feat: Adjust valve obstacle detection thresholds

Reduced the current thresholds for obstacle detection during valve opening and closing from 500mA to 200mA. This makes the obstacle detection more sensitive.

refactor: Simplify valve_work_handler logic

Refactored the  function to directly call  when an obstacle is detected or the valve reaches its end position. This removes redundant code and improves the clarity of the control flow.
Signed-off-by: Eduard Iten <eduard@iten.pro>

.gemini_commit_message.txt

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

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

@@ -29,25 +29,29 @@ 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.                                                                                                           |
 | **0x00F3** | `UPTIME_SECONDS_LOW`           | System            | Untere 16 Bit der Uptime in Sekunden.                                                                                                     |
 | **0x00F4** | `UPTIME_SECONDS_HIGH`          | System            | Obere 16 Bit der Uptime.                                                                                                                  |
+| **0x00F5** | `SUPPLY_VOLTAGE_MV`            | System            | Aktuelle Versorgungsspannung in Millivolt (mV).                                                                                           |
 | **0x0100** | `FWU_LAST_CHUNK_CRC`           | Firmware-Update   | Enthält den CRC16 des zuletzt im Puffer empfangenen Daten-Chunks.                                                                         |
 
 ## 3. Holding Registers (4xxxx, Read/Write)
 
 | Adresse (hex) | Name                          | Zugehörigkeit     | Beschreibung                                                                                                                              |
 | :------------ | :---------------------------- | :---------------- | :---------------------------------------------------------------------------------------------------------------------------------------- |
-| **0x0000** | `VENTIL_BEFEHL`               | Ventil            | `1`=Öffnen, `2`=Schliessen, `0`=Bewegung stoppen.                                                                                           |
-| **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. |
@@ -79,10 +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. |

lib/fwu/CMakeLists.txt

@@ -1,6 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-project(fwu)
-
-target_sources(fwu PRIVATE src/fwu.c)
-target_include_directories(fwu PUBLIC include)

lib/modbus_server/CMakeLists.txt

@@ -1,6 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-project(modbus_server)
-
-target_sources(modbus_server PRIVATE src/modbus_server.c)
-target_include_directories(modbus_server PUBLIC include)

lib/valve/CMakeLists.txt

@@ -1,6 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-project(valve)
-
-target_sources(valve PRIVATE src/valve.c)
-target_include_directories(valve PUBLIC include)

setup-format-hook.sh

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

software/.clang-format

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

software/.vscode/settings.json

@@ -1,12 +1,15 @@
 {
-        // Hush CMake
-		"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": {
-		}
+	// 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/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

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

software/apps/slave_node/boards/weact_stm32g431_core.overlay

@@ -1,9 +1,48 @@
+/ {
+	aliases {
+		vnd7050aj = &vnd7050aj;
+	};
+
+	vnd7050aj: vnd7050aj {
+		compatible = "st,vnd7050aj";
+		status = "okay";
+
+		input0-gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>;
+		input1-gpios = <&gpiob 9 GPIO_ACTIVE_HIGH>;
+		select0-gpios = <&gpiob 5 GPIO_ACTIVE_HIGH>;
+		select1-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;
+		sense-enable-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>;
+		fault-reset-gpios = <&gpiob 3 GPIO_ACTIVE_LOW>;
+		io-channels = <&adc1 1>;
+		r-sense-ohms = <1500>;
+		k-vcc = <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 {
 	modbus0 {
 		compatible = "zephyr,modbus-serial";
 		status = "okay";
 	};
 	status = "okay";
-    pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>;
+    pinctrl-0 = <&usart1_tx_pa9 &usart1_rx_pa10>; // PA9=TX, PA10=RX for Modbus communication
     pinctrl-names = "default";
 };

software/apps/slave_node/cdc-acm.overlay

@@ -1,3 +1,5 @@
+#include <zephyr/dt-bindings/gpio/gpio.h>
+
 &zephyr_udc0 {
 	cdc_acm_uart0: cdc_acm_uart0 {
 		compatible = "zephyr,cdc-acm-uart";
@@ -8,3 +10,7 @@
 		};
 	};
 };
+
+&usart1 {
+	/delete-node/ modbus0;
+};

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
@@ -21,3 +24,6 @@ CONFIG_MODBUS=y
 CONFIG_MODBUS_ROLE_SERVER=y
 CONFIG_MODBUS_BUFFER_SIZE=256
 
+# 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);
 

