == 0x0103) { // FWU_CHUNK_SIZE
+		fwu_chunk_size = (reg > FWU_BUFFER_SIZE) ? FWU_BUFFER_SIZE : reg;
+	} else if (addr >= 0x0180 && addr < (0x0180 + (FWU_BUFFER_SIZE / 2))) {
+		uint16_t index = (addr - 0x0180) * 2;
+		if (index < sizeof(fwu_buffer)) {
+			sys_put_be16(reg, &fwu_buffer[index]);
+			if (index + 2 >= fwu_chunk_size) {
+				fwu_last_chunk_crc =
+				    crc16_ccitt(0xffff, fwu_buffer, fwu_chunk_size);
+				LOG_INF("FWU: Chunk received, CRC is 0x%04X", fwu_last_chunk_crc);
+			}
+		}
+	}
+}
+
+uint16_t fwu_get_last_chunk_crc(void)
+{
+	return fwu_last_chunk_crc;
+}

software/lib/modbus_server/CMakeLists.txt

@@ -0,0 +1 @@
+zephyr_library_sources(modbus_server.c)

software/lib/modbus_server/Kconfig

@@ -0,0 +1,5 @@
+config LIB_MODBUS_SERVER
+    bool "Enable Modbus Server Library"
+    default y
+    help
+      Enable the Modbus Server Library.

