fix: Reduce flickering in Modbus tool UI over SSH

Replaced  with  and  with  in the  and  functions of . This change optimizes screen updates in the Curses-based UI, which should significantly reduce flickering when running the tool over SSH connections.
Signed-off-by: Eduard Iten <eduard@iten.pro>

docs/concept.de.md

@@ -39,7 +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/modbus-registers.de.md

@@ -29,10 +29,11 @@ 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). |
-| **0x0001** | `MOTORSTROM_MA`                | Ventil            | Aktueller Motorstrom in Milliampere (mA).                                                                                                 |
-| **0x0020** | `DIGITAL_EINGAENGE_ZUSTAND`    | Eingänge          | Bitmaske der digitalen Eingänge. Bit 0: Eingang 1, Bit 1: Eingang 2. `1`=Aktiv.                                                          |
-| **0x0021** | `TASTER_EVENTS`                | Eingänge          | Event-Flags für Taster (Clear-on-Read). Bit 0: Taster 1 gedrückt. Bit 1: Taster 2 gedrückt.                                                 |
+| **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_OPEN_MA`           | Ventil            | Motorstrom beim Öffnen in Milliampere (mA).                                                                                               |
+| **0x0002** | `MOTORSTROM_CLOSE_MA`          | Ventil            | Motorstrom beim Schließen in Milliampere (mA).                                                                                            |
+| **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.                                                                                                           |
@@ -45,10 +46,12 @@ Alle Register sind in einer einzigen, durchgehenden Liste pro Register-Typ (`Inp
 
 | Adresse (hex) | Name                          | Zugehörigkeit     | Beschreibung                                                                                                                              |
 | :------------ | :---------------------------- | :---------------- | :---------------------------------------------------------------------------------------------------------------------------------------- |
-| **0x0000** | `VENTIL_BEFEHL`               | Ventil            | `1`=Öffnen, `2`=Schliessen, `0`=Bewegung stoppen.                                                                                           |
-| **0x0001** | `MAX_OEFFNUNGSZEIT_S`         | Ventil            | Sicherheits-Timeout in Sekunden für den Öffnen-Vorgang.                                                                                    |
-| **0x0002** | `MAX_SCHLIESSZEIT_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.                                         |
+| **0x0000** | `VALVE_COMMAND`               | Ventil            | `1`=Öffnen, `2`=Schliessen, `0`=Bewegung stoppen.                                                                                           |
+| **0x0001** | `MAX_OPENING_TIME_S`         | Ventil            | Sicherheits-Timeout in Sekunden für den Öffnen-Vorgang.                                                                                    |
+| **0x0002** | `MAX_CLOSING_TIME_S`          | Ventil            | Sicherheits-Timeout in Sekunden für den Schliessen-Vorgang.                                                                                |
+| **0x0003** | `END_CURRENT_THRESHOLD_OPEN_MA` | Ventil            | Minimaler Stromschwellenwert in mA zur Endlagenerkennung beim Öffnen.                                                                     |
+| **0x0004** | `END_CURRENT_THRESHOLD_CLOSE_MA` | Ventil            | Minimaler Stromschwellenwert in mA zur Endlagenerkennung beim Schliessen.                                                                |
+| **0x0010** | `DIGITAL_OUTPUTS_STATE`   | Ausgänge          | Bitmaske zum Lesen und Schreiben der Ausgänge. Bit 0: Ausgang 1, Bit 1: Ausgang 2. `1`=AN, `0`=AUS.                                         |
 | **0x00F0** | `WATCHDOG_TIMEOUT_S`          | System            | Timeout des Fail-Safe-Watchdogs in Sekunden. `0`=Deaktiviert.                                                                             |
 | **0x00F1** | `DEVICE_RESET`                | System            | Schreibt `1` um das Gerät neu zu starten.                                                                                                 |
 | **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. |
@@ -80,10 +83,10 @@ 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.                                                                                        |
-| **0x0003** | `NACHKOMMASTELLEN`         | R/W | Anzahl der Dezimalstellen für den Messwert (0-3).                                                                                         |
-| **0x0004** | `MESSWERT_AKTUELL`         | R   | Der skalierte Messwert als vorzeichenbehafteter 16-Bit-Integer.                                                                           |
-| **0x0005** | `MESSBEREICH_NULLPUNKT`    | R/W | Rohwert für den Nullpunkt der Skala.                                                                                                      |
-| **0x0006** | `MESSBEREICH_ENDPUNKT`     | R/W | Rohwert für den Endpunkt der Skala.                                                                                                       |
+| **0x0002** | `UNIT`                  | R/W | `0`=Keine, `1`=cm, `2`=mm, `3`=MPa, `4`=Pa, `5`=kPa.                                                                                        |
+| **0x0003** | `DECIMAL_PLACES`         | R/W | Anzahl der Dezimalstellen für den Messwert (0-3).                                                                                         |
+| **0x0004** | `CURRENT_MEASUREMENT`         | R   | Der skalierte Messwert als vorzeichenbehafteter 16-Bit-Integer.                                                                           |
+| **0x0005** | `MEASUREMENT_RANGE_ZERO_POINT`    | R/W | Rohwert für den Nullpunkt der Skala.                                                                                                      |
+| **0x0006** | `MEASUREMENT_RANGE_END_POINT`     | R/W | Rohwert für den Endpunkt der Skala.                                                                                                       |

docs/planning.de.md

@@ -9,11 +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. |
-| ☐ | 1.3 MODBUS-RTU Stack auf dem Slave implementieren | | Basierend auf der definierten Register-Map. Zuerst nur lesende Funktionen (Status, Version). |
-| ☐ | 1.4 Kernlogik implementieren (z.B. Ventilsteuerung) | | Umsetzung der `VENTIL_ZUSTAND_BEWEGUNG` Logik, Strommessung für Endlagen etc. |
+| ✅ | 1.2 Hardware-Abstraktion (VND7050AJ, RS485) | 10.07.2025 | Implementierung der Treiber für den VND7050AJ und die RS485-Kommunikation. |
+| ✅ | 1.3 Basis-Firmware für Slave-Node erstellen | 10.07.2025 | Hardware-Abstraktion (GPIOs) implementiert. |
+| ✅ | 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. |

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

@@ -1,17 +1,15 @@
 {
-        // Hush CMake
-		"cmake.configureOnOpen": false,
-
-		// IntelliSense
-		"C_Cpp.default.compilerPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc.exe",
-		"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
-
-		// File Associations
-		"files.associations": {
-			"array": "c",
-			"string_view": "c",
-			"initializer_list": "c",
-			"span": "c",
-			"format": "c"
-		}
+	// Hush CMake
+	"cmake.configureOnOpen": false,
+	// IntelliSense
+	"C_Cpp.default.compilerPath": "${userHome}/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc.exe",
+	"C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
+	// File Associations
+	"files.associations": {
+		"app_version.h": "c"
+	},
+	"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",
-			"type": "shell",
-			"group": {
-				"kind": "build",
-				"isDefault": true
-			},
-			"linux": {
-				"command": "${userHome}/zephyrproject/.venv/bin/west"
-			},
-			"windows": {
-				"command": "${userHome}/zephyrproject/.venv/Scripts/west.exe"
-			},
-			"osx": {
-				"command": "${userHome}/zephyrproject/.venv/bin/west"
-			},
-			"args": [
-				"build",
-				"-p",
-				"auto",
-				"-b",
-				"valve_node"
-			],
-			"problemMatcher": [
-				"$gcc"
-			]
-		},
+            "label": "Format All C/C++ Files",
+            "type": "shell",
+            "command": "find . -name \"*.c\" -o -name \"*.h\" | xargs clang-format -i",
+            "problemMatcher": [],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "presentation": {
+                "reveal": "silent",
+                "clear": true,
+                "panel": "shared"
+            }
+        },
 		{
 			"label": "West Configurable Build",
 			"type": "shell",

software/Kconfig

@@ -1 +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/adc_dt/CMakeLists.txt

@@ -1,8 +0,0 @@
-# SPDX-License-Identifier: Apache-2.0
-
-cmake_minimum_required(VERSION 3.20.0)
-
-find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
-project(ADC)
-
-target_sources(app PRIVATE src/main.c)

software/apps/adc_dt/README.rst

@@ -1,62 +0,0 @@
-.. zephyr:code-sample:: adc_dt
-   :name: Analog-to-Digital Converter (ADC) with devicetree
-   :relevant-api: adc_interface
-
-   Read analog inputs from ADC channels.
-
-Overview
-********
-
-This sample demonstrates how to use the :ref:`ADC driver API <adc_api>`.
-
-Depending on the target board, it reads ADC samples from one or more channels
-and prints the readings on the console. If voltage of the used reference can
-be obtained, the raw readings are converted to millivolts.
-
-The pins of the ADC channels are board-specific. Please refer to the board
-or MCU datasheet for further details.
-
-Building and Running
-********************
-
-The ADC peripheral and pinmux is configured in the board's ``.dts`` file. Make
-sure that the ADC is enabled (``status = "okay";``).
-
-In addition to that, this sample requires an ADC channel specified in the
-``io-channels`` property of the ``zephyr,user`` node. This is usually done with
-a devicetree overlay. The example overlay in the ``boards`` subdirectory for
-the ``nucleo_l073rz`` board can be easily adjusted for other boards.
-
-Configuration of channels (settings like gain, reference, or acquisition time)
-also needs to be specified in devicetree, in ADC controller child nodes. Also
-the ADC resolution and oversampling setting (if used) need to be specified
-there. See :zephyr_file:`boards/nrf52840dk_nrf52840.overlay
-<samples/drivers/adc/adc_dt/boards/nrf52840dk_nrf52840.overlay>` for an example of
-such setup.
-
-Building and Running for ST Nucleo L073RZ
-=========================================
-
-The sample can be built and executed for the
-:zephyr:board:`nucleo_l073rz` as follows:
-
-.. zephyr-app-commands::
-   :zephyr-app: samples/drivers/adc/adc_dt
-   :board: nucleo_l073rz
-   :goals: build flash
-   :compact:
-
-To build for another board, change "nucleo_l073rz" above to that board's name
-and provide a corresponding devicetree overlay.
-
-Sample output
-=============
-
-You should get a similar output as below, repeated every second:
-
-.. code-block:: console
-
-   ADC reading:
-   - ADC_0, channel 7: 36 = 65mV
-
-.. note:: If the ADC is not supported, the output will be an error message.

