feat(can): Add CAN ID definitions

This commit introduces the CAN ID definitions for the irrigation system.
It defines the structure of the CAN IDs and macros for priority and function.
Signed-off-by: Eduard Iten <eduard@iten.pro>

.gitignore

@@ -1 +1,65 @@
 **/build
+
+# Zephyr build directories
+build/
+build-*/
+*/build/
+**/build/
+
+# Zephyr out-of-tree build directories
+out-of-tree-build/
+
+# Files generated by the build system
+zephyr.elf
+zephyr.bin
+zephyr.hex
+zephyr.map
+zephyr.strip
+zephyr.lst
+zephyr.asm
+zephyr.stat
+zephyr.a
+zephyr.o
+*.o
+*.a
+*.so
+*.so.*
+*.dll
+*.exe
+
+# Cmake
+CMakeCache.txt
+CMakeFiles/
+cmake_install.cmake
+CTestTestfile.cmake
+compile_commands.json
+
+# Kconfig generated files
+.config
+.config.old
+autoconf.h
+
+# Doxygen
+doxygen/
+
+# west
+.west/
+west.yml.bak
+
+# Editor-specific files
+.vscode/
+.idea/
+*.swp
+*~
+*.bak
+*.orig
+
+# Python
+__pycache__/
+*.pyc
+
+# Mac OS X
+.DS_Store
+
+# Windows
+Thumbs.db

software/apps/can_node/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.20)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+
+project(can_node LANGUAGES C)
+
+zephyr_include_directories(../../include)
+add_subdirectory(../../lib lib)
+
+target_sources(app PRIVATE src/main.c)

software/apps/can_node/Kconfig

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

software/apps/can_node/VERSION

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

software/apps/can_node/boards/bluepill_f103rb.conf

@@ -0,0 +1,7 @@
+# Disable UART console
+CONFIG_UART_CONSOLE=n
+
+# Enable RTT console
+CONFIG_RTT_CONSOLE=y
+CONFIG_USE_SEGGER_RTT=y
+CONFIG_SHELL_BACKEND_RTT=y

software/apps/can_node/boards/bluepill_f103rb.overlay

@@ -0,0 +1,43 @@
+/ {
+    chosen {
+        zephyr,console = &rtt;
+        zephyr,shell = &rtt;
+        zephyr,settings-partition = &storage_partition;
+    };
+
+    rtt: rtt {
+        compatible = "segger,rtt-uart";
+        #address-cells = <1>;
+        #size-cells = <0>;
+        label = "RTT";
+        status = "okay";
+    };
+};
+
+&flash0 {
+    partitions {
+        compatible = "fixed-partitions";
+        #address-cells = <1>;
+        #size-cells = <1>;
+
+        /* Application partition starts at the beginning of flash */
+        slot0_partition: partition@0 {
+            label = "image-0";
+            reg = <0x00000000 DT_SIZE_K(120)>;
+        };
+
+        /* Use the last 8K for settings */
+        storage_partition: partition@1E000 {
+            label = "storage";
+            reg = <0x0001E000 DT_SIZE_K(8)>;
+        };
+    };
+};
+
+&usart1 {
+	modbus0 {
+		compatible = "zephyr,modbus-serial";
+		status = "okay";
+	};
+	status = "okay";
+};

software/apps/can_node/boards/native_sim.overlay

@@ -0,0 +1,47 @@
+/ {
+	aliases {
+		vnd7050aj = &vnd7050aj;
+	};
+
+	vnd7050aj: vnd7050aj {
+		compatible = "st,vnd7050aj";
+		status = "okay";
+
+		input0-gpios = <&gpio0 1 GPIO_ACTIVE_HIGH>;
+		input1-gpios = <&gpio0 2 GPIO_ACTIVE_HIGH>;
+		select0-gpios = <&gpio0 3 GPIO_ACTIVE_HIGH>;
+		select1-gpios = <&gpio0 4 GPIO_ACTIVE_HIGH>;
+		sense-enable-gpios = <&gpio0 5 GPIO_ACTIVE_HIGH>;
+		fault-reset-gpios = <&gpio0 6 GPIO_ACTIVE_LOW>;
+		io-channels = <&adc0 0>;
+		r-sense-ohms = <1500>;
+		k-vcc = <4000>;
+	};
+
+	modbus_uart: uart_2 {
+		compatible = "zephyr,native-pty-uart";
+		status = "okay";
+		current-speed = <19200>;
+
+		modbus0: modbus0 {
+			compatible = "zephyr,modbus-serial";
+			status = "okay";
+		};
+	};
+
+};
+
+&adc0 {
+	#address-cells = <1>;
+	#size-cells = <0>;
+	ref-internal-mv = <3300>;
+	ref-external1-mv = <5000>;
+
+	channel@0 {
+		reg = <0>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};