software/lib/modbus_server/modbus_server.c

@@ -0,0 +1,271 @@
+/**
+ * @file modbus_server.c
+ * @brief Modbus RTU server implementation for the irrigation system slave node.
+ *
+ * This file implements the Modbus server logic, including register callbacks,
+ * watchdog handling, and dynamic reconfiguration. It interfaces with other
+ * libraries like valve control, ADC sensors, and firmware updates.
+ */
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/misc/vnd7050aj/vnd7050aj.h>
+#include <zephyr/drivers/uart.h>
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/modbus/modbus.h>
+#include <zephyr/settings/settings.h>
+#include <zephyr/sys/reboot.h>
+#include <zephyr/usb/usb_device.h>
+#include <app_version.h>
+#include <lib/fwu.h>
+#include <lib/modbus_server.h>
+#include <lib/valve.h>
+
+LOG_MODULE_REGISTER(modbus_server, LOG_LEVEL_INF);
+
+static int modbus_iface;
+static struct modbus_iface_param server_param = {
+    .mode = MODBUS_MODE_RTU,
+    .server = {.user_cb = NULL, .unit_id = 1},
+    .serial = {.baud = 19200, .parity = UART_CFG_PARITY_NONE},
+};
+
+static uint16_t watchdog_timeout_s = 0;
+static struct k_timer watchdog_timer;
+
+/**
+ * @brief Timer handler for the Modbus watchdog.
+ *
+ * This function is called when the watchdog timer expires, indicating a loss
+ * of communication with the Modbus master. It triggers a fail-safe action,
+ * which is to close the valve.
+ *
+ * @param timer_id Pointer to the timer instance.
+ */
+static void watchdog_timer_handler(struct k_timer *timer_id)
+{
+	LOG_WRN("Modbus watchdog expired! Closing valve as a fail-safe.");
+	valve_close();
+}
+
+/**
+ * @brief Resets the Modbus watchdog timer.
+ *
+ * This function should be called upon receiving any valid Modbus request
+ * to prevent the watchdog from expiring.
+ */
+static inline void reset_watchdog(void)
+{
+	if (watchdog_timeout_s > 0) {
+		k_timer_start(&watchdog_timer, K_SECONDS(watchdog_timeout_s), K_NO_WAIT);
+	}
+}
+
+/**
+ * @brief Callback for reading Modbus holding registers.
+ *
+ * @param addr Register address.
+ * @param reg Pointer to store the read value.
+ * @return 0 on success.
+ */
+static int holding_reg_rd(uint16_t addr, uint16_t *reg)
+{
+	reset_watchdog();
+	switch (addr) {
+	case REG_HOLDING_MAX_OPENING_TIME_S:
+		*reg = valve_get_max_open_time();
+		break;
+	case REG_HOLDING_MAX_CLOSING_TIME_S:
+		*reg = valve_get_max_close_time();
+		break;
+	case REG_HOLDING_WATCHDOG_TIMEOUT_S:
+		*reg = watchdog_timeout_s;
+		break;
+	default:
+		*reg = 0;
+		break;
+	}
+	return 0;
+}
+
+/**
+ * @brief Callback for writing Modbus holding registers.
+ *
+ * @param addr Register address.
+ * @param reg Value to write.
+ * @return 0 on success.
+ */
+static int holding_reg_wr(uint16_t addr, uint16_t reg)
+{
+	reset_watchdog();
+	switch (addr) {
+	case REG_HOLDING_VALVE_COMMAND:
+		if (reg == 1) {
+			valve_open();
+		} else if (reg == 2) {
+			valve_close();
+		} else if (reg == 0) {
+			valve_stop();
+		}
+		break;
+	case REG_HOLDING_MAX_OPENING_TIME_S:
+		valve_set_max_open_time(reg);
+		break;
+	case REG_HOLDING_MAX_CLOSING_TIME_S:
+		valve_set_max_close_time(reg);
+		break;
+	case REG_HOLDING_WATCHDOG_TIMEOUT_S:
+		watchdog_timeout_s = reg;
+		if (watchdog_timeout_s > 0) {
+			LOG_INF("Watchdog enabled with %u s timeout.", watchdog_timeout_s);
+			reset_watchdog();
+		} else {
+			LOG_INF("Watchdog disabled.");
+			k_timer_stop(&watchdog_timer);
+		}
+		break;
+	case REG_HOLDING_DEVICE_RESET:
+		if (reg == 1) {
+			LOG_WRN("Modbus reset command received. Rebooting...");
+			sys_reboot(SYS_REBOOT_WARM);
+		}
+		break;
+	default:
+		fwu_handler(addr, reg);
+		break;
+	}
+	return 0;
+}
+
+/**
+ * @brief Callback for reading Modbus input registers.
+ *
+ * @param addr Register address.
+ * @param reg Pointer to store the read value.