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

@@ -4,49 +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.
+ */
+
+/**
+ * @brief Modbus Input Register Addresses (Read-Only).
+ * @see docs/modbus-registers.de.md
  */
 enum {
-	/* Valve Control & Status */
-	REG_INPUT_VALVE_STATE_MOVEMENT        = 0x0000,
-	REG_INPUT_MOTOR_CURRENT_MA            = 0x0001,
-	/* Digital Inputs */
-	REG_INPUT_DIGITAL_INPUTS_STATE        = 0x0020,
-	REG_INPUT_BUTTON_EVENTS               = 0x0021,
-	/* System Config & Status */
+	/**
+	 * @brief Combined status register for the valve.
+	 * High-Byte: Movement (0=Idle, 1=Opening, 2=Closing, 3=Error).
+	 * Low-Byte: State (0=Closed, 1=Open).
+	 */
+	REG_INPUT_VALVE_STATE_MOVEMENT = 0x0000,
+	/**
+	 * @brief Motor current during opening in milliamperes (mA).
+	 */
+	REG_INPUT_MOTOR_OPEN_CURRENT_MA = 0x0001,
+	/**
+	 * @brief Motor current during closing in milliamperes (mA).
+	 */
+	REG_INPUT_MOTOR_CLOSE_CURRENT_MA = 0x0002,
+	/**
+	 * @brief Bitmask of digital inputs. Bit 0: Input 1, Bit 1: Input 2.
+	 * 1=Active.
+	 */
+	REG_INPUT_DIGITAL_INPUTS_STATE = 0x0020,
+	/**
+	 * @brief Event flags for buttons (Clear-on-Read). Bit 0: Button 1 pressed.
+	 * Bit 1: Button 2 pressed.
+	 */
+	REG_INPUT_BUTTON_EVENTS = 0x0021,
+	/**
+	 * @brief Firmware version, e.g., 0x0102 for v1.2.
+	 */
 	REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR = 0x00F0,
-	REG_INPUT_FIRMWARE_VERSION_PATCH      = 0x00F1,
-	REG_INPUT_DEVICE_STATUS               = 0x00F2,
-	REG_INPUT_UPTIME_SECONDS_LOW          = 0x00F3,
-	REG_INPUT_UPTIME_SECONDS_HIGH         = 0x00F4,
-	/* Firmware Update */
-	REG_INPUT_FWU_LAST_CHUNK_CRC          = 0x0100,
+	/**
+	 * @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 */
-	REG_HOLDING_VALVE_COMMAND             = 0x0000,
-	REG_HOLDING_MAX_OPENING_TIME_S        = 0x0001,
-	REG_HOLDING_MAX_CLOSING_TIME_S        = 0x0002,
-	/* Digital Outputs */
-	REG_HOLDING_DIGITAL_OUTPUTS_STATE     = 0x0010,
-	/* System Config */
-	REG_HOLDING_WATCHDOG_TIMEOUT_S        = 0x00F0,
-	REG_HOLDING_DEVICE_RESET              = 0x00F1,
-	/* Firmware Update */
-	REG_HOLDING_FWU_COMMAND               = 0x0100,
-	REG_HOLDING_FWU_CHUNK_OFFSET_LOW      = 0x0101,
-	REG_HOLDING_FWU_CHUNK_OFFSET_HIGH     = 0x0102,
-	REG_HOLDING_FWU_CHUNK_SIZE            = 0x0103,
-	REG_HOLDING_FWU_DATA_BUFFER           = 0x0180,
+	/**
+	 * @brief Valve control command (1=Open, 2=Close, 0=Stop movement).
+	 */
+	REG_HOLDING_VALVE_COMMAND = 0x0000,
+	/**
+	 * @brief Safety timeout in seconds for the opening process.
+	 */
+	REG_HOLDING_MAX_OPENING_TIME_S = 0x0001,
+	/**
+	 * @brief Safety timeout in seconds for the closing process.
+	 */
+	REG_HOLDING_MAX_CLOSING_TIME_S = 0x0002,
+	/**
+	 * @brief Minimum current threshold in mA for end-position detection.
+	 */
+	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,
+	/**
+	 * @brief Fail-safe watchdog timeout in seconds. 0=Disabled.
+	 */
+	REG_HOLDING_WATCHDOG_TIMEOUT_S = 0x00F0,
+	/**
+	 * @brief Writing 1 restarts the device.
+	 */
+	REG_HOLDING_DEVICE_RESET = 0x00F1,
+	/**
+	 * @brief Command for firmware update.
+	 * 1: Verify Chunk - Slave writes the last chunk to flash.
+	 * 2: Finalize Update - Complete installation and restart.
+	 */
+	REG_HOLDING_FWU_COMMAND = 0x0100,
+	/**
+	 * @brief Lower 16 bits of the 32-bit offset for the next firmware update
+	 * chunk.
+	 */
+	REG_HOLDING_FWU_CHUNK_OFFSET_LOW = 0x0101,
+	/**
+	 * @brief Upper 16 bits of the 32-bit offset for the next firmware update
+	 * chunk.
+	 */
+	REG_HOLDING_FWU_CHUNK_OFFSET_HIGH = 0x0102,
+	/**
+	 * @brief Size of the next firmware update chunk in bytes (max. 256).
+	 */
+	REG_HOLDING_FWU_CHUNK_SIZE = 0x0103,
+	/**
+	 * @brief Start address of the 256-byte buffer for firmware update data.
+	 */
+	REG_HOLDING_FWU_DATA_BUFFER = 0x0180,
 };
 