software/apps/adc_dt/boards/weact_stm32g431_core.overlay

@@ -1,38 +0,0 @@
-/ {
-	vdd_sense: voltage-divider {
-		compatible = "voltage-divider";
-		/*
-		 * This reference must provide one argument (the channel number)
-		 * because of the "#io-channel-cells = <1>" in the &adc1 node.
-		 */
-		io-channels = <&adc1 1>;
-		output-ohms = <2200>;
-		full-ohms = <3200>;
-	};
-};
-
-&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>;
-	/*
-	 * This line is required by the st,stm32-adc driver binding.
-	 * It declares that references to its channels need one extra argument.
-	 */
-	#io-channel-cells = <1>;
-
-	adc_channel_1: channel@1 {
-		reg = <1>;
-		zephyr,gain = "ADC_GAIN_1";
-		zephyr,reference = "ADC_REF_INTERNAL";
-		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
-		zephyr,resolution = <12>;
-	};
-};

software/apps/adc_dt/prj.conf

@@ -1,4 +0,0 @@
-CONFIG_ADC=y
-CONFIG_SENSOR=y
-CONFIG_VOLTAGE_DIVIDER=y
-CONFIG_LOG=y

software/apps/adc_dt/sample.yaml

@@ -1,53 +0,0 @@
-sample:
-  name: ADC devicetree driver sample
-tests:
-  sample.drivers.adc.adc_dt:
-    tags:
-      - adc
-    depends_on: adc
-    platform_allow:
-      - nucleo_l073rz
-      - disco_l475_iot1
-      - cc3220sf_launchxl
-      - cc3235sf_launchxl
-      - cy8cproto_063_ble
-      - stm32l496g_disco
-      - stm32h735g_disco
-      - nrf51dk/nrf51822
-      - nrf52840dk/nrf52840
-      - nrf54l15dk/nrf54l15/cpuapp
-      - nrf54h20dk/nrf54h20/cpuapp
-      - ophelia4ev/nrf54l15/cpuapp
-      - mec172xevb_assy6906
-      - gd32f350r_eval
-      - gd32f450i_eval
-      - gd32vf103v_eval
-      - gd32f403z_eval
-      - esp32_devkitc/esp32/procpu
-      - esp32s2_saola
-      - esp32c3_devkitm
-      - gd32l233r_eval
-      - lpcxpresso55s36
-      - mr_canhubk3
-      - longan_nano
-      - longan_nano/gd32vf103/lite
-      - rd_rw612_bga
-      - frdm_mcxn947/mcxn947/cpu0
-      - mcx_n9xx_evk/mcxn947/cpu0
-      - frdm_mcxc242
-      - ucans32k1sic
-      - xg24_rb4187c
-      - xg29_rb4412a
-      - raytac_an54l15q_db/nrf54l15/cpuapp
-      - frdm_mcxa166
-      - frdm_mcxa276
-    integration_platforms:
-      - nucleo_l073rz
-      - nrf52840dk/nrf52840
-    harness: console
-    timeout: 10
-    harness_config:
-      type: multi_line
-      regex:
-        - "ADC reading\\[\\d+\\]:"
-        - "- .+, channel \\d+: -?\\d+"

software/apps/adc_dt/socs/esp32_procpu.overlay

@@ -1,25 +0,0 @@
-/*
- * Copyright (c) 2022 Wolter HV <wolterhv@gmx.de>
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/ {
-	zephyr,user {
-		io-channels = <&adc0 0>;
-	};
-};
-
-&adc0 {
-	status = "okay";
-	#address-cells = <1>;
-	#size-cells = <0>;
-
-	channel@0 {
-		reg = <0>;
-		zephyr,gain = "ADC_GAIN_1_4";
-		zephyr,reference = "ADC_REF_INTERNAL";
-		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
-		zephyr,resolution = <12>;
-	};
-};

software/apps/adc_dt/socs/esp32c3.overlay

@@ -1,25 +0,0 @@
-/*
- * Copyright (c) 2022 Wolter HV <wolterhv@gmx.de>
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/ {
-	zephyr,user {
-		io-channels = <&adc0 0>;
-	};
-};
-
-&adc0 {
-	status = "okay";
-	#address-cells = <1>;
-	#size-cells = <0>;
-
-	channel@0 {
-		reg = <0>;
-		zephyr,gain = "ADC_GAIN_1_4";
-		zephyr,reference = "ADC_REF_INTERNAL";
-		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
-		zephyr,resolution = <12>;
-	};
-};

software/apps/adc_dt/socs/esp32s2.overlay

@@ -1,25 +0,0 @@
-/*
- * Copyright (c) 2022 Wolter HV <wolterhv@gmx.de>
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/ {
-	zephyr,user {
-		io-channels = <&adc0 0>;
-	};
-};
-
-&adc0 {
-	status = "okay";
-	#address-cells = <1>;
-	#size-cells = <0>;
-
-	channel@0 {
-		reg = <0>;
-		zephyr,gain = "ADC_GAIN_1_4";
-		zephyr,reference = "ADC_REF_INTERNAL";
-		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
-		zephyr,resolution = <12>;
-	};
-};

software/apps/adc_dt/socs/esp32s3_procpu.overlay

@@ -1,25 +0,0 @@
-/*
- * Copyright (c) 2022 Wolter HV <wolterhv@gmx.de>
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/ {
-	zephyr,user {
-		io-channels = <&adc0 0>;
-	};
-};
-
-&adc0 {
-	status = "okay";
-	#address-cells = <1>;
-	#size-cells = <0>;
-
-	channel@0 {
-		reg = <0>;
-		zephyr,gain = "ADC_GAIN_1_4";
-		zephyr,reference = "ADC_REF_INTERNAL";
-		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
-		zephyr,resolution = <12>;
-	};
-};

software/apps/adc_dt/src/main.c

@@ -1,45 +0,0 @@
-#include <zephyr/kernel.h>
-#include <zephyr/device.h>
-#include <zephyr/devicetree.h>
-#include <zephyr/drivers/sensor.h>
-#include <zephyr/logging/log.h>
-
-LOG_MODULE_REGISTER(adc_dt_example, LOG_LEVEL_DBG);
-
-/* Get the voltage divider device */
-#define VOLTAGE_DIVIDER_NODE DT_NODELABEL(vdd_sense)
-
-int main(void)
-{
-	const struct device *vdd_dev = DEVICE_DT_GET(VOLTAGE_DIVIDER_NODE);
-	struct sensor_value val;
-	int err;
-
-	if (!device_is_ready(vdd_dev)) {
-		LOG_ERR("Voltage divider device not ready");
-		return 0;
-	}
-
-	LOG_INF("Voltage divider device ready!");
-
-	while (1) {
-		err = sensor_sample_fetch(vdd_dev);
-		if (err < 0) {
-			LOG_ERR("Could not fetch sample (%d)", err);
-			k_sleep(K_MSEC(1000));
-			continue;
-		}
-
-		err = sensor_channel_get(vdd_dev, SENSOR_CHAN_VOLTAGE, &val);
-		if (err < 0) {
-			LOG_ERR("Could not get channel (%d)", err);
-			k_sleep(K_MSEC(1000));
-			continue;
-		}
-
-		LOG_INF("Voltage reading: %d.%06d V", val.val1, val.val2);
-
-		k_sleep(K_MSEC(1000));
-	}
-	return 0;
-}

software/apps/adc_test/CMakeLists.txt

@@ -1,6 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
-project(adc_test)
-
-target_sources(app PRIVATE src/main.c)

software/apps/adc_test/boards/weact_stm32g431_core.overlay

@@ -1,8 +0,0 @@
-&adc1 {
-    pinctrl-0 = <&adc1_in1_pa0>;
-    pinctrl-names = "default";
-    status = "okay";
-
-    st,adc-clock-source = "SYNC";
-    st,adc-prescaler = <4>;
-};

software/apps/adc_test/prj.conf

@@ -1,3 +0,0 @@
-CONFIG_ADC=y
-CONFIG_ADC_STM32=y
-CONFIG_LOG=y

software/apps/adc_test/src/main.c

@@ -1,73 +0,0 @@
-#include <zephyr/kernel.h>
-#include <zephyr/drivers/adc.h>
-#include <zephyr/device.h>
-#include <zephyr/sys/printk.h>
-
-// ADC-Knoten holen
-static const struct device *adc_dev = DEVICE_DT_GET(DT_NODELABEL(adc1));
-
-// Kanaldefinitionen
-#define MY_SIGNAL_CHANNEL   1  // PA0
-#define ADC_VREFINT_CHANNEL 18 // Intern
-
-// Puffer für ZWEI Messwerte
-static int16_t sample_buffer[2];
-
-void main(void)
-{
-    int err;
-    // Die VREFINT-Spannung in mV aus dem Datenblatt deines Controllers
-    #define VREFINT_MV 1212
-
-    printk("*** ADC Ratiometric Measurement (Single Sequence) ***\n");
-
-    if (!device_is_ready(adc_dev)) {
-        printk("ADC device not ready!\n");
-        return;
-    }
-
-    // --- Einmaliges Setup der beiden Kanäle ---
-    const struct adc_channel_cfg signal_channel_cfg = {
-        .gain             = ADC_GAIN_1,
-        .reference        = ADC_REF_INTERNAL,
-        .acquisition_time = ADC_ACQ_TIME_DEFAULT, // Kurz für niederohmige Quellen
-        .channel_id       = MY_SIGNAL_CHANNEL,
-    };
-    const struct adc_channel_cfg vrefint_channel_cfg = {
-        .gain             = ADC_GAIN_1,
-        .reference        = ADC_REF_INTERNAL,
-        .acquisition_time = ADC_ACQ_TIME_MAX, // Lang für VREFINT
-        .channel_id       = ADC_VREFINT_CHANNEL,
-    };
-
-    adc_channel_setup(adc_dev, &signal_channel_cfg);
-    adc_channel_setup(adc_dev, &vrefint_channel_cfg);
-
-    // --- EINE Sequenz, die BEIDE Kanäle enthält ---
-    const struct adc_sequence sequence = {
-        .channels    = BIT(MY_SIGNAL_CHANNEL) | BIT(ADC_VREFINT_CHANNEL),
-        .buffer      = sample_buffer,
-        .buffer_size = sizeof(sample_buffer),
-        .resolution  = 12,
-    };
-
-    while (1) {
-        err = adc_read(adc_dev, &sequence);
-        if (err != 0) {
-            printk("ADC read failed with code %d\n", err);
-        } else {
-            // Die Ergebnisse sind in der Reihenfolge der Kanalnummern im Puffer
-            // Kanal 1 (MY_SIGNAL_CHANNEL) kommt vor Kanal 18 (ADC_VREFINT_CHANNEL)
-            int16_t signal_raw = sample_buffer[0];
-            int16_t vrefint_raw = sample_buffer[1];
-
-            // Ratiometrische Berechnung
-            int32_t signal_mv = (int32_t)signal_raw * VREFINT_MV / vrefint_raw;
-
-            printk("Signal: raw=%4d  |  VREFINT: raw=%4d  |  Calculated Voltage: %d mV\n",
-                   signal_raw, vrefint_raw, signal_mv);
-        }
-
-        k_msleep(2000);
-    }
-}

software/apps/adc_test/src/main.c2

@@ -1,80 +0,0 @@
-#include <zephyr/kernel.h>
-#include <zephyr/drivers/adc.h>
-#include <zephyr/device.h>
-
-// Definiere die Kanäle
-#define ADC_VREFINT_CHANNEL 18 // Muss mit dem DTS übereinstimmen
-#define MY_SIGNAL_CHANNEL   1  // Muss mit dem pinctrl im DTS übereinstimmen
-
-// ADC Device
-static const struct device *adc_dev = DEVICE_DT_GET(DT_NODELABEL(adc1));
-
-// ADC Kanal Konfigurationen
-static const struct adc_channel_cfg vrefint_channel_cfg = {
-    .gain             = ADC_GAIN_1,
-    .reference        = ADC_REF_INTERNAL, // Bedeutet VDDA
-    .acquisition_time = ADC_ACQ_TIME_MAX,
-    .channel_id       = ADC_VREFINT_CHANNEL,
-    .differential     = 0,
-};
-
-static const struct adc_channel_cfg signal_channel_cfg = {
-    .gain             = ADC_GAIN_1,
-    .reference        = ADC_REF_INTERNAL, // Bedeutet VDDA
-    .acquisition_time = ADC_ACQ_TIME_MAX,
-    .channel_id       = MY_SIGNAL_CHANNEL,
-    .differential     = 0,
-};
-
-// Puffer für die Messwerte
-#define BUFFER_SIZE 1
-static int16_t sample_buffer[BUFFER_SIZE];
-
-// Sequenz für die Messungen
-struct adc_sequence sequence_vrefint = {
-    .channels    = BIT(ADC_VREFINT_CHANNEL),
-    .buffer      = sample_buffer,
-    .buffer_size = sizeof(sample_buffer),
-    .resolution  = 12, // STM32G4 hat 12-bit
-};
-
-struct adc_sequence sequence_signal = {
-    .channels    = BIT(MY_SIGNAL_CHANNEL),
-    .buffer      = sample_buffer,
-    .buffer_size = sizeof(sample_buffer),
-    .resolution  = 12,
-};
-
-
-void main(void) {
-    if (!device_is_ready(adc_dev)) {
-        printk("ADC device not found\n");
-        return;
-    }
-
-    // Kanäle konfigurieren
-    adc_channel_setup(adc_dev, &vrefint_channel_cfg);
-    adc_channel_setup(adc_dev, &signal_channel_cfg);
-
-    while (1) {
-        // 1. VREFINT messen zur Kalibrierung
-        adc_read(adc_dev, &sequence_vrefint);
-        int16_t vrefint_raw = sample_buffer[0];
-
-        // 2. Dein eigentliches Signal messen
-        adc_read(adc_dev, &sequence_signal);
-        int16_t signal_raw = sample_buffer[0];
-
-        // 3. Spannung berechnen
-        // VREFINT Wert für STM32G431 bei 3.0V Vdda ist typ. 1.212V (1212 mV)
-        // Überprüfe den genauen Wert im Datenblatt für deinen Controller!
-        #define VREFINT_MV 1212 
-        
-        int32_t signal_mv = (int32_t)signal_raw * VREFINT_MV / vrefint_raw;
-
-        printk("VREFINT raw: %d, Signal raw: %d, Calculated Voltage: %d mV\n", 
-               vrefint_raw, signal_raw, signal_mv);
-
-        k_msleep(1000);
-    }
-}