software/apps/can_node/boards/weact_stm32g431_core.overlay

@@ -0,0 +1,48 @@
+/ {
+	aliases {
+		vnd7050aj = &vnd7050aj;
+	};
+
+	vnd7050aj: vnd7050aj {
+		compatible = "st,vnd7050aj";
+		status = "okay";
+
+		input0-gpios = <&gpiob 3 GPIO_ACTIVE_HIGH>;
+		input1-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>;
+		select0-gpios = <&gpiob 0 GPIO_ACTIVE_HIGH>;
+		select1-gpios = <&gpiob 1 GPIO_ACTIVE_HIGH>;
+		sense-enable-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;
+		fault-reset-gpios = <&gpiob 5 GPIO_ACTIVE_LOW>;
+		io-channels = <&adc1 1>;
+		r-sense-ohms = <1500>;
+		k-vcc = <4000>;
+	};
+};
+
+&adc1 {
+	status = "okay";
+	pinctrl-0 = <&adc1_in1_pa0>;
+	pinctrl-names = "default";
+	st,adc-clock-source = "SYNC";
+	st,adc-prescaler = <4>;
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	channel@1 {
+		reg = <1>;
+		zephyr,gain = "ADC_GAIN_1";
+		zephyr,reference = "ADC_REF_INTERNAL";
+		zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+		zephyr,resolution = <12>;
+	};
+};
+
+&usart1 {
+	modbus0 {
+		compatible = "zephyr,modbus-serial";
+		status = "okay";
+	};
+	status = "okay";
+    pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>; // PA9=TX, PA10=RX for Modbus communication
+    pinctrl-names = "default";
+};

software/apps/can_node/cdc-acm.overlay

@@ -0,0 +1,16 @@
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
+&zephyr_udc0 {
+	cdc_acm_uart0: cdc_acm_uart0 {
+		compatible = "zephyr,cdc-acm-uart";
+
+		modbus0 {
+			compatible = "zephyr,modbus-serial";
+			status = "okay";
+		};
+	};
+};
+
+&usart1 {
+	/delete-node/ modbus0;
+};

software/apps/can_node/dts/bindings/st,vnd7050aj.yaml

@@ -0,0 +1,88 @@
+# Copyright (c) 2024, Eduard Iten
+# SPDX-License-Identifier: Apache-2.0
+
+description: |
+  STMicroelectronics VND7050AJ dual-channel high-side driver.
+  This is a GPIO and ADC controlled device.
+
+compatible: "st,vnd7050aj"
+
+include: base.yaml
+
+properties:
+  input0-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to control output channel 0.
+
+  input1-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to control output channel 1.
+
+  select0-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO for MultiSense selection bit 0.
+
+  select1-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO for MultiSense selection bit 1.
+
+  sense-enable-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to enable the MultiSense output.
+
+  fault-reset-gpios:
+    type: phandle-array
+    required: true
+    description: GPIO to reset a latched fault (active-low).
+
+  io-channels:
+    type: phandle-array
+    required: true
+    description: |
+      ADC channel connected to the MultiSense pin. This should be an
+      io-channels property pointing to the ADC controller and channel number.
+
+  r-sense-ohms:
+    type: int
+    required: true
+    description: |
+      Value of the external sense resistor connected from the MultiSense
+      pin to GND, specified in Ohms. This is critical for correct
+      conversion of the analog readings.
+
+  k-factor:
+    type: int
+    default: 1500
+    description: |
+      Factor between PowerMOS and SenseMOS.
+
+  k-vcc:
+    type: int
+    default: 8000
+    description: |
+      VCC sense ratio multiplied by 1000. Used for supply voltage calculation.
+
+  t-sense-0:
+    type: int
+    default: 25
+    description: |
+      Temperature sense reference temperature in degrees Celsius.
+
+  v-sense-0:
+    type: int
+    default: 2070
+    description: |
+      Temperature sense reference voltage in millivolts.
+
+  k-tchip:
+    type: int
+    default: -5500
+    description: |
+      Temperature sense gain coefficient multiplied by 1000.
+      Used for chip temperature calculation.
+