+/**
+ * @brief Initializes the Modbus server.
+ *
+ * This function sets up the Modbus RTU server interface, loads saved settings
+ * (baudrate, unit ID), and starts listening for requests.
+ *
+ * @return 0 on success, or a negative error code on failure.
+ */
 int modbus_server_init(void);
+
+/**
+ * @brief Reconfigures the Modbus server at runtime.
+ *
+ * Updates the baudrate and unit ID of the server. If the reconfiguration
+ * fails, the settings are saved and will be applied after a device reset.
+ *
+ * @param baudrate The new baudrate to set.
+ * @param unit_id The new Modbus unit ID (slave address).
+ * @return 0 on success, or a negative error code if immediate reconfiguration
+ * fails. Returns 0 even on failure if settings could be saved for the next
+ * boot.
+ */
 int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id);
+
+/**
+ * @brief Gets the current baudrate of the Modbus server.
+ *
+ * @return The current baudrate.
+ */
 uint32_t modbus_get_baudrate(void);
+
+/**
+ * @brief Gets the current unit ID of the Modbus server.
+ *
+ * @return The current unit ID.
+ */
 uint8_t modbus_get_unit_id(void);
 
 #endif // MODBUS_SERVER_H

software/include/lib/valve.h

@@ -1,23 +1,167 @@
 #ifndef VALVE_H
 #define VALVE_H
 
+#include <zephyr/drivers/gpio.h>
 #include <stdint.h>
 
-enum valve_state { VALVE_STATE_CLOSED, VALVE_STATE_OPEN };
-enum valve_movement { VALVE_MOVEMENT_IDLE, VALVE_MOVEMENT_OPENING, VALVE_MOVEMENT_CLOSING, VALVE_MOVEMENT_ERROR };
+/**
+ * @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.
+ */
 
-void valve_init(void);
+#define VALVE_CHANNEL_OPEN 0
+#define VALVE_CHANNEL_CLOSE 1
+#define VALVE_ENDPOSITION_CHECK_INTERVAL K_MSEC(100)
+
+#define VALVE_OBSTACLE_THRESHOLD_OPEN_MA 200
+#define VALVE_OBSTACLE_THRESHOLD_CLOSE_MA 200
+
+/**
+ * @brief Represents the static state of the valve (open or closed).
+ */
+enum valve_state {
+	VALVE_STATE_CLOSED, /**< The valve is fully closed. */
+	VALVE_STATE_OPEN, /**< The valve is fully open. */
+};
+
+/**
+ * @brief Represents the dynamic movement status of the valve.
+ */
+enum valve_movement {
+	VALVE_MOVEMENT_IDLE, /**< The valve is not moving. */
+	VALVE_MOVEMENT_OPENING, /**< The valve is currently opening. */
+	VALVE_MOVEMENT_CLOSING, /**< The valve is currently closing. */
+	VALVE_MOVEMENT_ERROR /**< An error occurred during movement. */
+};
+
+/**
+ * @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);
 