software/apps/adc_test/src/main.tabby

@@ -1,38 +0,0 @@
-#include <zephyr.h>
-#include <drivers/adc.h>
-
-#define PA0_PIN 0x04
-#define ADC_CHANNEL 0x03
-
-int main(void) {
-    int16_t adc_value = 0;
-
-    // Initialize the ADC
-    adc_config_t adc_config;
-    adc_config.mode = ADC_MODE_SINGLE_SHOT;
-    adc_config.channel = ADC_CHANNEL_PA0;
-    adc_config.sampling_rate = ADC_SAMP_RATE_1MS;
-
-    adc_config.data_rate = ADC_DATA_RATE_4MS;
-    adc_config.aux = ADC_AUX_ALL;
-
-    adc_config.atten = ADC_ATTEN_DB_11;
-    adc_config.ref = ADC_REF_INTERNAL;
-
-    adc_config.cal = ADC_CAL_ALL;
-
-    if (adc_config_data(&adc_config, &adc_context) < 0) {
-        zephyr_printf("Failed to configure ADC\n");
-        return -1;
-    }
-
-    // Read the analog input value
-    if (adc_read(&adc_context, &adc_value) < 0) {
-        zephyr_printf("Failed to read ADC value\n");
-        return -1;
-    }
-
-    zephyr_printf("ADC Value: %d\n", adc_value);
-
-    return 0;
-}

software/apps/firmware_node/CMakeLists.txt

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

software/apps/firmware_node/README.md

@@ -1,34 +0,0 @@
-# Firmware Node Application
-
-This Zephyr application provides firmware management capabilities for the irrigation system.
-
-**Tested on Zephyr 4.1.99**
-
-## Features
-
-### Step 1: Shell with Reset Command
-- Shell interface with custom "reset" command
-- Warm reboot functionality
-
-### Planned Features
-- MCUboot support with partition manager
-- Firmware version display
-- MCUmgr support for OTA updates
-
-## Building
-
-```bash
-west build -p auto -b weact_stm32g431_core apps/firmware_node -- -DBOARD_FLASH_RUNNER=blackmagicprobe
-```
-
-## Flashing
-
-```bash
-west flash
-```
-
-## Usage
-
-Connect to the device via serial console and use the shell:
-- `reset` - Reboot the system
-- `help` - Show available commands

software/apps/firmware_node/boards/flash_partitions_128kb.dtsi

@@ -1,29 +0,0 @@
-/*
- * Flash partition layout for STM32G431 (128KB total flash)
- * MCUboot + single application slot configuration
- */
-
-&flash0 {
-        partitions {
-                compatible = "fixed-partitions";
-                #address-cells = <1>;
-                #size-cells = <1>;
-
-                boot_partition: partition@0 {
-                        label = "mcuboot";
-                        reg = <0x00000000 0x0000A000>; /* 40 KB for MCUboot */
-                        read-only;
-                };
-
-                slot0_partition: partition@A000 {
-                        label = "image-0";
-                        reg = <0x0000A000 0x00016000>; /* 88 KB for application */
-                };
-        };
-};
-
-/ {
-	chosen {
-		zephyr,code-partition = &slot0_partition;
-	};
-};

software/apps/firmware_node/boards/weact_stm32g431_core.conf

@@ -1,2 +0,0 @@
-# Board specific configuration for weact_stm32g431_core
-# This file can be used for board-specific overrides if needed

software/apps/firmware_node/boards/weact_stm32g431_core.overlay

@@ -1,7 +0,0 @@
-/*
- * Copyright (c) 2021 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#include "flash_partitions_128kb.dtsi"

software/apps/firmware_node/boards/weact_stm32g431_core_mcuboot.overlay

@@ -1,18 +0,0 @@
-&flash0 {
-	partitions {
-		compatible = "fixed-partitions";
-		#address-cells = <1>;
-		#size-cells = <1>;
-
-		boot_partition: partition@0 {
-			label = "mcuboot";
-			reg = <0x00000000 0x00008000>; /* 32 KB */
-			read-only;
-		};
-
-		slot0_partition: partition@8000 {
-			label = "image-0";
-			reg = <0x00008000 0x00018000>; /* 96 KB */
-		};
-	};
-};

software/apps/firmware_node/pm.yml

@@ -1,25 +0,0 @@
-# Partition manager configuration for firmware_node
-
-# Boot partition (MCUboot)
-mcuboot_primary:
-  address: 0x00000000
-  size: 0x8000
-  region: flash_primary
-
-# Application partition (primary slot)
-mcuboot_primary_app:
-  address: 0x00008000
-  size: 0x18000
-  region: flash_primary
-
-# Secondary slot for updates
-mcuboot_secondary:
-  address: 0x00020000
-  size: 0x18000
-  region: flash_primary
-
-# Settings partition
-settings_partition:
-  address: 0x00038000
-  size: 0x8000
-  region: flash_primary

software/apps/firmware_node/prj.conf

@@ -1,21 +0,0 @@
-# Enable Console and printk for logging
-CONFIG_CONSOLE=y
-CONFIG_LOG=y
-CONFIG_LOG_PROCESS_THREAD=y
-
-# Enable Shell
-CONFIG_SHELL=y
-CONFIG_REBOOT=y
-
-# Enable the reset command
-CONFIG_KERNEL_SHELL=y
-
-# Enable settings for persistent storage
-CONFIG_SETTINGS=y
-CONFIG_SETTINGS_NVS=y
-CONFIG_NVS=y
-
-# Enable Flash and Flash Map for image trailer manipulation
-CONFIG_FLASH=y
-CONFIG_FLASH_MAP=y
-CONFIG_FLASH_PAGE_LAYOUT=y

software/apps/firmware_node/src/main.c

@@ -1,167 +0,0 @@
-#include <zephyr/kernel.h>
-#include <zephyr/logging/log.h>
-#include <zephyr/shell/shell.h>
-#include <zephyr/sys/reboot.h>
-#include <zephyr/drivers/flash.h>
-#include <zephyr/storage/flash_map.h>
-#include <zephyr/devicetree.h>
-
-LOG_MODULE_REGISTER(firmware_node, LOG_LEVEL_INF);
-
-// Image header magic number (from MCUboot)
-#define IMAGE_MAGIC 0x96f3b83d
-#define IMAGE_HEADER_SIZE 32
-
-// Function to invalidate current image and trigger serial recovery
-static int invalidate_current_image(void)
-{
-    const struct flash_area *fa;
-    int rc;
-
-    // Get the flash area for the current image slot (slot0_partition)
-    rc = flash_area_open(FIXED_PARTITION_ID(slot0_partition), &fa);
-    if (rc != 0) {
-        LOG_ERR("Failed to open flash area: %d", rc);
-        return rc;
-    }
-
-    // Ensure the flash area is valid
-    if (fa->fa_id != FIXED_PARTITION_ID(slot0_partition)) {
-        LOG_ERR("Invalid flash area ID: %d", fa->fa_id);
-        flash_area_close(fa);
-        return -EINVAL;
-    }
-
-    // Get the flash device associated with this area
-    // This is necessary to perform erase operations
-
-    const struct device *flash_dev = flash_area_get_device(fa);
-    if (flash_dev == NULL) {
-        LOG_ERR("Failed to get flash device for area");
-        flash_area_close(fa);
-        return -ENODEV;
-    }
-
-    struct flash_pages_info page_info;
-    off_t last_block_offset;
-
-    // Find the last block of the flash area
-    rc = flash_get_page_info_by_offs(flash_dev, fa->fa_off + fa->fa_size - 1, &page_info);
-    if (rc != 0) {
-        LOG_ERR("Failed to get page info: %d", rc);
-        flash_area_close(fa);
-        return rc;
-    }
-
-    // Calculate the last block offset
-    rc = flash_get_page_info_by_offs(flash_dev, fa->fa_off + fa->fa_size - 1, &page_info);
-    if (rc != 0) {
-        LOG_ERR("Failed to get page info: %d", rc);
-        flash_area_close(fa);
-        return rc;
-    }
-    last_block_offset = page_info.start_offset;
-
-   // Convert absolute flash offset to relative offset within the flash area
-   off_t relative_offset = last_block_offset - fa->fa_off;
-   
-   // Erase the image trailer/metadata at the end of the partition
-   LOG_INF("Erasing image trailer at absolute offset: %ld, relative offset: %ld, size: %d bytes", 
-           last_block_offset, relative_offset, page_info.size);
-   rc = flash_area_erase(fa, relative_offset, page_info.size);
-   if (rc != 0) {
-       LOG_ERR("Failed to erase image trailer: %d", rc);
-  
-   } else {
-       LOG_INF("Image trailer erased successfully");
-   }
-   
-   flash_area_close(fa);
-   return rc;
-}
-// Custom reset command handler
-static int cmd_reset(const struct shell *shell, size_t argc, char **argv)
-{
-    ARG_UNUSED(argc);
-    ARG_UNUSED(argv);
-    
-    shell_print(shell, "Resetting system...");
-    k_msleep(100); // Give time for the message to be sent
-    sys_reboot(SYS_REBOOT_COLD);
-    
-    return 0;
-}
-
-// MCUboot serial recovery command handler
-static int cmd_recovery(const struct shell *shell, size_t argc, char **argv)
-{
-    ARG_UNUSED(argc);
-    ARG_UNUSED(argv);
-    
-    shell_print(shell, "Entering MCUboot serial recovery mode...");
-    shell_print(shell, "Corrupting current image magic to trigger recovery...");
-    
-    // Invalidate the current image by corrupting its header
-    int rc = invalidate_current_image();
-    if (rc != 0) {
-        shell_error(shell, "Failed to invalidate image: %d", rc);
-        return rc;
-    }
-    
-    shell_print(shell, "Image magic corrupted. System will reset and MCUboot will detect bad image.");
-    shell_print(shell, "MCUboot should show error and wait for recovery.");
-    k_msleep(100); // Give time for the message to be sent
-    
-    // Reset the system - MCUboot will detect invalid image and enter serial recovery
-    // log_process(true);
-    // sys_reboot(SYS_REBOOT_COLD);
-    
-    return 0;
-}
-
-// Command to show firmware info
-static int cmd_info(const struct shell *shell, size_t argc, char **argv)
-{
-    ARG_UNUSED(argc);
-    ARG_UNUSED(argv);
-    
-    const struct flash_area *fa;
-    int rc = flash_area_open(FIXED_PARTITION_ID(slot0_partition), &fa);
-    
-    if (rc != 0) {
-        shell_error(shell, "Failed to open flash area: %d", rc);
-        return rc;
-    }
-    
-    // Read the first few bytes to check the image header
-    uint32_t magic;
-    rc = flash_area_read(fa, 0, &magic, sizeof(magic));
-    if (rc == 0) {
-        shell_print(shell, "Image magic: 0x%08x", magic);
-        if (magic == IMAGE_MAGIC) {
-            shell_print(shell, "Image header is valid");
-            shell_print(shell, "Image starts at flash offset: 0x%lx", (unsigned long)fa->fa_off);
-            shell_print(shell, "Image partition size: %d bytes", fa->fa_size);
-        } else {
-            shell_print(shell, "Image header is INVALID (expected 0x%08x)", IMAGE_MAGIC);
-        }
-    } else {
-        shell_error(shell, "Failed to read image header: %d", rc);
-    }
-    
-    flash_area_close(fa);
-    return 0;
-}
-
-SHELL_CMD_REGISTER(reset, NULL, "Reset the system", cmd_reset);
-SHELL_CMD_REGISTER(recovery, NULL, "Enter MCUboot serial recovery mode", cmd_recovery);
-SHELL_CMD_REGISTER(info, NULL, "Show firmware info", cmd_info);
-
-int main(void)
-{
-    LOG_INF("Firmware Node starting up");
-    LOG_INF("Shell with reset command available");
-    LOG_INF("Serial recovery command available");
-
-    return 0;
-}