software/apps/can_node/overlay-cdc-acm.conf

@@ -0,0 +1,4 @@
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_PRODUCT="Modbus slave node"
+CONFIG_UART_LINE_CTRL=y
+CONFIG_USB_DEVICE_INITIALIZE_AT_BOOT=n

software/apps/can_node/prj.conf

@@ -0,0 +1,31 @@
+# Enable Console and printk for logging
+CONFIG_CONSOLE=y
+CONFIG_LOG=y
+
+# Enable Shell
+CONFIG_SHELL=y
+CONFIG_REBOOT=y
+CONFIG_SHELL_MODBUS=n
+CONFIG_SHELL_VALVE=y
+CONFIG_SHELL_SYSTEM=y
+
+# Enable Settings Subsystem
+CONFIG_SETTINGS=y
+CONFIG_SETTINGS_NVS=y
+CONFIG_NVS=y
+CONFIG_FLASH=y
+CONFIG_FLASH_MAP=y
+CONFIG_FLASH_PAGE_LAYOUT=y
+
+# Config modbus
+CONFIG_UART_INTERRUPT_DRIVEN=y
+CONFIG_MODBUS=y
+CONFIG_MODBUS_ROLE_SERVER=y
+CONFIG_MODBUS_LOG_LEVEL_DBG=y
+
+# enable Valve Driver
+CONFIG_LIB_VALVE=y
+CONFIG_LOG_VALVE_LEVEL=4
+
+# Enable VND7050AJ
+CONFIG_VND7050AJ=y

software/apps/can_node/src/main.c

@@ -0,0 +1,40 @@
+#include <zephyr/kernel.h>
+#include <zephyr/logging/log.h>
+#include <zephyr/settings/settings.h>
+#include <app_version.h>
+#include <lib/valve.h>
+#include <lib/vnd7050aj.h>
+
+LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
+
+int main(void)
+{
+	int rc;
+	LOG_INF("Starting Irrigation System CAN Node, Version %s", APP_VERSION_EXTENDED_STRING);
+
+	/* Initialize settings subsystem */
+	rc = settings_subsys_init();
+	if (rc != 0) {
+		LOG_ERR("Failed to initialize settings subsystem (%d)", rc);
+		return rc;
+	}
+	LOG_INF("Settings subsystem initialized");
+
+	/* Load settings from storage */
+	rc = settings_load();
+	if (rc == 0) {
+		LOG_INF("Settings loaded successfully");
+	} else {
+		LOG_WRN("Failed to load settings (%d)", rc);
+	}
+
+	/* Initialize valve system */
+	rc = valve_init();
+	if (rc != 0) {
+		LOG_ERR("Failed to initialize valve system (%d)", rc);
+		return rc;
+	}
+	LOG_INF("Valve system initialized");
+
+	return 0;
+}

software/apps/can_node/sysbuild.conf

@@ -0,0 +1,5 @@
+SB_CONFIG_BOOTLOADER_MCUBOOT=y
+SB_CONFIG_MCUBOOT_MODE_SINGLE_APP=y
+
+CONFIG_LOG=y
+CONFIG_MCUBOOT_LOG_LEVEL_INF=y

software/apps/slave_node/boards/weact_stm32g431_core.overlay

@@ -7,12 +7,12 @@
 		compatible = "st,vnd7050aj";
 		status = "okay";
 