+ * @return 0 on success.
+ */
+static int input_reg_rd(uint16_t addr, uint16_t *reg)
+{
+	reset_watchdog();
+	uint32_t uptime_s = k_uptime_get_32() / 1000;
+	switch (addr) {
+	case REG_INPUT_VALVE_STATE_MOVEMENT:
+		*reg = (valve_get_movement() << 8) | (valve_get_state() & 0xFF);
+		break;
+	case REG_INPUT_MOTOR_OPEN_CURRENT_MA:
+		*reg = (uint16_t)valve_get_opening_current();
+		break;
+	case REG_INPUT_MOTOR_CLOSE_CURRENT_MA:
+		*reg = (uint16_t)valve_get_closing_current();
+		break;
+	case REG_INPUT_UPTIME_SECONDS_LOW:
+		*reg = (uint16_t)(uptime_s & 0xFFFF);
+		break;
+	case REG_INPUT_UPTIME_SECONDS_HIGH:
+		*reg = (uint16_t)(uptime_s >> 16);
+		break;
+	case REG_INPUT_SUPPLY_VOLTAGE_MV:
+		*reg = (uint16_t)valve_get_vnd_voltage();
+		break;
+	case REG_INPUT_FWU_LAST_CHUNK_CRC:
+		*reg = fwu_get_last_chunk_crc();
+		break;
+	case REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR:
+		*reg = (APP_VERSION_MAJOR << 8) | APP_VERSION_MINOR;
+		break;
+	case REG_INPUT_FIRMWARE_VERSION_PATCH:
+		*reg = APP_PATCHLEVEL;
+		break;
+	default:
+		*reg = 0;
+		break;
+	}
+	return 0;
+}
+
+static struct modbus_user_callbacks mbs_cbs = {
+    // Modbus server callback functions
+    .holding_reg_rd = holding_reg_rd,
+    .holding_reg_wr = holding_reg_wr,
+    .input_reg_rd = input_reg_rd,
+};
+
+#define MODBUS_NODE DT_COMPAT_GET_ANY_STATUS_OKAY(zephyr_modbus_serial)
+
+int modbus_server_init(void)
+{
+	k_timer_init(&watchdog_timer, watchdog_timer_handler, NULL);
+
+	// Load saved settings
+	uint32_t saved_baudrate = 19200;
+	uint8_t saved_unit_id = 1;
+	settings_load_one("modbus/baudrate", &saved_baudrate, sizeof(saved_baudrate));
+	settings_load_one("modbus/unit_id", &saved_unit_id, sizeof(saved_unit_id));
+
+	// Apply loaded settings
+	server_param.serial.baud = saved_baudrate;
+	server_param.server.unit_id = saved_unit_id;
+
+	const char iface_name[] = {DEVICE_DT_NAME(MODBUS_NODE)};
+#if DT_NODE_HAS_COMPAT(DT_PARENT(MODBUS_NODE), zephyr_cdc_acm_uart)
+	const struct device *const dev = DEVICE_DT_GET(DT_PARENT(MODBUS_NODE));
+	uint32_t dtr = 0;
+
+	if (!device_is_ready(dev) || usb_enable(NULL)) {
+		return 0;
+	}
+
+	while (!dtr) {
+		uart_line_ctrl_get(dev, UART_LINE_CTRL_DTR, &dtr);
+		k_sleep(K_MSEC(100));
+	}
+
+	LOG_INF("Client connected to server on %s", dev->name);
+#endif
+	modbus_iface = modbus_iface_get_by_name(iface_name);
+	if (modbus_iface < 0) {
+		return modbus_iface;
+	}
+	server_param.server.user_cb = &mbs_cbs;
+
+	LOG_INF("Starting Modbus server: baudrate=%u, unit_id=%u", saved_baudrate, saved_unit_id);
+	return modbus_init_server(modbus_iface, server_param);
+}
+
+int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id)
+{
+	// Update parameters
+	server_param.serial.baud = baudrate;
+	server_param.server.unit_id = unit_id;
+
+	// Try to reinitialize - this should work for most cases
+	int ret = modbus_init_server(modbus_iface, server_param);
+
+	if (ret == 0) {
+		settings_save_one("modbus/baudrate", &baudrate, sizeof(baudrate));
+		settings_save_one("modbus/unit_id", &unit_id, sizeof(unit_id));
+		LOG_INF("Modbus reconfigured: baudrate=%u, unit_id=%u", baudrate, unit_id);
+	} else {
+		LOG_ERR("Failed to reconfigure Modbus: %d", ret);
+		LOG_INF("Modbus reconfiguration requires restart to take effect");
+
+		// Save settings for next boot
+		settings_save_one("modbus/baudrate", &baudrate, sizeof(baudrate));
+		settings_save_one("modbus/unit_id", &unit_id, sizeof(unit_id));
+
+		LOG_INF("Settings saved. Type 'reset' to restart the device and apply the "
+		        "change.");
+		return 0; // Return success since settings are saved
+	}
+
+	return ret;
+}
+
+uint32_t modbus_get_baudrate(void)
+{
+	return server_param.serial.baud;
+}
+uint8_t modbus_get_unit_id(void)
+{
+	return server_param.server.unit_id;
+}