software/apps/firmware_node/sysbuild.cmake

@@ -1,4 +0,0 @@
-# Sysbuild configuration for firmware_node with MCUboot
-
-# Enable MCUboot as bootloader
-set(SB_CONFIG_BOOTLOADER_MCUBOOT TRUE)

software/apps/firmware_node/sysbuild.conf

@@ -1,5 +0,0 @@
-# Sysbuild configuration for firmware_node with MCUboot
-
-# Enable MCUboot as bootloader
-SB_CONFIG_BOOTLOADER_MCUBOOT=y
-SB_CONFIG_MCUBOOT_MODE_SINGLE_APP=y

software/apps/firmware_node/sysbuild/firmware_node.overlay

@@ -1,13 +0,0 @@
-/*
- * Copyright (c) 2021 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#include "../boards/flash_partitions_128kb.dtsi"
-
-/ {
-	chosen {
-		zephyr,code-partition = &slot0_partition;
-	};
-};

software/apps/firmware_node/sysbuild/mcuboot.conf

@@ -1,31 +0,0 @@
-# MCUboot configuration for firmware_node
-# Enable basic console and logging for debugging
-CONFIG_LOG=y
-CONFIG_BOOT_BANNER=y
-CONFIG_CONSOLE=y
-CONFIG_UART_CONSOLE=y
-CONFIG_PRINTK=y
-
-# Single slot configuration (no upgrades)
-CONFIG_SINGLE_APPLICATION_SLOT=y
-
-# Enable serial recovery mode (temporarily commented out for debugging)
-# CONFIG_MCUBOOT_SERIAL=y
-# CONFIG_BOOT_SERIAL_UART=y
-# CONFIG_BOOT_SERIAL_DETECT_PORT=y
-
-# Disable signature validation for testing to save space
-CONFIG_BOOT_SIGNATURE_TYPE_NONE=y
-
-# Size optimizations to fit in 40KB flash
-CONFIG_SIZE_OPTIMIZATIONS=y
-CONFIG_CBPRINTF_NANO=y
-CONFIG_MINIMAL_LIBC=y
-CONFIG_ASSERT=n
-
-# Disable debug features for size
-CONFIG_DEBUG_INFO=n
-CONFIG_DEBUG_OPTIMIZATIONS=n
-
-# Minimal heap for size optimization
-CONFIG_HEAP_MEM_POOL_SIZE=0

software/apps/firmware_node/sysbuild/mcuboot.overlay

@@ -1,12 +0,0 @@
-/*
- * MCUboot device tree overlay for firmware_node
- * Uses shared flash partition layout
- */
-
-#include "../boards/flash_partitions_128kb.dtsi"
-
-/ {
-	chosen {
-		zephyr,code-partition = &boot_partition;
-	};
-};

software/apps/firmware_node/sysbuild/mcuboot/boards/weact_stm32g431_core.overlay

@@ -1,33 +0,0 @@
-/*
- * MCUboot specific overlay for weact_stm32g431_core
- * This overlay defines flash partitions for MCUboot
- */
-
-&flash0 {
-	partitions {
-		compatible = "fixed-partitions";
-		#address-cells = <1>;
-		#size-cells = <1>;
-
-		boot_partition: partition@0 {
-			label = "mcuboot";
-			reg = <0x00000000 0x00008000>;
-		};
-		slot0_partition: partition@8000 {
-			label = "image-0";
-			reg = <0x00008000 0x0000E000>;
-		};
-		slot1_partition: partition@16000 {
-			label = "image-1";
-			reg = <0x00016000 0x0000E000>;
-		};
-		storage_partition: partition@24000 {
-			label = "storage";
-			reg = <0x00024000 0x00004000>;
-		};
-	};
-};
-
-&chosen {
-	zephyr,boot-partition = &boot_partition;
-};

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/VERSION

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

software/apps/slave_node/boards/weact_stm32g431_core.overlay

@@ -1,16 +1,40 @@
 / {
-    vnd7050aj: vnd7050aj {
-        compatible = "vnd7050aj-valve-controller";
-        status = "okay";
+	aliases {
+		vnd7050aj = &vnd7050aj;
+	};
 
-        // VND7050AJ GPIO pin definitions
-        in0-gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; // IN0 (PB7) - Input 0 control signal
-        in1-gpios = <&gpiob 9 GPIO_ACTIVE_HIGH>; // IN1 (PB9) - Input 1 control signal
-        rst-gpios = <&gpiob 3 GPIO_ACTIVE_HIGH>; // RST (PB3) - Reset pin for VND7050AJ
-        sen-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>; // SEN (PB4) - Sense Enable for current monitoring
-        s0-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;  // S0 (PB6) - Status/Select 0 output from VND7050AJ
-        s1-gpios = <&gpiob 5 GPIO_ACTIVE_HIGH>;  // S1 (PB5) - Status/Select 1 output from 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 = <3816>;
+	};
+};
+
+&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 {
@@ -22,43 +46,3 @@
     pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>; // PA9=TX, PA10=RX for Modbus communication
     pinctrl-names = "default";
 };
-
-&adc1 {
-    status = "okay";
-    pinctrl-0 = <&adc1_in1_pa0 &adc1_in15_pb0>;
-    pinctrl-names = "default";
-    st,adc-clock-source = "SYNC";
-    st,adc-prescaler = <1>;
-    #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_MAX>;  // Use maximum acquisition time for stability
-        zephyr,resolution = <12>;
-        zephyr,vref-mv = <2048>;  // STM32G431 VREFBUF at 2.048V
-    };
-
-    channel@15 {
-        reg = <15>;
-        zephyr,gain = "ADC_GAIN_1";
-        zephyr,reference = "ADC_REF_INTERNAL";
-        zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
-        zephyr,resolution = <12>;
-        zephyr,vref-mv = <2048>;  // STM32G431 VREFBUF at 2.048V
-    };
-};
-
-&pinctrl {
-    // Pinmux für PA0 als ADC1_IN1 (Analogmodus)
-    adc1_in1_pa0: adc1_in1_pa0 {
-        pinmux = <STM32_PINMUX('A', 0, ANALOG)>; // PA0 in den Analogmodus setzen
-    };
-
-    // Pinmux für PB0 als ADC1_IN15 (Analogmodus) - for lab supply testing
-    adc1_in15_pb0: adc1_in15_pb0 {
-        pinmux = <STM32_PINMUX('B', 0, ANALOG)>; // PB0 in den Analogmodus setzen
-    };
-};

software/apps/slave_node/cdc-acm.overlay

@@ -1,3 +1,5 @@
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
 &zephyr_udc0 {
 	cdc_acm_uart0: cdc_acm_uart0 {
 		compatible = "zephyr,cdc-acm-uart";

software/apps/slave_node/dts/bindings/vnd7050aj-valve-controller.yaml

@@ -1,35 +0,0 @@
-# VND7050AJ Valve Controller binding
-description: VND7050AJ valve controller GPIO configuration
-
-compatible: "vnd7050aj-valve-controller"
-
-properties:
-  in0-gpios:
-    type: phandle-array
-    description: GPIO for IN0 control signal
-    required: true
-
-  in1-gpios:
-    type: phandle-array
-    description: GPIO for IN1 control signal
-    required: true
-
-  rst-gpios:
-    type: phandle-array
-    description: GPIO for reset pin
-    required: true
-
-  sen-gpios:
-    type: phandle-array
-    description: GPIO for sense enable pin
-    required: true
-
-  s0-gpios:
-    type: phandle-array
-    description: GPIO for select 0 pin
-    required: true
-
-  s1-gpios:
-    type: phandle-array
-    description: GPIO for select 1 pin
-    required: true

software/apps/slave_node/prj.conf

@@ -5,6 +5,9 @@ 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
@@ -21,7 +24,6 @@ CONFIG_MODBUS=y
 CONFIG_MODBUS_ROLE_SERVER=y
 CONFIG_MODBUS_BUFFER_SIZE=256
 
-# Enable ADC driver
-CONFIG_ADC=y
-CONFIG_ADC_STM32=y
-
+# Enable VND7050AJ
+CONFIG_VND7050AJ=y
+CONFIG_LOG_VALVE_LEVEL=4

software/apps/slave_node/src/main.c

@@ -1,9 +1,9 @@
 #include <zephyr/kernel.h>
-#include <zephyr/settings/settings.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/settings/settings.h>
+#include <lib/fwu.h>
 #include <lib/modbus_server.h>
 #include <lib/valve.h>
-#include <lib/fwu.h>
 
 LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
 
@@ -23,13 +23,6 @@ int main(void)
 		return 0;
 	}
 
-	// Test supply voltage reading periodically
-	while (1) {
-		uint16_t supply_voltage = valve_get_supply_voltage();
-		LOG_INF("Supply voltage: %u mV", supply_voltage);
-		k_msleep(5000);  // Read every 5 seconds
-	}
-	
 	LOG_INF("Irrigation System Slave Node started successfully");
 	return 0;
 }

software/apps/snippets/bootloader/CMakeLists.txt

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

software/apps/snippets/bootloader/README.md

@@ -1,34 +0,0 @@
-# Firmware Node Application
-
-This Zephyr application provides firmware management capabilities for the irrigation system.
-
-**Tested on Zephyr 4.1.99**
-
-## Features
-
-### Step 1: Shell with Reset Command
-- Shell interface with custom "reset" command
-- Warm reboot functionality
-
-### Planned Features
-- MCUboot support with partition manager
-- Firmware version display
-- MCUmgr support for OTA updates
-
-## Building
-
-```bash
-west build -p auto -b weact_stm32g431_core apps/firmware_node -- -DBOARD_FLASH_RUNNER=blackmagicprobe
-```
-
-## Flashing
-
-```bash
-west flash
-```
-
-## Usage
-
-Connect to the device via serial console and use the shell:
-- `reset` - Reboot the system
-- `help` - Show available commands

software/apps/snippets/bootloader/erase.sh

@@ -1,8 +0,0 @@
-#!/bin/bash
-/home/edi/zephyr-sdk-0.17.1/arm-zephyr-eabi/bin/arm-zephyr-eabi-gdb \
-	-ex 'target extended-remote /dev/ttyACM0' \
-	-ex 'monitor swdp_scan' \
-	-ex 'attach 1' \
-	-ex 'monitor erase_mass' \
-	-ex 'detach' \
-	-ex 'quit' \

software/apps/snippets/bootloader/prj.conf

@@ -1,16 +0,0 @@
-CONFIG_SHELL=y
-CONFIG_REBOOT=y
-
-# MCUboot support for recovery request function
-CONFIG_MCUBOOT_BOOTUTIL_LIB=y
-CONFIG_MCUBOOT_IMG_MANAGER=y
-CONFIG_IMG_MANAGER=y
-
-# Flash and Stream Configuration (required for IMG_MANAGER)
-CONFIG_FLASH=y
-CONFIG_STREAM_FLASH=y
-
-# Retention system
-CONFIG_RETENTION=y
-CONFIG_RETENTION_BOOT_MODE=y
-CONFIG_RETAINED_MEM=y