+/**
+ * @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);
@@ -128,14 +176,23 @@ static int input_reg_rd(uint16_t addr, uint16_t *reg)
 	case REG_INPUT_UPTIME_SECONDS_HIGH:
 		*reg = (uint16_t)(uptime_s >> 16);
 		break;
+	case REG_INPUT_SUPPLY_VOLTAGE_MV:
+		*reg = (uint16_t)valve_get_vnd_voltage();
+		break;
 	case REG_INPUT_FWU_LAST_CHUNK_CRC:
 		*reg = fwu_get_last_chunk_crc();
 		break;
 	case REG_INPUT_FIRMWARE_VERSION_MAJOR_MINOR:
-		*reg = (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;
@@ -145,9 +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)
@@ -155,18 +213,27 @@ static struct modbus_user_callbacks mbs_cbs = {
 int modbus_server_init(void)
 {
 	k_timer_init(&watchdog_timer, watchdog_timer_handler, NULL);
+
+	// Load saved settings
+	uint32_t saved_baudrate = 19200;
+	uint8_t saved_unit_id = 1;
+	settings_load_one("modbus/baudrate", &saved_baudrate, sizeof(saved_baudrate));
+	settings_load_one("modbus/unit_id", &saved_unit_id, sizeof(saved_unit_id));
+
+	// Apply loaded settings
+	server_param.serial.baud = saved_baudrate;
+	server_param.server.unit_id = saved_unit_id;
+
 	const char iface_name[] = {DEVICE_DT_NAME(MODBUS_NODE)};
 #if DT_NODE_HAS_COMPAT(DT_PARENT(MODBUS_NODE), zephyr_cdc_acm_uart)
 	const struct device *const dev = DEVICE_DT_GET(DT_PARENT(MODBUS_NODE));
 	uint32_t dtr = 0;
 
-	if (!device_is_ready(dev) || usb_enable(NULL))
-	{
+	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));
 	}
@@ -174,29 +241,49 @@ 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;
+
+	LOG_INF("Starting Modbus server: baudrate=%u, unit_id=%u", saved_baudrate, saved_unit_id);
 	return modbus_init_server(modbus_iface, server_param);
 }
 
 int modbus_reconfigure(uint32_t baudrate, uint8_t unit_id)
 {
+	// Update parameters
 	server_param.serial.baud = baudrate;
 	server_param.server.unit_id = unit_id;
 
+	// Try to reinitialize - this should work for most cases
 	int ret = modbus_init_server(modbus_iface, server_param);
 
-	if (ret == 0)
-	{
+	if (ret == 0) {
 		settings_save_one("modbus/baudrate", &baudrate, sizeof(baudrate));
 		settings_save_one("modbus/unit_id", &unit_id, sizeof(unit_id));
+		LOG_INF("Modbus reconfigured: baudrate=%u, unit_id=%u", baudrate, unit_id);
+	} else {
+		LOG_ERR("Failed to reconfigure Modbus: %d", ret);
+		LOG_INF("Modbus reconfiguration requires restart to take effect");
+
+		// Save settings for next boot
+		settings_save_one("modbus/baudrate", &baudrate, sizeof(baudrate));
+		settings_save_one("modbus/unit_id", &unit_id, sizeof(unit_id));
+
+		LOG_INF("Settings saved. Type 'reset' to restart the device and apply the "
+		        "change.");
+		return 0; // Return success since settings are saved
 	}
 
 	return ret;
 }
 
-uint32_t modbus_get_baudrate(void) { return server_param.serial.baud; }
-uint8_t modbus_get_unit_id(void) { return server_param.server.unit_id; }
+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

@@ -1,62 +1,257 @@
+/**
+ * @file valve.c
+ * @brief Implementation of the motorized valve control library.
+ *
+ * This file contains the logic for controlling a motorized valve using a
+ * VND7050AJ high-side driver. It uses a delayed work item to handle the
+ * safety timeouts for opening and closing operations.
+ */
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <zephyr/drivers/misc/vnd7050aj/vnd7050aj.h>
 #include <zephyr/kernel.h>
-#include <zephyr/settings/settings.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/settings/settings.h>
 #include <lib/valve.h>
 
-LOG_MODULE_REGISTER(valve, LOG_LEVEL_INF);
+#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);
 
-static enum valve_state current_state = VALVE_STATE_CLOSED;
+LOG_MODULE_REGISTER(valve, CONFIG_LOG_VALVE_LEVEL);
+
+static enum valve_state current_state = VALVE_STATE_OPEN;
 static enum valve_movement current_movement = VALVE_MOVEMENT_IDLE;
-static uint16_t max_opening_time_s = 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)
 {
-    if (current_movement == VALVE_MOVEMENT_OPENING) {
-        LOG_INF("Virtual valve finished opening");
-    } else if (current_movement == VALVE_MOVEMENT_CLOSING) {
-        current_state = VALVE_STATE_CLOSED;
-        LOG_INF("Virtual valve finished closing");
-    }
-    current_movement = VALVE_MOVEMENT_IDLE;
+	int current_ma = 0;
+
+	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();
+			return;
+		} 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();
+			return;
+		} 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;
+
+	valve_stop();
 }
 