software/lib/shell_modbus/CMakeLists.txt

@@ -0,0 +1 @@
+zephyr_library_sources(shell_modbus.c)

software/lib/shell_modbus/Kconfig

@@ -0,0 +1,7 @@
+config SHELL_MODBUS
+    bool "Enable Shell Modbus"
+    default n
+    depends on SHELL
+    depends on LIB_MODBUS_SERVER
+    help
+      Enable the modbus shell commands.

software/lib/shell_modbus/shell_modbus.c

@@ -0,0 +1,119 @@
+/**
+ * @file shell_modbus.c
+ * @brief Provides shell commands for Modbus and valve configuration.
+ *
+ * This file implements a set of commands for the Zephyr shell to allow
+ * runtime configuration of the Modbus server (baudrate, slave ID) and the
+ * valve (max opening/closing times). The settings are persisted to non-volatile
+ * storage.
+ */
+
+#include <zephyr/shell/shell.h>
+#include <lib/modbus_server.h>
+#include <stdlib.h>
+
+/**
+ * @brief Shell command to set the Modbus baudrate.
+ *
+ * @param sh The shell instance.
+ * @param argc Argument count.
+ * @param argv Argument values.
+ * @return 0 on success, -EINVAL on error.
+ */
+static int cmd_modbus_setb(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_error(sh, "Usage: setb <baudrate>");
+		return -EINVAL;
+	}
+
+	uint32_t new_baud = (uint32_t)strtoul(argv[1], NULL, 10);
+	const uint32_t valid_baud_rates[] = {1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200};
+	bool is_valid = false;
+
+	for (int i = 0; i < ARRAY_SIZE(valid_baud_rates); i++) {
+		if (new_baud == valid_baud_rates[i]) {
+			is_valid = true;
+			break;
+		}
+	}
+
+	if (!is_valid) {
+		char error_msg[128];
+		int offset =
+		    snprintf(error_msg, sizeof(error_msg), "Invalid baudrate. Valid rates are: ");
+		for (int i = 0; i < ARRAY_SIZE(valid_baud_rates); i++) {
+			offset += snprintf(error_msg + offset,
+			    sizeof(error_msg) - offset,
+			    "%u ",
+			    valid_baud_rates[i]);
+		}
+		shell_error(sh, "%s", error_msg);
+		return -EINVAL;
+	}
+
+	if (modbus_reconfigure(new_baud, modbus_get_unit_id()) != 0) {
+		shell_error(sh, "Failed to apply new baudrate");
+	} else {
+		shell_print(sh, "Modbus baudrate set to: %u (and saved)", new_baud);
+	}
+
+	return 0;
+}
+
+/**
+ * @brief Shell command to set the Modbus slave ID.
+ *
+ * @param sh The shell instance.
+ * @param argc Argument count.
+ * @param argv Argument values.
+ * @return 0 on success, -EINVAL on error.
+ */
+static int cmd_modbus_setid(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_error(sh, "Usage: setid <slave_id>");
+		return -EINVAL;
+	}
+
+	uint32_t new_id_u32 = (uint32_t)strtoul(argv[1], NULL, 10);
+	if (new_id_u32 == 0 || new_id_u32 > 247) {
+		shell_error(sh, "Invalid slave ID: %s. Must be between 1 and 247.", argv[1]);
+		return -EINVAL;
+	}
+	uint8_t new_id = (uint8_t)new_id_u32;
+
+	if (modbus_reconfigure(modbus_get_baudrate(), new_id) != 0) {
+		shell_error(sh, "Failed to apply new slave ID");
+	} else {
+		shell_print(sh, "Modbus slave ID set to: %u (and saved)", new_id);
+	}
+
+	return 0;
+}
+
+/**
+ * @brief Shell command to show the current Modbus configuration.
+ *
+ * @param sh The shell instance.
+ * @param argc Argument count.
+ * @param argv Argument values.
+ * @return 0 on success.
+ */
+static int cmd_modbus_show(const struct shell *sh, size_t argc, char **argv)
+{
+	const int label_width = 15;
+
+	shell_print(sh, "Modbus Settings:");
+	shell_print(sh, "%*s %u", label_width, "Baudrate:", modbus_get_baudrate());
+	shell_print(sh, "%*s %u", label_width, "Slave ID:", modbus_get_unit_id());
+	return 0;
+}
+
+SHELL_STATIC_SUBCMD_SET_CREATE(sub_modbus_cmds,
+    SHELL_CMD(setb, NULL, "Set Modbus baudrate", cmd_modbus_setb),
+    SHELL_CMD(setid, NULL, "Set Modbus slave ID", cmd_modbus_setid),
+    SHELL_CMD(show, NULL, "Show Modbus configuration", cmd_modbus_show),
+    SHELL_SUBCMD_SET_END);
+
+SHELL_CMD_REGISTER(modbus, &sub_modbus_cmds, "Modbus commands", NULL);

software/lib/shell_system/CMakeLists.txt

@@ -0,0 +1 @@
+zephyr_library_sources(shell_system.c)

software/lib/shell_system/Kconfig

@@ -0,0 +1,5 @@
+config SHELL_SYSTEM
+    bool "Enable Shell System"
+    default n
+    help
+      Enable the system commands.

software/lib/shell_system/shell_system.c

@@ -0,0 +1,31 @@
+/**
+ * @file shell_system.c
+ * @brief Provides basic system-level shell commands.
+ *
+ * This file implements essential system commands for the Zephyr shell,
+ * such as rebooting the device.
+ */
+
+#include <zephyr/shell/shell.h>
+#include <zephyr/sys/reboot.h>
+
+/**
+ * @brief Shell command to reset the system.
+ *
+ * This command performs a warm reboot of the device after a short delay
+ * to ensure the shell message is printed.
+ *
+ * @param sh The shell instance.
+ * @param argc Argument count.
+ * @param argv Argument values.
+ * @return 0 on success.
+ */
+static int cmd_reset(const struct shell *sh, size_t argc, char **argv)
+{
+	shell_print(sh, "Rebooting system...");
+	k_sleep(K_MSEC(100)); // Allow the shell to print the message
+	sys_reboot(SYS_REBOOT_WARM);
+	return 0;
+}
+
+SHELL_CMD_REGISTER(reset, NULL, "Reboot the system", cmd_reset);

software/lib/shell_valve/CMakeLists.txt

@@ -0,0 +1 @@
+zephyr_library_sources(shell_valve.c)

software/lib/shell_valve/Kconfig

@@ -0,0 +1,7 @@
+config SHELL_VALVE
+	bool "Shell Valve commands"
+    default n
+    depends on SHELL
+    depends on LIB_VALVE
+    help
+      Enable the valve shell commands.