software/apps/snippets/bootloader/src/main.c

@@ -1,42 +0,0 @@
-#include <zephyr/kernel.h>
-#include <app_version.h>
-#include <zephyr/shell/shell.h>
-#include <zephyr/sys/reboot.h>
-#include <zephyr/dfu/mcuboot.h>
-#include <zephyr/retention/bootmode.h>
-#include <stdlib.h>
-
-/* Shell command handler for "reset" */
-static int cmd_reset(const struct shell *sh, size_t argc, char **argv)
-{
-    shell_print(sh, "Rebooting system...");
-    k_sleep(K_MSEC(100)); // Optional delay for user to see the message
-    sys_reboot(SYS_REBOOT_WARM);
-    return 0;
-}
-
-static int cmd_download(const struct shell *sh, size_t argc, char **argv)
-{
-    int rc;
-    
-    /* Set boot mode to serial recovery */
-    rc = bootmode_set(BOOT_MODE_TYPE_BOOTLOADER);
-    if (rc < 0) {
-        shell_error(sh, "Failed to set boot mode: %d", rc);
-        return rc;
-    }
-    
-    shell_print(sh, "Boot mode set to recovery. Rebooting to bootloader...");
-    k_sleep(K_MSEC(100));
-    sys_reboot(SYS_REBOOT_WARM);
-    return 0;
-}
-
-/* Register the shell command */
-SHELL_CMD_REGISTER(reset, NULL, "Reboot the system", cmd_reset);
-SHELL_CMD_REGISTER(download, NULL, "Download firmware", cmd_download);
-
-int main(void){
-    printk("Bootloader test version %s\n", APP_VERSION_EXTENDED_STRING);
-    return 0;
-}

software/apps/snippets/bootloader/sysbuild.conf

@@ -1,5 +0,0 @@
-# Sysbuild configuration for firmware_node with MCUboot
-
-# Enable MCUboot as bootloader
-SB_CONFIG_BOOTLOADER_MCUBOOT=y
-SB_CONFIG_MCUBOOT_MODE_SINGLE_APP=y

software/apps/snippets/bootloader/sysbuild/bootloader.overlay

@@ -1,13 +0,0 @@
-/*
- * Copyright (c) 2021 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-#include "flash_partitions_128kb.dtsi"
-
-/ {
-	chosen {
-		zephyr,code-partition = &slot0_partition;
-	};
-};

software/apps/snippets/bootloader/sysbuild/flash_partitions_128kb.dtsi

@@ -1,62 +0,0 @@
-/*
- * Devicetree Overlay for 128KB Flash
- * - MCUboot Bootloader (32KB)
- * - Application Slot (96KB)
- */
-
-&flash0 {
-        /delete-node/ partitions;
-        partitions {
-                compatible = "fixed-partitions";
-                #address-cells = <1>;
-                #size-cells = <1>;
-
-                boot_partition: partition@0 {
-                        label = "mcuboot";
-                        reg = <0x00000000 DT_SIZE_K(32)>;
-                        read-only;
-                };
-
-                slot0_partition: partition@8000 {
-                        label = "image-0";
-                        reg = <0x00008000 DT_SIZE_K(96)>;
-                };
-        };
-};
-
-/* Add retention memory to the existing SRAM node */
-&sram0 {
-        #address-cells = <1>;
-        #size-cells = <1>;
-        
-        retainedmem {
-                compatible = "zephyr,retained-ram";
-                status = "okay";
-                #address-cells = <1>;
-                #size-cells = <1>;
-                
-                boot_mode: retention@7f00 {
-                        compatible = "zephyr,retention";
-                        status = "okay";
-                        reg = <0x7f00 0x100>;
-                        prefix = [08 04];
-                        checksum = <1>;
-                };
-        };
-};
-
-/ {
-        chosen {
-                zephyr,boot-mode = &boot_mode;
-                zephyr,console = &cdc_acm_uart0;
-    };
-};
-
-&zephyr_udc0 {
-    status = "okay";
-    
-    cdc_acm_uart0: cdc_acm_uart0 {
-        compatible = "zephyr,cdc-acm-uart";
-        label = "CDC_ACM_0";
-    };
-};

software/apps/snippets/bootloader/sysbuild/mcuboot.conf

@@ -1,46 +0,0 @@
-#
-# MCUboot Configuration for Serial Recovery over USB-CDC
-#
-
-# Enables serial recovery mode in MCUboot.
-CONFIG_MCUBOOT_SERIAL=y
-
-# Tell MCUboot to check for a trigger to enter recovery
-CONFIG_BOOT_SERIAL_BOOT_MODE=y
-
-# --- USB Stack Configuration ---
-CONFIG_USB_DEVICE_STACK=y
-CONFIG_USB_DEVICE_PRODUCT="MCUboot Serial Recovery"
-
-# Use USB CDC ACM for MCUboot serial recovery (not UART)
-CONFIG_BOOT_SERIAL_CDC_ACM=y
-
-# --- Disable Zephyr Console to avoid conflicts ---
-# MCUboot's serial_adapter doesn't work well with the general console subsystem.
-CONFIG_UART_CONSOLE=n
-CONFIG_CONSOLE_HANDLER=n
-CONFIG_CONSOLE=n
-
-# --- Flash and Stream Configuration (required for IMG_MANAGER) ---
-CONFIG_FLASH=y
-CONFIG_STREAM_FLASH=y
-
-# --- mcumgr Configuration ---
-# MCUMGR requires NET_BUF, even for serial transport.
-CONFIG_NET_BUF=y
-CONFIG_NET_LOG=n
-
-# Enables the mcumgr library and necessary command handlers
-CONFIG_MCUMGR=y
-CONFIG_IMG_MANAGER=y
-CONFIG_MCUMGR_GRP_IMG=y
-CONFIG_MCUMGR_GRP_OS=y
-
-# --- Retention Configuration ---
-CONFIG_RETAINED_MEM=y
-CONFIG_RETENTION=y
-CONFIG_RETENTION_BOOT_MODE=y
-
-# --- Optional: Reduce memory usage ---
-CONFIG_MAIN_STACK_SIZE=2048
-CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=1024

software/apps/snippets/bootloader/sysbuild/mcuboot.overlay

@@ -1,17 +0,0 @@
-#include "flash_partitions_128kb.dtsi"
-
-/ {
-    chosen {
-        zephyr,code-partition = &boot_partition;
-        zephyr,console = &cdc_acm_uart0;
-    };
-};
-
-&zephyr_udc0 {
-    status = "okay";
-    
-    cdc_acm_uart0: cdc_acm_uart0 {
-        compatible = "zephyr,cdc-acm-uart";
-        label = "CDC_ACM_0";
-    };
-};

software/include/lib/fwu.h

@@ -3,8 +3,45 @@
 
 #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

@@ -4,51 +4,174 @@
 #include <stdint.h>
 
 /**
- * @brief Modbus Input Register Addresses.
+ * @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.
  */
-enum
-{
-	/* Valve Control & Status */
+
+/**
+ * @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,
-	REG_INPUT_MOTOR_CURRENT_MA = 0x0001,
-	/* Digital Inputs */
+	/**
+	 * @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,
-	/* System Config & Status */
+	/**
+	 * @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.
+ * @brief Modbus Holding Register Addresses (Read/Write).
+ * @see docs/modbus-registers.de.md
  */
-enum
-{
-	/* Valve Control */
+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,
-	/* Digital Outputs */
+	/**
+	 * @brief Minimum current threshold in mA for end-position detection.
+	 */
+	REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003,
+	/**
+	 * @brief Minimum current threshold in mA for end-position detection during
+	 * closing.
+	 */
+	REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA = 0x0004,
+	/**
+	 * @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,
-	/* System Config */
+	/**
+	 * @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,
-	/* Firmware Update */
+	/**
+	 * @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

@@ -1,37 +1,167 @@
 #ifndef VALVE_H
 #define VALVE_H
 
-#include <stdint.h>
 #include <zephyr/drivers/gpio.h>
+#include <stdint.h>
 
-struct valve_gpios {
-    const struct gpio_dt_spec in0;
-    const struct gpio_dt_spec in1;
-    const struct gpio_dt_spec rst;
-    const struct gpio_dt_spec sen;
-    const struct gpio_dt_spec s0;
-    const struct gpio_dt_spec s1;
-};
+/**
+ * @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)
+
+#define VALVE_OBSTACLE_THRESHOLD_OPEN_MA 500
+#define VALVE_OBSTACLE_THRESHOLD_CLOSE_MA 500
+
+/**
+ * @brief Represents the static state of the valve (open or closed).
+ */
 enum valve_state {
-    VALVE_STATE_CLOSED,
-    VALVE_STATE_OPEN,
+	VALVE_STATE_CLOSED, /**< The valve is fully closed. */
+	VALVE_STATE_OPEN, /**< The valve is fully open. */
 };
-enum valve_movement { VALVE_MOVEMENT_IDLE, VALVE_MOVEMENT_OPENING, VALVE_MOVEMENT_CLOSING, VALVE_MOVEMENT_ERROR };
 
-void valve_init(void);
+/**
+ * @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. */
+};
+
+/**
+ * @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);
-enum valve_movement valve_get_movement(void);
-uint16_t valve_get_motor_current(void);
-uint16_t valve_get_supply_voltage(void);
 
+/**
+ * @brief Gets the current movement status of the valve.
+ *
+ * @return The current movement status.
+ */
+enum valve_movement valve_get_movement(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 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 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

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

software/lib/Kconfig

@@ -5,4 +5,5 @@ rsource "modbus_server/Kconfig"
 rsource "valve/Kconfig"
 rsource "shell_system/Kconfig"
 rsource "shell_modbus/Kconfig"
+rsource "shell_valve/Kconfig"
 endmenu

software/lib/fwu/fwu.c

@@ -1,45 +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/sys/crc.h>
-#include <zephyr/sys/byteorder.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];
-static uint32_t fwu_chunk_offset = 0;
-static uint16_t fwu_chunk_size = 0;
-static uint16_t fwu_last_chunk_crc = 0;
+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_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);
-            }
-        }
-    }
+	// 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;
+	return fwu_last_chunk_crc;
 }

software/lib/modbus_server/modbus_server.c

@@ -1,47 +1,77 @@
-#include <zephyr/kernel.h>
-#include <zephyr/drivers/uart.h>
+/**
+ * @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/modbus/modbus.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>
-#include <lib/fwu.h>
-
-#include <zephyr/usb/usb_device.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},
+    .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)
-	{
+	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)
-	{
+	switch (addr) {
 	case REG_HOLDING_MAX_OPENING_TIME_S:
 		*reg = valve_get_max_open_time();
 		break;
@@ -51,6 +81,12 @@ static int holding_reg_rd(uint16_t addr, uint16_t *reg)
 	case REG_HOLDING_WATCHDOG_TIMEOUT_S:
 		*reg = watchdog_timeout_s;
 		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA:
+		*reg = valve_get_end_current_threshold_open();
+		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA:
+		*reg = valve_get_end_current_threshold_close();
+		break;
 	default:
 		*reg = 0;
 		break;
@@ -58,22 +94,23 @@ static int holding_reg_rd(uint16_t addr, uint16_t *reg)
 	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)
-	{
+	switch (addr) {
 	case REG_HOLDING_VALVE_COMMAND:
-		if (reg == 1)
-		{
+		if (reg == 1) {
 			valve_open();
-		}
-		else if (reg == 2)
-		{
+		} else if (reg == 2) {
 			valve_close();
-		}
-		else if (reg == 0)
-		{
+		} else if (reg == 0) {
 			valve_stop();
 		}
 		break;
@@ -83,22 +120,24 @@ static int holding_reg_wr(uint16_t addr, uint16_t reg)
 	case REG_HOLDING_MAX_CLOSING_TIME_S:
 		valve_set_max_close_time(reg);
 		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA:
+		valve_set_end_current_threshold_open(reg);
+		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA:
+		valve_set_end_current_threshold_close(reg);
+		break;
 	case REG_HOLDING_WATCHDOG_TIMEOUT_S:
 		watchdog_timeout_s = reg;
-		if (watchdog_timeout_s > 0)
-		{
+		if (watchdog_timeout_s > 0) {
 			LOG_INF("Watchdog enabled with %u s timeout.", watchdog_timeout_s);
 			reset_watchdog();
-		}
-		else
-		{
+		} else {
 			LOG_INF("Watchdog disabled.");
 			k_timer_stop(&watchdog_timer);
 		}
 		break;
 	case REG_HOLDING_DEVICE_RESET:
-		if (reg == 1)
-		{
+		if (reg == 1) {
 			LOG_WRN("Modbus reset command received. Rebooting...");
 			sys_reboot(SYS_REBOOT_WARM);
 		}
@@ -110,17 +149,26 @@ static int holding_reg_wr(uint16_t addr, uint16_t reg)
 	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)
-	{
+	switch (addr) {
 	case REG_INPUT_VALVE_STATE_MOVEMENT:
 		*reg = (valve_get_movement() << 8) | (valve_get_state() & 0xFF);
 		break;
-	case REG_INPUT_MOTOR_CURRENT_MA:
-		*reg = valve_get_motor_current();
+	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);
@@ -129,16 +177,22 @@ static int input_reg_rd(uint16_t addr, uint16_t *reg)
 		*reg = (uint16_t)(uptime_s >> 16);
 		break;
 	case REG_INPUT_SUPPLY_VOLTAGE_MV:
-		*reg = 12300;
+		*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 = (0 << 8) | 0;
+		*reg = (APP_VERSION_MAJOR << 8) | APP_VERSION_MINOR;
 		break;
 	case REG_INPUT_FIRMWARE_VERSION_PATCH:
-		*reg = 2;
+		*reg = APP_PATCHLEVEL;
+		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA:
+		*reg = valve_get_end_current_threshold_open();
+		break;
+	case REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA:
+		*reg = valve_get_end_current_threshold_close();
 		break;
 	default:
 		*reg = 0;
@@ -148,9 +202,10 @@ static int input_reg_rd(uint16_t addr, uint16_t *reg)
 }
 
 static struct modbus_user_callbacks mbs_cbs = {
-	.holding_reg_rd = holding_reg_rd,
-	.holding_reg_wr = holding_reg_wr,
-	.input_reg_rd = input_reg_rd,
+    // 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)
@@ -174,13 +229,11 @@ int modbus_server_init(void)
 	const struct device *const dev = DEVICE_DT_GET(DT_PARENT(MODBUS_NODE));
 	uint32_t dtr = 0;
 