-		input0-gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>;
+		input0-gpios = <&gpiob 3 GPIO_ACTIVE_HIGH>;
-		input1-gpios = <&gpiob 9 GPIO_ACTIVE_HIGH>;
+		input1-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>;
-		select0-gpios = <&gpiob 5 GPIO_ACTIVE_HIGH>;
+		select0-gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>;
-		select1-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;
+		select1-gpios = <&gpiob 9 GPIO_ACTIVE_HIGH>;
-		sense-enable-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>;
+		sense-enable-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;
-		fault-reset-gpios = <&gpiob 3 GPIO_ACTIVE_LOW>;
+		fault-reset-gpios = <&gpiob 5 GPIO_ACTIVE_LOW>;
 		io-channels = <&adc1 1>;
 		r-sense-ohms = <1500>;
 		k-vcc = <4000>;

software/esphome/can.yaml

@@ -0,0 +1,106 @@
+# ===================================================================
+# ESPHome Configuration
+# CAN-Bus Master für ein Bewässerungssystem auf Basis des ESP32-C6
+#
+# Version 10: Finale Korrektur der Lambda-Signatur gemäß Dokumentation
+# ===================================================================
+
+esphome:
+  name: can-bridge
+  friendly_name: Irrigation can bridge
+
+esp32:
+  board: esp32-c6-devkitm-1
+  framework:
+    type: esp-idf # Erforderlich für den ESP32-C6
+
+# --- Netzwerk & Sicherheit ---
+wifi:
+  ssid: !secret wifi_ssid
+  password: !secret wifi_password
+  fast_connect: true
+
+api:
+  encryption:
+    key: !secret api_key
+
+ota:
+  platform: esphome
+  password: !secret ota_password
+
+logger:
+
+web_server:
+
+# --- Globale Variablen ---
+globals:
+  - id: ventil_2_can_state
+    type: int
+    initial_value: '0' # Startet als "geschlossen"
+
+# --- CAN-Bus Konfiguration ---
+canbus:
+  - platform: esp32_can
+    id: my_can_bus
+    tx_pin: GPIO5
+    rx_pin: GPIO4
+    bit_rate: 125kbps
+    can_id: 0x000 # Erforderlich, um Parser-Fehler zu beheben.
+    on_frame:
+      # Horcht nur auf die Statusmeldung von Knoten 2 (ID 0x422)
+      - can_id: 0x422
+        then:
+          - lambda: |-
+              if (x.size() < 1) {
+                ESP_LOGW("on_can_frame", "Received empty Frame for ID 0x422");
+                return;
+              }
+              int received_state = x[0];
+              id(ventil_2_can_state) = received_state;
+              ESP_LOGD("on_can_frame", "Received state from Valve 2: %i", received_state);
+          - valve.template.publish:
+              id: ventil_2
+              current_operation: !lambda |-
+                int state = id(ventil_2_can_state);
+                if (state == 2) {
+                  return VALVE_OPERATION_OPENING;
+                } else if (state == 3) {
+                  return VALVE_OPERATION_CLOSING;
+                } else {
+                  return VALVE_OPERATION_IDLE;
+                }
+
+# --- Home Assistant Entitäten ---
+valve:
+  - platform: template
+    name: "Ventil 2"
+    id: ventil_2
+    
+    # Diese Lambda meldet nur den binären End-Zustand (offen/geschlossen)
+    lambda: |-
+      if (id(ventil_2_can_state) == 0) {
+        return VALVE_CLOSED;
+      } else if (id(ventil_2_can_state) == 1) {
+        return VALVE_OPEN;
+      } else {
+        return NAN;
+      }
+
+    # Aktionen zum Steuern des Ventils
+    open_action:
+      - canbus.send:
+          canbus_id: my_can_bus
+          can_id: 0x210
+          data: [0x02, 0x01]
+
+    close_action:
+      - canbus.send:
+          canbus_id: my_can_bus
+          can_id: 0x210
+          data: [0x02, 0x00]
+
+    stop_action:
+      - canbus.send:
+          canbus_id: my_can_bus
+          can_id: 0x210
+          data: [0x02, 0x03]