software/lib/shell_valve/shell_valve.c

@@ -0,0 +1,136 @@
+#include <zephyr/kernel.h>
+#include <zephyr/shell/shell.h>
+#include <lib/valve.h>
+#include <stdlib.h>
+
+static int cmd_valve_set_open_t(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_open_t <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_set_close_t(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_close_t <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_set_end_curr_open(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_end_curr_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_set_end_curr_close(const struct shell *sh, size_t argc, char **argv)
+{
+	if (argc != 2) {
+		shell_print(sh, "Usage: valve set_end_curr_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_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;
+
+	shell_print(sh, "Valve Settings:");
+	shell_print(sh, "%*s %u s", label_width, "Max Open Time:", valve_get_max_open_time());
+	shell_print(sh, "%*s %u s", label_width, "Max Close Time:", valve_get_max_close_time());
+	shell_print(sh,
+	    "%*s %u mA",
+	    label_width,
+	    "End Current Threshold (Open):",
+	    valve_get_end_current_threshold_open());
+	shell_print(sh,
+	    "%*s %u mA",
+	    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;
+}
+
+SHELL_STATIC_SUBCMD_SET_CREATE(sub_valve_settings,
+    SHELL_CMD(set_open_t, NULL, "Set max open time (seconds)", cmd_valve_set_open_t),
+    SHELL_CMD(set_close_t, NULL, "Set max close time (seconds)", cmd_valve_set_close_t),
+    SHELL_CMD(set_end_curr_open,
+        NULL,
+        "Set end current threshold for opening (mA)",
+        cmd_valve_set_end_curr_open),
+    SHELL_CMD(set_end_curr_close,
+        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);
+
+SHELL_CMD_REGISTER(valve, &sub_valve_settings, "Valve commands", NULL);

software/lib/valve.c

@@ -1,163 +0,0 @@
-#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;
-}

software/lib/valve.h

@@ -1,27 +0,0 @@
-#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__

software/lib/valve/CMakeLists.txt

@@ -0,0 +1 @@
+zephyr_library_sources(valve.c)

software/lib/valve/Kconfig

@@ -0,0 +1,5 @@
+config LIB_VALVE
+    bool "Enable Valve Library"
+    default y
+    help
+      Enable the Valve Library.