-	if (!device_is_ready(dev) || usb_enable(NULL))
-	{
+	if (!device_is_ready(dev) || usb_enable(NULL)) {
 		return 0;
 	}
 
-	while (!dtr)
-	{
+	while (!dtr) {
 		uart_line_ctrl_get(dev, UART_LINE_CTRL_DTR, &dtr);
 		k_sleep(K_MSEC(100));
 	}
@@ -188,8 +241,7 @@ int modbus_server_init(void)
 	LOG_INF("Client connected to server on %s", dev->name);
 #endif
 	modbus_iface = modbus_iface_get_by_name(iface_name);
-	if (modbus_iface < 0)
-	{
+	if (modbus_iface < 0) {
 		return modbus_iface;
 	}
 	server_param.server.user_cb = &mbs_cbs;
@@ -207,14 +259,11 @@ int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id)
 	// Try to reinitialize - this should work for most cases
 	int ret = modbus_init_server(modbus_iface, server_param);
 
-	if (ret == 0)
-	{
+	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
-	{
+	} else {
 		LOG_ERR("Failed to reconfigure Modbus: %d", ret);
 		LOG_INF("Modbus reconfiguration requires restart to take effect");
 
@@ -222,12 +271,19 @@ int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id)
 		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.");
+		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; }
+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/Kconfig

@@ -1,5 +1,7 @@
 config SHELL_MODBUS
     bool "Enable Shell Modbus"
-    default y
+    default n
+    depends on SHELL
+    depends on LIB_MODBUS_SERVER
     help
-      Enable the modnbus shell commands.
+      Enable the modbus shell commands.

software/lib/shell_modbus/shell_modbus.c

@@ -1,12 +1,29 @@
-#include <zephyr/shell/shell.h>
-#include <stdlib.h>
-#include <lib/modbus_server.h>
-#include <lib/valve.h>
+/**
+ * @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.
+ */
 
-static int cmd_modbus_set_baud(const struct shell *sh, size_t argc, char **argv)
+#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: set_baud <baudrate>");
+		shell_error(sh, "Usage: setb <baudrate>");
 		return -EINVAL;
 	}
 
@@ -23,9 +40,13 @@ static int cmd_modbus_set_baud(const struct shell *sh, size_t argc, char **argv)
 
 	if (!is_valid) {
 		char error_msg[128];
-		int offset = snprintf(error_msg, sizeof(error_msg), "Invalid baudrate. Valid rates are: ");
+		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]);
+			offset += snprintf(error_msg + offset,
+			    sizeof(error_msg) - offset,
+			    "%u ",
+			    valid_baud_rates[i]);
 		}
 		shell_error(sh, "%s", error_msg);
 		return -EINVAL;
@@ -40,10 +61,18 @@ static int cmd_modbus_set_baud(const struct shell *sh, size_t argc, char **argv)
 	return 0;
 }
 
-static int cmd_modbus_set_id(const struct shell *sh, size_t argc, char **argv)
+/**
+ * @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: set_id <slave_id>");
+		shell_error(sh, "Usage: setid <slave_id>");
 		return -EINVAL;
 	}
 
@@ -63,57 +92,28 @@ static int cmd_modbus_set_id(const struct shell *sh, size_t argc, char **argv)
 	return 0;
 }
 
-static int cmd_valve_set_open_time(const struct shell *sh, size_t argc, char **argv)
+/**
+ * @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)
 {
-    if (argc != 2) {
-        shell_error(sh, "Usage: set_open_time <seconds>");
-        return -EINVAL;
-    }
+	const int label_width = 15;
 
-    uint16_t seconds = (uint16_t)strtoul(argv[1], NULL, 10);
-    valve_set_max_open_time(seconds);
-    shell_print(sh, "Max opening time set to: %u seconds (and saved)", seconds);
-
-    return 0;
-}
-
-static int cmd_valve_set_close_time(const struct shell *sh, size_t argc, char **argv)
-{
-    if (argc != 2) {
-        shell_error(sh, "Usage: set_close_time <seconds>");
-        return -EINVAL;
-    }
-
-    uint16_t seconds = (uint16_t)strtoul(argv[1], NULL, 10);
-    valve_set_max_close_time(seconds);
-    shell_print(sh, "Max closing time set to: %u seconds (and saved)", seconds);
-
-    return 0;
-}
-
-static int cmd_config_show(const struct shell *sh, size_t argc, char **argv)
-{
-	shell_print(sh, "Current Modbus Configuration:");
-	shell_print(sh, "  Baudrate: %u", modbus_get_baudrate());
-	shell_print(sh, "  Slave ID: %u", modbus_get_unit_id());
-    shell_print(sh, "Current Valve Configuration:");
-    shell_print(sh, "  Max Opening Time: %u s", valve_get_max_open_time());
-    shell_print(sh, "  Max Closing Time: %u s", valve_get_max_close_time());
+	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(set_baud, NULL, "Set Modbus baudrate", cmd_modbus_set_baud),
-	SHELL_CMD(set_id,   NULL, "Set Modbus slave ID", cmd_modbus_set_id),
-	SHELL_SUBCMD_SET_END
-);
+    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_STATIC_SUBCMD_SET_CREATE(sub_valve_cmds,
-    SHELL_CMD(set_open_time, NULL, "Set max valve opening time", cmd_valve_set_open_time),
-    SHELL_CMD(set_close_time, NULL, "Set max valve closing time", cmd_valve_set_close_time),
-    SHELL_SUBCMD_SET_END
-);
-
-SHELL_CMD_REGISTER(modbus, &sub_modbus_cmds, "Modbus configuration", NULL);
-SHELL_CMD_REGISTER(valve, &sub_valve_cmds, "Valve configuration", NULL);
-SHELL_CMD_REGISTER(show_config, NULL, "Show all configurations", cmd_config_show);
+SHELL_CMD_REGISTER(modbus, &sub_modbus_cmds, "Modbus commands", NULL);

software/lib/shell_system/Kconfig

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

software/lib/shell_system/shell_system.c

@@ -1,6 +1,25 @@
+/**
+ * @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...");

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 +1,92 @@
+#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_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());
+	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(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/Kconfig

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

software/lib/valve/valve.c

@@ -1,216 +1,262 @@
-#include <zephyr/kernel.h>
-#include <zephyr/settings/settings.h>
-#include <zephyr/logging/log.h>
+/**
+ * @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/adc.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>
 
-LOG_MODULE_REGISTER(valve, LOG_LEVEL_DBG);
+#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);
 
-// ADC configuration for MULTISENSE (PA0)
-static const struct device *adc_dev = DEVICE_DT_GET(DT_NODELABEL(adc1));
-static const struct adc_channel_cfg adc_channel_cfg = {
-    .gain = ADC_GAIN_1,
-    .reference = ADC_REF_INTERNAL,  // STM32 only supports internal ref (1.2V)
-    .acquisition_time = ADC_ACQ_TIME_DEFAULT,  // Use default acquisition time
-    .channel_id = 1, // ADC1_IN1 (PA0)
-    .differential = 0,
-};
+LOG_MODULE_REGISTER(valve, CONFIG_LOG_VALVE_LEVEL);
 
-static const struct valve_gpios valve_gpios = {
-    .in0 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), in0_gpios),
-    .in1 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), in1_gpios),
-    .rst = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), rst_gpios),
-    .sen = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), sen_gpios),
-    .s0 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), s0_gpios),
-    .s1 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), s1_gpios),
-};
-
-static enum valve_state current_state = VALVE_STATE_CLOSED;
+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 = 60;
-static uint16_t max_closing_time_s = 60;
+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;
+static uint16_t end_current_threshold_close_ma = 10;
 static struct k_work_delayable valve_work;
+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)
 {
-    gpio_pin_set_dt(&valve_gpios.in0, 0);
-    gpio_pin_set_dt(&valve_gpios.in1, 0);
-    gpio_pin_set_dt(&valve_gpios.rst, 0);
+	int current_ma = 0;
 
-    if (current_movement == VALVE_MOVEMENT_OPENING) {
-        LOG_INF("Valve finished opening");
-    } else if (current_movement == VALVE_MOVEMENT_CLOSING) {
-        current_state = VALVE_STATE_CLOSED;
-        LOG_INF("Valve finished closing");
-    }
-    current_movement = VALVE_MOVEMENT_IDLE;
+	if (current_movement == VALVE_MOVEMENT_OPENING) {
+		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_OPEN, &current_ma);
+		LOG_DBG("Current load during opening: %d mA", current_ma);
+		if (current_ma > VALVE_OBSTACLE_THRESHOLD_OPEN_MA) {
+			LOG_ERR(
+			    "Obstacle detected during opening (current: %d mA), stopping motor.",
+			    current_ma);
+			current_movement = VALVE_MOVEMENT_ERROR;
+			valve_stop();
+			goto work_handler_cleanup;
+		} else if (current_ma > end_current_threshold_open_ma) {
+			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
+			return;
+		}
+		LOG_DBG("Valve finished opening");
+	} else if (current_movement == VALVE_MOVEMENT_CLOSING) {
+		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, &current_ma);
+		LOG_DBG("Current load during closing: %d mA", current_ma);
+		if (current_ma > VALVE_OBSTACLE_THRESHOLD_CLOSE_MA) {
+			LOG_ERR(
+			    "Obstacle detected during closing (current: %d mA), stopping motor.",
+			    current_ma);
+			current_movement = VALVE_MOVEMENT_ERROR;
+			valve_stop();
+			goto work_handler_cleanup;
+		} else if (current_ma > end_current_threshold_close_ma) {
+			k_work_schedule(&valve_work, VALVE_ENDPOSITION_CHECK_INTERVAL);
+			return;
+		}
+		current_state = VALVE_STATE_CLOSED;
+		LOG_DBG("Valve finished closing");
+	}
+	current_movement = VALVE_MOVEMENT_IDLE;
+
+work_handler_cleanup:
+	// 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 valve_init(void)
+/**
+ * @brief Timer handler for valve movement timeouts.
+ *
+ * This function is called when the maximum allowed time for valve movement
+ * (opening or closing) has been reached. It stops the valve motor, cancels
+ * any pending end-position checks, and sets the movement status to error.
+ *
+ * @param timer Pointer to the k_timer instance that expired.
+ */
+void movement_timeout_handler(struct k_timer *timer)
 {
-    k_work_init_delayable(&valve_work, valve_work_handler);
-    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));
+	// 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;
+}
 
-    // Initialize ADC for MULTISENSE
-    if (!device_is_ready(adc_dev)) {
-        LOG_ERR("ADC device not ready");
-        return;
-    }
+int valve_init(void)
+{
+	if (!device_is_ready(vnd7050aj_dev)) {
+		LOG_ERR("VND7050AJ device is not ready");
+		return -ENODEV;
+	}
 
