feat(valve): Implement GPIO control for VND7050AJ

This commit implements the real valve control using the GPIOs connected to the VND7050AJ driver.

- The `weact_stm32g431_core.overlay` is updated with a specific compatible string and a device tree label for the valve controller.
- `valve.h` is extended to include GPIO device specifications.
- `valve.c` now initializes and controls the GPIOs for opening and closing the valve, including the reset logic. The IN0 and IN1 pins are interlocked to prevent simultaneous activation. The RST pin is activated before each movement and deactivated afterward.

This replaces the previous virtual/simulated valve logic with actual hardware control.

.vscode/settings.json

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

software/CMakeLists.txt

@@ -1,8 +0,0 @@
-cmake_minimum_required(VERSION 3.13.1)
-
-project(software)
-
-add_subdirectory(modules/modbus_server)
-add_subdirectory(modules/valve)
-add_subdirectory(modules/fwu)
-add_subdirectory(apps/stm32g431_tests)

software/Kconfig

@@ -0,0 +1 @@
+rsource "lib/Kconfig"

software/apps/hello_world/CMakeLists.txt

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

software/apps/hello_world/prj.conf

@@ -1,4 +0,0 @@
-
-CONFIG_CONSOLE=y
-CONFIG_LOG=y
-CONFIG_UART_CONSOLE=y

software/apps/hello_world/src/main.c

@@ -1,9 +0,0 @@
-#include <zephyr/kernel.h>
-#include <zephyr/sys/printk.h>
-
-int main(void)
-{
-	printk("Hello World! %s\n", CONFIG_BOARD);
-	return 0;
-}
-

software/apps/slave_node/CMakeLists.txt

@@ -1,27 +1,8 @@
 cmake_minimum_required(VERSION 3.20)
 
-# Point BOARD_ROOT and DTS_ROOT to the 'software' directory, which contains 'boards'.
-list(APPEND BOARD_ROOT ${CMAKE_CURRENT_SOURCE_DIR}/../..)
-
 find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
-project(slave_node)
 
-list(APPEND KCONFIG_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/modbus_server/Kconfig)
+project(slave_node LANGUAGES C)
-list(APPEND KCONFIG_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/valve/Kconfig)
+zephyr_include_directories(../../include)
-list(APPEND KCONFIG_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/fwu/Kconfig)
+add_subdirectory(../../lib lib)
-
+target_sources(app PRIVATE src/main.c)
-target_include_directories(app PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/valve/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/modbus_server/include
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/fwu/include
-)
-
-# Add the source files from the app and the libraries
-target_sources(app PRIVATE
-    src/main.c
-    src/shell_modbus.c
-    src/shell_system.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/valve/src/valve.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/modbus_server/src/modbus_server.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../modules/fwu/src/fwu.c
-)

software/apps/slave_node/Kconfig

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

software/apps/slave_node/boards/bluepill_f103rb.conf

@@ -4,3 +4,4 @@ CONFIG_UART_CONSOLE=n
 # Enable RTT console
 CONFIG_RTT_CONSOLE=y
 CONFIG_USE_SEGGER_RTT=y
+CONFIG_SHELL_BACKEND_RTT=y