software/lib/valve/valve.c

@@ -0,0 +1,285 @@
+/**
+ * @file valve.c
+ * @brief Implementation of the motorized valve control library.
+ *
+ * This file contains the logic for controlling a motorized valve using a
+ * VND7050AJ high-side driver. It uses a delayed work item to handle the
+ * safety timeouts for opening and closing operations.
+ */
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/misc/vnd7050aj/vnd7050aj.h>
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/settings/settings.h>
+#include <lib/valve.h>
+
+#define VND_NODE DT_ALIAS(vnd7050aj)
+#if !DT_NODE_HAS_STATUS(VND_NODE, okay)
+#error VND7050AJ node is not defined or enabled
+#endif
+const struct device *vnd7050aj_dev = DEVICE_DT_GET(VND_NODE);
+
+LOG_MODULE_REGISTER(valve, LOG_LEVEL_INF);
+
+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 uint16_t obstacle_current_threshold_open_ma = 600; // Default value for open
+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;
+
+/**
+ * @brief Work handler for end position checks of the valve.
+ *
+ * This function is called periodically to check if the valve has reached its
+ * end position. It reads the current load on the motor and determines if the
+ * valve has reached its target position.
+ *
+ * @param work Pointer to the k_work item.
+ */
+static void valve_work_handler(struct k_work *work)
+{
+	int current_ma = 0;
+
+	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_ERR("Obstacle detected during opening! Current: %d mA", current_ma);
+			current_movement = VALVE_MOVEMENT_OBSTACLE;
+			goto work_handler_finish;
+		}
+		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 > obstacle_current_threshold_close_ma) {
+			LOG_ERR("Obstacle detected during closing! Current: %d mA", current_ma);
+			current_movement = VALVE_MOVEMENT_OBSTACLE;
+			goto work_handler_finish;
+		}
+		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");
+	}
+	current_movement = VALVE_MOVEMENT_IDLE;
+
+work_handler_finish:
+	// Reset the movement timer
+	k_timer_stop(&movement_timer);
+
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, false);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
+}
+
+void movement_timeout_handler(struct k_timer *timer)
+{
+	// Stop the end position check if the timer expires
+	k_work_cancel_delayable(&valve_work);
+	if (current_movement == VALVE_MOVEMENT_OPENING) {
+		LOG_WRN("Valve opening timeout reached, stopping motor.");
+		current_movement = VALVE_MOVEMENT_ERROR;
+	} else if (current_movement == VALVE_MOVEMENT_CLOSING) {
+		LOG_WRN("Valve closing timeout reached, stopping motor.");
+		current_movement = VALVE_MOVEMENT_ERROR;
+	}
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, false);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
+	current_state = VALVE_STATE_CLOSED;
+}
+
+int valve_init(void)
+{
+	if (!device_is_ready(vnd7050aj_dev)) {
+		LOG_ERR("VND7050AJ device is not ready");
+		return -ENODEV;
+	}
+
+	k_work_init_delayable(&valve_work, valve_work_handler);
+	k_timer_init(&movement_timer, movement_timeout_handler, NULL);
+
+	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));
+	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",
+	    max_opening_time_s,
+	    max_closing_time_s,
+	    end_current_threshold_open_ma,
+	    end_current_threshold_close_ma,
+	    obstacle_current_threshold_open_ma,
+	    obstacle_current_threshold_close_ma);
+	valve_close();
+	return 0;
+}
+
+void valve_open(void)
+{
+	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);
+	current_state = VALVE_STATE_OPEN;
+	current_movement = VALVE_MOVEMENT_OPENING; /* Security: assume valve open as
+	                                              soons as it starts opening */
+	if (max_opening_time_s > 0) {
+		k_timer_start(&movement_timer, K_SECONDS(max_opening_time_s), K_NO_WAIT);
+	}
+	k_work_schedule(&valve_work, K_MSEC(100));
+}
+
+void valve_close(void)
+{
+	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);
+	if (max_closing_time_s > 0) {
+		k_timer_start(&movement_timer, K_SECONDS(max_closing_time_s), K_NO_WAIT);
+	}
+	current_movement = VALVE_MOVEMENT_CLOSING;
+	k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
+}
+
+void valve_stop(void)
+{
+	k_work_cancel_delayable(&valve_work);
+	k_timer_stop(&movement_timer);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, false);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
+	current_movement = VALVE_MOVEMENT_IDLE;
+}
+
+enum valve_state valve_get_state(void)
+{
+	return current_state;
+}
+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)
+{
+	max_opening_time_s = seconds;
+	settings_save_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s));
+}
+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));
+}
+
+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;
+}
+uint16_t valve_get_max_close_time(void)
+{
+	return max_closing_time_s;
+}
+
+uint16_t valve_get_end_current_threshold_open(void)
+{
+	return end_current_threshold_open_ma;
+}
+
+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;
+	vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_OPEN, &current);
+	return current;
+}
+
+int32_t valve_get_closing_current(void)
+{
+	int32_t current;
+	vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, &current);
+	return current;
+}
+
+int32_t valve_get_vnd_temp(void)
+{
+	int32_t temp_c;
+	vnd7050aj_read_chip_temp(vnd7050aj_dev, &temp_c);
+	return temp_c;
+}
+
+int32_t valve_get_vnd_voltage(void)
+{
+	int32_t voltage_mv;
+	vnd7050aj_read_supply_voltage(vnd7050aj_dev, &voltage_mv);
+	return voltage_mv;
+}

software/lib/waterlevel_sensor.c

@@ -1,383 +0,0 @@
-#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,
-    },
-};
-
-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

software/lib/waterlevel_sensor.h

@@ -1,27 +0,0 @@
-#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__

software/prj.conf

@@ -1,20 +0,0 @@
-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
-
-CONFIG_ADC=y
-CONFIG_ADC_STM32=y