-    int ret = adc_channel_setup(adc_dev, &adc_channel_cfg);
-    if (ret < 0) {
-        LOG_ERR("Could not setup ADC channel (%d)", ret);
-        return;
-    }
+	k_work_init_delayable(&valve_work, valve_work_handler);
+	k_timer_init(&movement_timer, movement_timeout_handler, NULL);
 
-    gpio_pin_configure_dt(&valve_gpios.in0, GPIO_OUTPUT_INACTIVE); // IN0 control pin - output, deactivate
-    gpio_pin_configure_dt(&valve_gpios.in1, GPIO_OUTPUT_INACTIVE); // IN1 control pin - output, deactivate
-    gpio_pin_configure_dt(&valve_gpios.rst, GPIO_OUTPUT_INACTIVE);  // Keep VND7050AJ in reset
-    gpio_pin_configure_dt(&valve_gpios.sen, GPIO_OUTPUT_INACTIVE);  // Sensor enable pin - output, inactive
-    // S0 and S1 pins are used for selecting the valve state, they are initially inactive
-    // and will be set to active when the valve is opened or closed.
-    gpio_pin_configure_dt(&valve_gpios.s0, GPIO_OUTPUT_INACTIVE);  // S0 select pin - output
-    gpio_pin_configure_dt(&valve_gpios.s1, GPIO_OUTPUT_INACTIVE);  // S1 select pin - output
+	settings_load_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s));
+	settings_load_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s));
+	settings_load_one("valve/end_current_threshold_open",
+	    &end_current_threshold_open_ma,
+	    sizeof(end_current_threshold_open_ma));
+	settings_load_one("valve/end_current_threshold_close",
+	    &end_current_threshold_close_ma,
+	    sizeof(end_current_threshold_close_ma));
 
-    LOG_INF("Valve initialized: max_open=%us, max_close=%us", max_opening_time_s, max_closing_time_s);
+	LOG_INF("Valve initialized: max_open=%us, max_close=%us, end_curr_open=%umA, "
+	        "end_curr_close=%umA",
+	    max_opening_time_s,
+	    max_closing_time_s,
+	    end_current_threshold_open_ma,
+	    end_current_threshold_close_ma);
+	valve_close();
+	return 0;
 }
 
 void valve_open(void)
 {
-    if (current_state == VALVE_STATE_CLOSED) {
-        gpio_pin_set_dt(&valve_gpios.rst, 1);
-        gpio_pin_set_dt(&valve_gpios.in1, 0);
-        gpio_pin_set_dt(&valve_gpios.in0, 1);
-        current_state = VALVE_STATE_OPEN;
-        current_movement = VALVE_MOVEMENT_OPENING;
-        k_work_schedule(&valve_work, K_MSEC(max_opening_time_s * 1000 * 0.9));
-    }
+	LOG_DBG("Opening valve");
+	vnd7050aj_reset_fault(vnd7050aj_dev);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, false);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, true);
+	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)
 {
-    if (current_state == VALVE_STATE_OPEN) {
-        gpio_pin_set_dt(&valve_gpios.rst, 1);
-        gpio_pin_set_dt(&valve_gpios.in0, 0);
-        gpio_pin_set_dt(&valve_gpios.in1, 1);
-        current_movement = VALVE_MOVEMENT_CLOSING;
-        k_work_schedule(&valve_work, K_MSEC(max_closing_time_s * 1000 * 0.9));
-    }
+	LOG_DBG("Closing valve");
+	vnd7050aj_reset_fault(vnd7050aj_dev);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_OPEN, false);
+	vnd7050aj_set_output_state(vnd7050aj_dev, VALVE_CHANNEL_CLOSE, true);
+	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);
-    current_movement = VALVE_MOVEMENT_IDLE;
+	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; }
-
-uint16_t valve_get_supply_voltage(void)
+enum valve_state valve_get_state(void)
 {
-    LOG_INF("=== ADC TEST MODE - PA0 LAB SUPPLY TEST ===");
-    LOG_INF("Connect lab supply to PA0. Recommended: 1.0V");
-    LOG_INF("Expected raw value for 1.0V: ~2007 (using 2.048V VREFBUF)");
-    LOG_INF("ADC range: 0-2.048V (STM32G431 VREFBUF internal reference)");
-    LOG_INF("");
-    
-    // No VND7050AJ configuration - pure ADC test
-    // Just make sure pins are in safe state
-    gpio_pin_configure_dt(&valve_gpios.rst, GPIO_OUTPUT);
-    gpio_pin_configure_dt(&valve_gpios.sen, GPIO_OUTPUT); 
-    gpio_pin_configure_dt(&valve_gpios.s0, GPIO_OUTPUT);
-    gpio_pin_configure_dt(&valve_gpios.s1, GPIO_OUTPUT);
-    gpio_pin_configure_dt(&valve_gpios.in0, GPIO_OUTPUT);
-    gpio_pin_configure_dt(&valve_gpios.in1, GPIO_OUTPUT);
-    
-    // Set all VND7050AJ pins LOW for safety
-    gpio_pin_set_dt(&valve_gpios.rst, 0);
-    gpio_pin_set_dt(&valve_gpios.s0, 0);
-    gpio_pin_set_dt(&valve_gpios.s1, 0);
-    gpio_pin_set_dt(&valve_gpios.sen, 0);
-    gpio_pin_set_dt(&valve_gpios.in0, 0);
-    gpio_pin_set_dt(&valve_gpios.in1, 0);
-    
-    LOG_INF("VND7050AJ disabled - all pins LOW");
-    LOG_INF("PA0 is now isolated for lab supply testing");
-    k_msleep(100);
-    
-    // Setup simple ADC sequence
-    int16_t buf;
-    struct adc_sequence sequence = {
-        .buffer = &buf,
-        .buffer_size = sizeof(buf),
-        .channels = BIT(adc_channel_cfg.channel_id),
-        .resolution = 12,
-    };
-    
-    LOG_INF("Starting continuous ADC readings every 500ms...");
-    
-    // Continuous monitoring loop with improved stability
-    int reading_count = 0;
-    int32_t samples[10];  // Buffer for averaging
-    
-    while (1) {
-        // Take multiple samples and average them for stability
-        int valid_samples = 0;
-        int32_t sum = 0;
-        
-        for (int i = 0; i < 10; i++) {
-            k_msleep(50);  // Longer delay between samples for stability
-            int adc_ret = adc_read(adc_dev, &sequence);
-            
-            if (adc_ret == 0 && buf > 100) {  // Filter out near-zero readings (floating input)
-                samples[i] = buf;
-                sum += buf;
-                valid_samples++;
-            } else {
-                LOG_WRN("Sample %d invalid: raw=%d, ret=%d", i, buf, adc_ret);
-                samples[i] = 0;  // Mark as invalid
-            }
-        }
-        
-        if (valid_samples > 0) {
-            // Calculate average
-            int32_t avg_raw = sum / valid_samples;
-            
-            // Calculate voltage using the correct VREFBUF reference (2.048V)
-            int32_t pa0_mv = (avg_raw * 2048) / 4096;  // Using 2.048V VREFBUF
-            
-            // Calculate standard deviation to show stability
-            int32_t variance = 0;
-            for (int i = 0; i < valid_samples; i++) {
-                int32_t diff = samples[i] - avg_raw;
-                variance += diff * diff;
-            }
-            int32_t std_dev = (valid_samples > 1) ? variance / (valid_samples - 1) : 0;
-            
-            // Find min/max for this sample set
-            int32_t min_raw = samples[0], max_raw = samples[0];
-            for (int i = 1; i < valid_samples; i++) {
-                if (samples[i] < min_raw) min_raw = samples[i];
-                if (samples[i] > max_raw) max_raw = samples[i];
-            }
-            
-            LOG_INF("Reading %d: avg_raw=%d (%dmV) | range=%d-%d | std_dev=%d | samples=%d/10", 
-                    reading_count, (int)avg_raw, (int)pa0_mv,
-                    (int)min_raw, (int)max_raw, (int)std_dev, valid_samples);
-        } else {
-            LOG_ERR("Reading %d: All ADC samples failed", reading_count);
-        }
-        
-        reading_count++;
-        k_msleep(400);  // Wait before next reading set
-    }
-    
-    return 0;  // Never reached
+	return current_state;
+}
+enum valve_movement valve_get_movement(void)
+{
+	return current_movement;
 }
 
-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)); }
-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; }
+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));
+}
+
+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;
+}
+
+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/serial_monitor.py

@@ -1,43 +0,0 @@
-#!/usr/bin/env python3
-import serial
-import time
-import sys
-import argparse
-
-def monitor_serial(port):
-    try:
-        # Open serial connection
-        ser = serial.Serial(port, 115200, timeout=1)
-        print(f"Connected to {port}")
-        
-        # Send reset command
-        ser.write(b'reset\n')
-        print("Sent reset command")
-        
-        # Wait a bit and then read output
-        time.sleep(0.5)
-        
-        # Read output for 10 seconds
-        start_time = time.time()
-        while 1: #time.time() - start_time < 10:
-            if ser.in_waiting > 0:
-                data = ser.read(ser.in_waiting)
-                try:
-                    text = data.decode('utf-8', errors='ignore')
-                    print(text, end='')
-                except:
-                    print(f"Raw bytes: {data}")
-            time.sleep(0.1)
-        
-        ser.close()
-        print("\nSerial monitor closed")
-        
-    except Exception as e:
-        print(f"Error: {e}")
-        sys.exit(1)
-
-if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description='Serial monitor.')
-    parser.add_argument('-p', '--port', help='Serial port to connect to', required=True)
-    args = parser.parse_args()
-    monitor_serial(args.port)

software/serial_reset_monitor.py

@@ -1,55 +0,0 @@
-#!/usr/bin/env python3
-import serial
-import time
-import sys
-
-def monitor_serial_with_reset():
-    try:
-        # Open serial port
-        ser = serial.Serial('/dev/ttyACM1', 115200, timeout=1)
-        print("Serial port opened successfully")
-        
-        # Clear any existing data
-        ser.flushInput()
-        ser.flushOutput()
-        
-        # Send reset command
-        print("Sending reset command...")
-        ser.write(b"reset\n")
-        time.sleep(0.1)
-        
-        # Read output for 10 seconds
-        print("Reading serial output...")
-        start_time = time.time()
-        output_lines = []
-        
-        while time.time() - start_time < 10:
-            if ser.in_waiting > 0:
-                try:
-                    line = ser.readline().decode('utf-8', errors='replace').strip()
-                    if line:
-                        print(f"[{time.time() - start_time:.3f}s] {line}")
-                        output_lines.append(line)
-                except Exception as e:
-                    print(f"Error reading line: {e}")
-            time.sleep(0.01)
-        
-        ser.close()
-        print("\nSerial monitoring complete")
-        
-        # Summary
-        print("\n=== SUMMARY ===")
-        supply_voltage_lines = [line for line in output_lines if "Supply voltage" in line]
-        if supply_voltage_lines:
-            print("Supply voltage readings:")
-            for line in supply_voltage_lines:
-                print(f"  {line}")
-        else:
-            print("No supply voltage readings found")
-            
-    except Exception as e:
-        print(f"Error: {e}")
-        sys.exit(1)
-
-if __name__ == "__main__":
-    monitor_serial_with_reset()

software/tools/modbus_tool/modbus_tool.py

@@ -11,7 +11,8 @@ from pymodbus.exceptions import ModbusException
 # --- Register Definitions ---
 # (omitted for brevity, no changes here)
 REG_INPUT_VALVE_STATE_MOVEMENT = 0x0000
-REG_INPUT_MOTOR_CURRENT_MA = 0x0001
+REG_INPUT_MOTOR_OPEN_CURRENT_MA = 0x0001
+REG_INPUT_MOTOR_CLOSE_CURRENT_MA = 0x0002
 REG_INPUT_DIGITAL_INPUTS_STATE = 0x0020
 REG_INPUT_BUTTON_EVENTS = 0x0021
 REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR = 0x00F0
@@ -24,6 +25,8 @@ REG_INPUT_FWU_LAST_CHUNK_CRC = 0x0100
 REG_HOLDING_VALVE_COMMAND = 0x0000
 REG_HOLDING_MAX_OPENING_TIME_S = 0x0001
 REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002
+REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA = 0x0003
+REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA = 0x0004
 REG_HOLDING_DIGITAL_OUTPUTS_STATE = 0x0010
 REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0
 REG_HOLDING_DEVICE_RESET = 0x00F1
@@ -83,14 +86,15 @@ def poll_status(slave_id, interval):
                     continue
 