software/include/lib/can_ids.h

@@ -0,0 +1,41 @@
+#ifndef CAN_IDS_H
+#define CAN_IDS_H
+
+/*
+CAN ID structure for the irrigation system.
+PPP FFFF NNNN
+
+PPP: Priority
+    000: Network segment
+    001: Critical error
+    010: Commands
+    100: Status messages
+    110: measurements
+    111: Info messages
+
+FFFF: Function
+    0001: Valve Commands
+    0010: Valve States
+    0011: IO Commands
+    0100: IO States
+    0101: Measurements
+    0111: Sysem Functions (e.g. reset, firmware update)
+
+NNNN: Node ID
+*/
+
+#define CAN_ID_PRIORITY_NETWORK 0x000
+#define CAN_ID_PRIORITY_CRITICAL_ERROR 0x100
+#define CAN_ID_PRIORITY_COMMANDS 0x200
+#define CAN_ID_PRIORITY_STATUS 0x400
+#define CAN_ID_PRIORITY_MEASUREMENTS 0x600
+#define CAN_ID_PRIORITY_INFO 0x700
+
+#define CAN_ID_FUNCTION_VALVE_COMMANDS 0x010
+#define CAN_ID_FUNCTION_VALVE_STATES 0x020
+#define CAN_ID_FUNCTION_IO_COMMANDS 0x030
+#define CAN_ID_FUNCTION_IO_STATES 0x040
+#define CAN_ID_FUNCTION_MEASUREMENTS 0x050
+#define CAN_ID_FUNCTION_SYSTEM_FUNCTIONS 0x070
+
+#endif // CAN_IDS_H

software/include/lib/valve.h

@@ -191,4 +191,24 @@ uint16_t valve_get_obstacle_threshold_open(void);
  */
 uint16_t valve_get_obstacle_threshold_close(void);
 
+/**
+ * @brief Callback function called during valve opening with current readings.
+ *
+ * This is a weak function that can be overridden to provide custom handling
+ * of current readings during valve opening operations.
+ *
+ * @param current_ma The current reading in milliamps.
+ */
+void valve_current_open_callback(int current_ma);
+
+/**
+ * @brief Callback function called during valve closing with current readings.
+ *
+ * This is a weak function that can be overridden to provide custom handling
+ * of current readings during valve closing operations.
+ *
+ * @param current_ma The current reading in milliamps.
+ */
+void valve_current_close_callback(int current_ma);
+
 #endif // VALVE_H

software/lib/modbus_server/Kconfig

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

software/lib/shell_valve/shell_valve.c

@@ -111,26 +111,75 @@ static int cmd_valve_show(const struct shell *sh, size_t argc, char **argv)
 	return 0;
 }
 
+static int cmd_valve_open(const struct shell *sh, size_t argc, char **argv)
+{
+	ARG_UNUSED(argc);
+	ARG_UNUSED(argv);
+	if (valve_get_movement() != VALVE_MOVEMENT_IDLE) {
+		shell_print(sh, "Valve is already moving.");
+		return -EBUSY;
+	}
+
+	valve_open();
+	shell_print(sh, "Valve is opening.");
+	return 0;
+}
+
+static int cmd_valve_close(const struct shell *sh, size_t argc, char **argv)
+{
+	ARG_UNUSED(argc);
+	ARG_UNUSED(argv);
+	if (valve_get_movement() != VALVE_MOVEMENT_IDLE) {
+		shell_print(sh, "Valve is already moving.");
+		return -EBUSY;
+	}
+
+	valve_close();
+	shell_print(sh, "Valve is closing.");
+	return 0;
+}
+
+static int cmd_valve_stop(const struct shell *sh, size_t argc, char **argv)
+{
+	ARG_UNUSED(argc);
+	ARG_UNUSED(argv);
+	if (valve_get_movement() == VALVE_MOVEMENT_IDLE) {
+		shell_print(sh, "Valve is already stopped.");
+		return -EINVAL;
+	}
+
+	valve_stop();
+	shell_print(sh, "Valve movement stopped.");
+	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(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(close_t, NULL, "Set max close time (seconds)", cmd_valve_set_close_t),
-    SHELL_CMD(set_end_curr_open,
+    SHELL_CMD(end_curr_open,
         NULL,
         "Set end current threshold for opening (mA)",
         cmd_valve_set_end_curr_open),
-    SHELL_CMD(set_end_curr_close,
+    SHELL_CMD(end_curr_close,
         NULL,
         "Set end current threshold for closing (mA)",
         cmd_valve_set_end_curr_close),
-    SHELL_CMD(set_obstacle_open,
+    SHELL_CMD(obstacle_curr_open,
         NULL,
         "Set obstacle threshold for opening (mA)",
         cmd_valve_set_obstacle_open),
-    SHELL_CMD(set_obstacle_close,
+    SHELL_CMD(obstacle_curr_close,
         NULL,
         "Set obstacle threshold for closing (mA)",
         cmd_valve_set_obstacle_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);
+SHELL_STATIC_SUBCMD_SET_CREATE(valve_cmds,
+    SHELL_CMD(show, NULL, "Show valve configuration", cmd_valve_show),
+    SHELL_CMD(set, &sub_valve_settings, "Valve settings commands", NULL),
+    SHELL_CMD(open, NULL, "Open the valve", cmd_valve_open),
+    SHELL_CMD(close, NULL, "Close the valve", cmd_valve_close),
+    SHELL_CMD(stop, NULL, "Stop the valve movement", cmd_valve_stop),
+    SHELL_SUBCMD_SET_END);
+
+SHELL_CMD_REGISTER(valve, &valve_cmds, "Valve commands", NULL);