software/src/main.c

@@ -1,53 +0,0 @@
-#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

software/src/main2.c

@@ -1,86 +0,0 @@
-#include <zephyr/kernel.h>
-#include <zephyr/drivers/adc.h>
-#include <zephyr/logging/log.h>
-#include <zephyr/device.h>
-#include <zephyr/devicetree.h>
-#include <stdint.h>
-
-LOG_MODULE_REGISTER(main2, LOG_LEVEL_DBG);
-
-#define MOTOR_ADC_NODE DT_ALIAS(adc_motor_current)
-#define VREF_ADC_NODE  DT_ALIAS(adc_vref)
-
-static const struct device * const adc_dev = DEVICE_DT_GET(DT_PARENT(MOTOR_ADC_NODE));
-static const uint8_t motor_channel_id = DT_REG_ADDR(MOTOR_ADC_NODE);
-static const uint8_t vref_channel_id = DT_REG_ADDR(VREF_ADC_NODE);
-
-int main(void)
-{
-    int err;
-    int16_t adc_raw_value;
-
-    LOG_INF("Starting ADC test with direct register setup...");
-
-    if (!device_is_ready(adc_dev)) {
-        LOG_ERR("ADC device is not ready");
-        return 0;
-    }
-
-    LOG_INF("Manually setting up ADC registers...");
-
-    uint32_t adc_base = DT_REG_ADDR(DT_NODELABEL(adc1));
-
-    volatile uint32_t *ADC_CR2   = (uint32_t *)(adc_base + 0x08);
-    volatile uint32_t *ADC_SMPR1 = (uint32_t *)(adc_base + 0x0C);
-    volatile uint32_t *ADC_SMPR2 = (uint32_t *)(adc_base + 0x10);
-
-    // Schritt 1: Internen VREFINT-Kanal einschalten
-    const uint32_t ADC_CR2_TSVREFE_BIT = 23;
-    *ADC_CR2 |= (1 << ADC_CR2_TSVREFE_BIT);
-    LOG_INF("VREFINT channel enabled via CR2 register.");
-
-    // Schritt 2: Lange Abtastzeiten für Stabilität setzen
-    *ADC_SMPR2 |= (0b111 << (3 * 9));
-    *ADC_SMPR1 |= (0b111 << (3 * (17 - 10)));
-    LOG_INF("Acquisition times set directly in SMPR registers.");
-
-
-    k_busy_wait(10);
-
-
-    while (1) {
-        int32_t motor_raw = 0;
-        int32_t vref_raw = 0;
-        
-        struct adc_sequence sequence = {
-            .buffer      = &adc_raw_value,
-            .buffer_size = sizeof(adc_raw_value),
-            .resolution  = 12,
-        };
-
-        // Motor-Kanal lesen
-        sequence.channels = BIT(motor_channel_id);
-        if (adc_read(adc_dev, &sequence) == 0) {
-            motor_raw = adc_raw_value;
-        }
-
-        // VREF-Kanal lesen
-        sequence.channels = BIT(vref_channel_id);
-        if (adc_read(adc_dev, &sequence) == 0) {
-            vref_raw = adc_raw_value;
-        }
-
-        // VDD-Berechnung mit dem generischen, aber für Sie gut funktionierenden 1200mV-Wert
-        int32_t vdd_mv = (vref_raw > 0) ? (1200 * 4095 / vref_raw) : 0;
-        int32_t motor_mv = 0;
-        
-        if (motor_raw > 0 && vdd_mv > 0) {
-            motor_mv = motor_raw;
-            err = adc_raw_to_millivolts(vdd_mv, ADC_GAIN_1, 12, &motor_mv);
-        }
-        
-        LOG_INF("Motor Raw: %4d, Motor mV: %4d | VDD: %4d mV", motor_raw, motor_mv, vdd_mv);
-        k_sleep(K_MSEC(2000));
-    }
-    return 0;
-}