-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;
+}
+
+int valve_init(void)
+{
+	if (!device_is_ready(vnd7050aj_dev)) {
+		LOG_ERR("VND7050AJ device is not ready");
+		return -ENODEV;
+	}
+
+	k_work_init_delayable(&valve_work, valve_work_handler);
+	k_timer_init(&movement_timer, movement_timeout_handler, NULL);
+
+	settings_load_one("valve/max_open_time", &max_opening_time_s, sizeof(max_opening_time_s));
+	settings_load_one("valve/max_close_time", &max_closing_time_s, sizeof(max_closing_time_s));
+	settings_load_one("valve/end_current_threshold_open",
+	    &end_current_threshold_open_ma,
+	    sizeof(end_current_threshold_open_ma));
+	settings_load_one("valve/end_current_threshold_close",
+	    &end_current_threshold_close_ma,
+	    sizeof(end_current_threshold_close_ma));
+
+	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) {
-        current_state = VALVE_STATE_OPEN;
-        current_movement = VALVE_MOVEMENT_OPENING;
-        k_work_schedule(&valve_work, K_SECONDS(max_opening_time_s));
-    }
+	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; /* Security: assume valve open as soon as it starts opening */
+	current_movement = VALVE_MOVEMENT_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) {
-        current_movement = VALVE_MOVEMENT_CLOSING;
-        k_work_schedule(&valve_work, K_SECONDS(max_closing_time_s));
-    }
+	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; }
+enum valve_state valve_get_state(void)
+{
+	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/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
@@ -19,10 +20,13 @@ REG_INPUT_FIRMWARE_VERSION_PATCH = 0x00F1
 REG_INPUT_DEVICE_STATUS = 0x00F2
 REG_INPUT_UPTIME_SECONDS_LOW = 0x00F3
 REG_INPUT_UPTIME_SECONDS_HIGH = 0x00F4
+REG_INPUT_SUPPLY_VOLTAGE_MV = 0x00F5
 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
@@ -75,21 +79,24 @@ def poll_status(slave_id, interval):
                 # Attempt to connect
                 if client.connect():
                     reconnect_attempts = 0
-                    new_data["error"] = None # Clear error on successful reconnect
+                    with status_lock:
+                        status_data["error"] = None # Clear error in status_data immediately
+                    time.sleep(0.1) # Allow UI to refresh with cleared error
                 else:
                     new_data["error"] = f"Connection lost. Attempting to reconnect ({reconnect_attempts}/{max_reconnect_attempts})..."
                     time.sleep(reconnect_delay)
                     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=5, slave=slave_id)
-            hr_valve = client.read_holding_registers(REG_HOLDING_MAX_OPENING_TIME_S, 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=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))
             
@@ -98,9 +105,12 @@ 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}"
@@ -109,9 +119,11 @@ def poll_status(slave_id, interval):
             fw_minor = ir_sys.registers[0] & 0xFF
             fw_patch = ir_sys.registers[1]
             uptime_seconds = (ir_sys.registers[4] << 16) | ir_sys.registers[3]
+            supply_voltage_mv = ir_sys.registers[5]
             new_data["firmware"] = f"v{fw_major}.{fw_minor}.{fw_patch}"
             new_data["device_status"] = "OK" if ir_sys.registers[2] == 0 else "ERROR"
             new_data["uptime"] = format_uptime(uptime_seconds)
+            new_data["supply_voltage"] = f"{supply_voltage_mv / 1000.0:.2f} V"
             new_data["watchdog"] = f"{hr_sys.registers[0]}s"
             new_data["error"] = None # Clear any previous error on successful read
             reconnect_attempts = 0 # Reset attempts on successful communication
@@ -179,7 +191,7 @@ 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))
         
@@ -223,7 +235,9 @@ 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
@@ -247,22 +261,25 @@ 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":
@@ -278,7 +295,7 @@ 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))
@@ -292,24 +309,28 @@ 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(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(4, col4, "Supply V:", bold); stdscr.addstr(4, col4 + 14, str(current_data.get('supply_voltage', 'N/A')), normal)
+            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