             # If connected, try to read data
-            ir_valve = client.read_input_registers(REG_INPUT_VALVE_STATE_MOVEMENT, count=2, slave=slave_id)
+            ir_valve = client.read_input_registers(REG_INPUT_VALVE_STATE_MOVEMENT, count=1, slave=slave_id)
+            ir_current = client.read_input_registers(REG_INPUT_MOTOR_OPEN_CURRENT_MA, count=2, slave=slave_id)
             ir_dig = client.read_input_registers(REG_INPUT_DIGITAL_INPUTS_STATE, count=2, slave=slave_id)
             ir_sys = client.read_input_registers(REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR, count=6, slave=slave_id)
-            hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=2, slave=slave_id)
+            hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, count=4, slave=slave_id)
             hr_dig = client.read_holding_registers(REG_HOLDING_DIGITAL_OUTPUTS_STATE, count=1, slave=slave_id)
             hr_sys = client.read_holding_registers(REG_HOLDING_WATCHDOG_TIMEOUT_S, count=1, slave=slave_id)
 
-            for res in [ir_valve, ir_dig, ir_sys, hr_valve, hr_dig, hr_sys]:
+            for res in [ir_valve, ir_current, ir_dig, ir_sys, hr_valve, hr_dig, hr_sys]:
                 if res.isError():
                     raise ModbusException(str(res))
             
@@ -99,9 +103,12 @@ def poll_status(slave_id, interval):
             state_map = {0: "Closed", 1: "Open"}
             new_data["movement"] = movement_map.get(valve_state_raw >> 8, 'Unknown')
             new_data["state"] = state_map.get(valve_state_raw & 0xFF, 'Unknown')
-            new_data["motor_current"] = f"{ir_valve.registers[1]} mA"
+            new_data["motor_current_open"] = f"{ir_current.registers[0]} mA"
+            new_data["motor_current_close"] = f"{ir_current.registers[1]} mA"
             new_data["open_time"] = f"{hr_valve.registers[0]}s"
             new_data["close_time"] = f"{hr_valve.registers[1]}s"
+            new_data["end_curr_open"] = f"{hr_valve.registers[2]}mA"
+            new_data["end_curr_close"] = f"{hr_valve.registers[3]}mA"
             new_data["digital_inputs"] = f"0x{ir_dig.registers[0]:04X}"
             new_data["button_events"] = f"0x{ir_dig.registers[1]:04X}"
             new_data["digital_outputs"] = f"0x{hr_dig.registers[0]:04X}"
@@ -182,7 +189,7 @@ def file_browser(stdscr):
     selected_index = 0
     
     while True:
-        stdscr.clear()
+        stdscr.erase()
         h, w = stdscr.getmaxyx()
         stdscr.addstr(0, 0, f"Select Firmware File: {path}".ljust(w-1), curses.color_pair(2))
         
@@ -226,7 +233,9 @@ def main_menu(stdscr, slave_id):
     curses.start_color(); curses.init_pair(1, curses.COLOR_WHITE, curses.COLOR_BLUE); curses.init_pair(2, curses.COLOR_BLUE, curses.COLOR_WHITE); curses.init_pair(3, curses.COLOR_RED, curses.COLOR_BLUE)
     stdscr.bkgd(' ', curses.color_pair(1))
 
-    menu = ["Open Valve", "Close Valve", "Stop Valve", "Toggle Output 1", "Toggle Output 2", "Set Watchdog", "Reset Node", "Firmware Update", "Exit"]
+    menu = ["Open Valve", "Close Valve", "Stop Valve", "Settings", "Reset Node", "Firmware Update", "Exit"]
+    settings_menu = ["Set Max Open Time", "Set Max Close Time", "Set End Current Open", "Set End Current Close", "Set Watchdog", "Back"]
+    current_menu = menu
     current_row_idx = 0
     message, message_time = "", 0
     input_mode, input_prompt, input_str, input_target_reg = False, "", "", 0
@@ -250,22 +259,25 @@ def main_menu(stdscr, slave_id):
             elif key == curses.KEY_BACKSPACE or key == 127: input_str = input_str[:-1]
             elif key != -1 and chr(key).isprintable(): input_str += chr(key)
         else:
-            if key == curses.KEY_UP: current_row_idx = (current_row_idx - 1) % len(menu)
-            elif key == curses.KEY_DOWN: current_row_idx = (current_row_idx + 1) % len(menu)
+            if key == curses.KEY_UP: current_row_idx = (current_row_idx - 1) % len(current_menu)
+            elif key == curses.KEY_DOWN: current_row_idx = (current_row_idx + 1) % len(current_menu)
             elif key == curses.KEY_ENTER or key in [10, 13]:
-                selected_option = menu[current_row_idx]
+                selected_option = current_menu[current_row_idx]
                 message_time = time.time()
                 if selected_option == "Exit": stop_event.set(); continue
+                elif selected_option == "Back": current_menu = menu; current_row_idx = 0; continue
+                elif selected_option == "Settings": current_menu = settings_menu; current_row_idx = 0; continue
                 elif selected_option == "Open Valve": client.write_register(REG_HOLDING_VALVE_COMMAND, 1, slave=slave_id); message = "-> Sent OPEN command"
                 elif selected_option == "Close Valve": client.write_register(REG_HOLDING_VALVE_COMMAND, 2, slave=slave_id); message = "-> Sent CLOSE command"
                 elif selected_option == "Stop Valve": client.write_register(REG_HOLDING_VALVE_COMMAND, 0, slave=slave_id); message = "-> Sent STOP command"
-                elif "Toggle Output" in selected_option:
-                    bit = 0 if "1" in selected_option else 1
-                    try:
-                        current_val = client.read_holding_registers(REG_HOLDING_DIGITAL_OUTPUTS_STATE, count=1, slave=slave_id).registers[0]
-                        client.write_register(REG_HOLDING_DIGITAL_OUTPUTS_STATE, current_val ^ (1 << bit), slave=slave_id)
-                        message = f"-> Toggled Output {bit+1}"
-                    except Exception as e: message = f"-> Error: {e}"
+                elif selected_option == "Set Max Open Time":
+                    input_mode, input_prompt, input_target_reg = True, "Enter Max Open Time (s): ", REG_HOLDING_MAX_OPENING_TIME_S
+                elif selected_option == "Set Max Close Time":
+                    input_mode, input_prompt, input_target_reg = True, "Enter Max Close Time (s): ", REG_HOLDING_MAX_CLOSING_TIME_S
+                elif selected_option == "Set End Current Open":
+                    input_mode, input_prompt, input_target_reg = True, "Enter End Current Threshold Open (mA): ", REG_HOLDING_END_CURRENT_THRESHOLD_OPEN_MA
+                elif selected_option == "Set End Current Close":
+                    input_mode, input_prompt, input_target_reg = True, "Enter End Current Threshold Close (mA): ", REG_HOLDING_END_CURRENT_THRESHOLD_CLOSE_MA
                 elif selected_option == "Set Watchdog":
                     input_mode, input_prompt, input_target_reg = True, "Enter Watchdog Timeout (s): ", REG_HOLDING_WATCHDOG_TIMEOUT_S
                 elif selected_option == "Reset Node":
@@ -281,7 +293,7 @@ def main_menu(stdscr, slave_id):
                     else:
                         message = "-> Firmware update cancelled."
 
-        stdscr.clear()
+        stdscr.erase()
         if is_updating:
             with update_lock: prog, msg = update_status["progress"], update_status["message"]
             stdscr.addstr(h // 2 - 1, w // 2 - 25, "FIRMWARE UPDATE IN PROGRESS", curses.A_BOLD | curses.color_pair(2))
@@ -295,25 +307,28 @@ def main_menu(stdscr, slave_id):
                 col1, col2, col3, col4 = 2, 30, 58, 88
                 stdscr.addstr(1, col1, "State:", bold); stdscr.addstr(1, col1 + 18, str(current_data.get('state', 'N/A')), normal)
                 stdscr.addstr(2, col1, "Movement:", bold); stdscr.addstr(2, col1 + 18, str(current_data.get('movement', 'N/A')), normal)
-                stdscr.addstr(3, col1, "Motor Current:", bold); stdscr.addstr(3, col1 + 18, str(current_data.get('motor_current', 'N/A')), normal)
+                stdscr.addstr(3, col1, "Open Current:", bold); stdscr.addstr(3, col1 + 18, str(current_data.get('motor_current_open', 'N/A')), normal)
+                stdscr.addstr(4, col1, "Close Current:", bold); stdscr.addstr(4, col1 + 18, str(current_data.get('motor_current_close', 'N/A')), normal)
                 stdscr.addstr(1, col2, "Digital Inputs:", bold); stdscr.addstr(1, col2 + 18, str(current_data.get('digital_inputs', 'N/A')), normal)
                 stdscr.addstr(2, col2, "Digital Outputs:", bold); stdscr.addstr(2, col2 + 18, str(current_data.get('digital_outputs', 'N/A')), normal)
                 stdscr.addstr(3, col2, "Button Events:", bold); stdscr.addstr(3, col2 + 18, str(current_data.get('button_events', 'N/A')), normal)
                 stdscr.addstr(1, col3, "Max Open Time:", bold); stdscr.addstr(1, col3 + 16, str(current_data.get('open_time', 'N/A')), normal)
                 stdscr.addstr(2, col3, "Max Close Time:", bold); stdscr.addstr(2, col3 + 16, str(current_data.get('close_time', 'N/A')), normal)
                 stdscr.addstr(3, col3, "Watchdog:", bold); stdscr.addstr(3, col3 + 16, str(current_data.get('watchdog', 'N/A')), normal)
+                stdscr.addstr(4, col3, "End Curr Open:", bold); stdscr.addstr(4, col3 + 16, str(current_data.get('end_curr_open', 'N/A')), normal)
+                stdscr.addstr(5, col3, "End Curr Close:", bold); stdscr.addstr(5, col3 + 16, str(current_data.get('end_curr_close', 'N/A')), normal)
                 stdscr.addstr(1, col4, "Firmware:", bold); stdscr.addstr(1, col4 + 14, str(current_data.get('firmware', 'N/A')), normal)
                 stdscr.addstr(2, col4, "Uptime:", bold); stdscr.addstr(2, col4 + 14, str(current_data.get('uptime', 'N/A')), normal)
                 stdscr.addstr(3, col4, "Dev. Status:", bold); stdscr.addstr(3, col4 + 14, str(current_data.get('device_status', 'N/A')), normal)
                 stdscr.addstr(4, col4, "Supply V:", bold); stdscr.addstr(4, col4 + 14, str(current_data.get('supply_voltage', 'N/A')), normal)
-            stdscr.addstr(5, 0, "─" * (w - 1), normal)
-            for idx, row in enumerate(menu):
-                draw_button(stdscr, h // 2 - len(menu) + (idx * 2), w // 2 - len(row) // 2, row, idx == current_row_idx)
+            stdscr.addstr(6, 0, "─" * (w - 1), normal)
+            for idx, row in enumerate(current_menu):
+                draw_button(stdscr, 7 + (idx * 2), w // 2 - len(row) // 2, row, idx == current_row_idx)
             if time.time() - message_time < 2.0: stdscr.addstr(h - 2, 0, message.ljust(w - 1), curses.color_pair(1) | curses.A_BOLD)
             if input_mode:
                 curses.curs_set(1); stdscr.addstr(h - 2, 0, (input_prompt + input_str).ljust(w-1), curses.color_pair(2)); stdscr.move(h - 2, len(input_prompt) + len(input_str))
             else: curses.curs_set(0)
-        stdscr.refresh()
+        curses.doupdate()
 
 def main():
     global client