software/tools/modbus_tool/README.de.md

@@ -0,0 +1,103 @@
+<img src="../../../docs/img/logo.png" alt="Logo" width="100"/>
+
+# Modbus Tool für Bewässerungssystem-Knoten
+
+Dieses Python-Skript bietet eine interaktive Kommandozeilen-Benutzeroberfläche (TUI) zur Steuerung und Überwachung eines Ventil-Knotens des Bewässerungssystems über Modbus RTU.
+
+## Features
+
+- **Interaktive Benutzeroberfläche:** Eine benutzerfreundliche, auf `curses` basierende Oberfläche, die eine einfache Bedienung ermöglicht.
+- **Live-Statusanzeige:** Zeigt tabellarisch und in Echtzeit alle wichtigen Register des Slaves an:
+    - Ventilstatus (Zustand, Bewegung, Motorstrom)
+    - Zustand der digitalen Ein- und Ausgänge
+    - "Clear-on-Read" Taster-Events
+    - Systemkonfiguration (Öffnungs-/Schließzeiten, Watchdog-Timeout)
+    - Gerätestatus (Firmware-Version, Uptime)
+- **Volle Kontrolle:** Ermöglicht das Senden von Befehlen zum Öffnen, Schließen und Stoppen des Ventils sowie zum Umschalten der digitalen Ausgänge.
+- **Konfiguration zur Laufzeit:** Die maximalen Öffnungs-/Schließzeiten und der Watchdog-Timeout können direkt in der Oberfläche geändert werden.
+- **Simulierter Firmware-Upload:** Implementiert den vollständigen, in der Dokumentation beschriebenen Firmware-Update-Prozess. Das Tool sendet eine `firmware.bin`-Datei in Chunks an den Slave und folgt dem CRC-Verifizierungs-Protokoll.
+
+## Installation
+
+### Voraussetzungen
+
+- Python 3.x
+- `pip` (Python Paket-Installer)
+
+### Installation der Abhängigkeiten
+
+Die benötigten Python-Pakete sind in der Datei `requirements.txt` aufgeführt. Sie können auf zwei Arten installiert werden: global oder in einer virtuellen Umgebung (empfohlen).
+
+#### Option 1: Installation mit virtueller Umgebung (empfohlen)
+
+Eine virtuelle Umgebung isoliert die Projekt-Abhängigkeiten von Ihrem globalen Python-System, was Konflikte vermeidet.
+
+1.  **Virtuelle Umgebung erstellen:**
+    Führen Sie im Verzeichnis `software/tools/modbus_tool` den folgenden Befehl aus, um eine Umgebung im Ordner `.venv` zu erstellen:
+    ```bash
+    python3 -m venv .venv
+    ```
+
+2.  **Umgebung aktivieren:**
+    -   **Linux / macOS:**
+        ```bash
+        source .venv/bin/activate
+        ```
+        Ihre Shell-Anzeige sollte sich ändern und `(.venv)` am Anfang zeigen.
+    -   **Windows (cmd.exe):**
+        ```bash
+        .venv\Scripts\activate.bat
+        ```
+    -   **Windows (PowerShell):**
+        ```powershell
+        .venv\Scripts\Activate.ps1
+        ```
+
+3.  **Abhängigkeiten installieren:**
+    Wenn die Umgebung aktiv ist, installieren Sie die Pakete:
+    ```bash
+    pip install -r requirements.txt
+    ```
+
+4.  **Umgebung deaktivieren:**
+    Wenn Sie fertig sind, können Sie die Umgebung mit folgendem Befehl wieder verlassen:
+    ```bash
+    deactivate
+    ```
+
+#### Option 2: Globale Installation (nicht empfohlen)
+
+Wenn Sie keine virtuelle Umgebung verwenden möchten, können Sie die Pakete direkt in Ihrem globalen Python-System installieren.
+
+```bash
+pip install -r requirements.txt
+```
+
+## Verwendung
+
+Stellen Sie sicher, dass das Skript ausführbar ist:
+```bash
+chmod +x modbus_tool.py
+```
+
+Starten Sie das Tool, indem Sie den seriellen Port als Argument übergeben:
+
+```bash
+./modbus_tool.py /dev/ttyACM0
+```
+Ersetzen Sie `/dev/ttyACM0` durch den korrekten Port Ihres Geräts.
+
+### Kommandozeilen-Argumente
+
+- `port`: (Erforderlich) Der serielle Port (z.B. `/dev/ttyACM0` oder `COM3`).
+- `--baud`: Die Baudrate (Standard: `19200`).
+- `--slave-id`: Die Modbus Slave ID des Geräts (Standard: `1`).
+- `--interval`: Das Abfrageintervall für den Status in Sekunden (Standard: `1.0`).
+
+### Bedienung der Oberfläche
+
+- **Navigation:** Verwenden Sie die **Pfeiltasten (↑/↓)**, um zwischen den Menüpunkten zu navigieren.
+- **Auswählen:** Drücken Sie **Enter**, um den ausgewählten Befehl auszuführen.
+- **Werte eingeben:** Bei Aktionen wie "Set Watchdog" werden Sie zur Eingabe eines Wertes aufgefordert. Geben Sie den Wert ein und bestätigen Sie mit **Enter**.
+- **Firmware Update:** Diese Funktion startet den Upload der Datei `firmware.bin` aus dem aktuellen Verzeichnis. Während des Updates wird eine Fortschrittsanzeige dargestellt.
+- **Beenden:** Wählen Sie den Menüpunkt **"Exit"** und drücken Sie **Enter**.