software/lib/valve/Kconfig

@@ -1,6 +1,6 @@
 config LIB_VALVE
     bool "Enable Valve Library"
-    default y
+    default n
     help
       Enable the Valve Library.
 

software/lib/valve/valve.c

@@ -49,7 +49,7 @@ static void valve_work_handler(struct k_work *work)
 
 	if (current_movement == VALVE_MOVEMENT_OPENING) {
 		vnd7050aj_read_load_current(vnd7050aj_dev, VALVE_CHANNEL_OPEN, &current_ma);
-		LOG_DBG("Current load during opening: %d mA", current_ma);
+		valve_current_open_callback(current_ma);
 		if (current_ma > obstacle_threshold_open_ma) {
 			LOG_ERR(
 			    "Obstacle detected during opening (current: %d mA), stopping motor.",
@@ -64,7 +64,7 @@ static void valve_work_handler(struct k_work *work)
 		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);
+		valve_current_close_callback(current_ma);
 		if (current_ma > obstacle_threshold_close_ma) {
 			LOG_ERR(
 			    "Obstacle detected during closing (current: %d mA), stopping motor.",
@@ -106,7 +106,8 @@ void movement_timeout_handler(struct k_timer *timer)
 	}
 	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;
+	current_state = VALVE_STATE_OPEN;
+	current_movement = VALVE_MOVEMENT_IDLE;
 }
 
 int valve_init(void)
@@ -291,3 +292,13 @@ uint16_t valve_get_obstacle_threshold_close(void)
 {
 	return obstacle_threshold_close_ma;
 }
+
+__weak void valve_current_open_callback(int current_ma)
+{
+	LOG_DBG("Open current callback: %d mA", current_ma);
+}
+
+__weak void valve_current_close_callback(int current_ma)
+{
+	LOG_DBG("Close current callback: %d mA", current_ma);
+}

software/pristine.sh

@@ -1 +0,0 @@
-source /home/edi/zephyrproject/.venv/bin/activate && source /home/edi/zephyrproject/zephyr/zephyr-env.sh && rm -r build ;west build -p always -b esp32c6_devkitc/esp32c6/hpcore apps/gateway -D CMAKE_OBJCOPY=/home/edi/zephyr-sdk-0.17.1/riscv64-zephyr-elf/bin/riscv64-zephyr-elf-objcopy;

software/pristine.sysbuild.sh

@@ -1,3 +0,0 @@
-source /home/edi/zephyrproject/.venv/bin/activate && \
-	source /home/edi/zephyrproject/zephyr/zephyr-env.sh && \
-	rm -r build ;west build --sysbuild -p always -b esp32c6_devkitc/esp32c6/hpcore apps/gateway -D CMAKE_OBJCOPY=/home/edi/zephyr-sdk-0.17.1/riscv64-zephyr-elf/bin/riscv64-zephyr-elf-objcopy;