software/apps/slave_node/boards/weact_stm32g431_core.overlay

@@ -1,9 +1,50 @@
+/ {
+    vnd7050aj: vnd7050aj {
+        compatible = "vnd7050aj-valve-controller";
+        status = "okay";
+        
+        // VND7050AJ GPIO pin definitions
+        in0-gpios = <&gpiob 7 GPIO_ACTIVE_HIGH>; // IN0 (PB7) - Input 0 control signal
+        in1-gpios = <&gpiob 9 GPIO_ACTIVE_HIGH>; // IN1 (PB9) - Input 1 control signal
+        rst-gpios = <&gpiob 3 GPIO_ACTIVE_HIGH>; // RST (PB3) - Reset pin for VND7050AJ
+        sen-gpios = <&gpiob 4 GPIO_ACTIVE_HIGH>; // SEN (PB4) - Sense Enable for current monitoring
+        s0-gpios = <&gpiob 6 GPIO_ACTIVE_HIGH>;  // S0 (PB6) - Status/Select 0 output from VND7050AJ
+        s1-gpios = <&gpiob 5 GPIO_ACTIVE_HIGH>;  // S1 (PB5) - Status/Select 1 output from VND7050AJ
+    };
+};
+
 &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";
 };
+
+&adc1 { // ADC1 wird für PA0 verwendet
+    status = "okay"; // ADC1 aktivieren
+    pinctrl-0 = <&adc1_in1_pa0>; // Pinmux für PA0 als ADC1_IN1
+    pinctrl-names = "default";
+    st,adc-clock-source = "SYNC";
+    st,adc-prescaler = <4>;
+    #address-cells = <1>;
+    #size-cells = <0>;
+
+    // Definition des ADC-Kanals für MULTISENSE (PA0)
+    channel@1 { // ADC1_IN1 ist Kanal 1
+        reg = <1>; // Kanalnummer
+        zephyr,gain = "ADC_GAIN_1";
+        zephyr,reference = "ADC_REF_INTERNAL";
+        zephyr,acquisition-time = <ADC_ACQ_TIME_DEFAULT>;
+        zephyr,resolution = <12>;
+    };
+};
+
+&pinctrl {
+    // Pinmux für PA0 als ADC1_IN1 (Analogmodus)
+    adc1_in1_pa0: adc1_in1_pa0 {
+        pinmux = <STM32_PINMUX('A', 0, ANALOG)>; // PA0 in den Analogmodus setzen
+    };
+};

software/apps/slave_node/cdc-acm.overlay

@@ -0,0 +1,10 @@
+&zephyr_udc0 {
+	cdc_acm_uart0: cdc_acm_uart0 {
+		compatible = "zephyr,cdc-acm-uart";
+
+		modbus0 {
+			compatible = "zephyr,modbus-serial";
+			status = "okay";
+		};
+	};
+};

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

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

software/apps/slave_node/prj.conf

@@ -4,7 +4,6 @@ CONFIG_LOG=y
 
 # Enable Shell
 CONFIG_SHELL=y
-CONFIG_SHELL_BACKEND_RTT=y
 CONFIG_REBOOT=y
 
 # Enable Settings Subsystem

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 <modbus_server.h>
+#include <lib/modbus_server.h>
-#include <valve.h>
+#include <lib/valve.h>
-#include <fwu.h>
+#include <lib/fwu.h>
 
 LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
 

software/apps/stm32g431_tests/CMakeLists.txt

@@ -1,6 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
-project(stm32g431_tests)
-
-target_sources(app PRIVATE src/main.c)

software/apps/stm32g431_tests/prj.conf

@@ -1,4 +0,0 @@
-
-CONFIG_CONSOLE=y
-CONFIG_LOG=y
-CONFIG_UART_CONSOLE=y

software/apps/stm32g431_tests/src/main.c

@@ -1,9 +0,0 @@
-#include <zephyr/kernel.h>
-#include <zephyr/sys/printk.h>
-
-int main(void)
-{
-	printk("Hello World! %s\n", CONFIG_BOARD);
-	return 0;
-}
-

software/include/lib/valve.h

@@ -2,8 +2,21 @@
 #define VALVE_H
 
 #include <stdint.h>
+#include <zephyr/drivers/gpio.h>
 
-enum valve_state { VALVE_STATE_CLOSED, VALVE_STATE_OPEN };
+struct valve_gpios {
+    const struct gpio_dt_spec in0;
+    const struct gpio_dt_spec in1;
+    const struct gpio_dt_spec rst;
+    const struct gpio_dt_spec sen;
+    const struct gpio_dt_spec s0;
+    const struct gpio_dt_spec s1;
+};
+
+enum valve_state {
+    VALVE_STATE_CLOSED,
+    VALVE_STATE_OPEN,
+};
 enum valve_movement { VALVE_MOVEMENT_IDLE, VALVE_MOVEMENT_OPENING, VALVE_MOVEMENT_CLOSING, VALVE_MOVEMENT_ERROR };
 
 void valve_init(void);

software/lib/CMakeLists.txt

@@ -0,0 +1,5 @@
+add_subdirectory_ifdef(CONFIG_LIB_FWU fwu)
+add_subdirectory_ifdef(CONFIG_LIB_MODBUS_SERVER modbus_server)
+add_subdirectory_ifdef(CONFIG_LIB_VALVE valve)
+add_subdirectory_ifdef(CONFIG_SHELL_SYSTEM shell_system)
+add_subdirectory_ifdef(CONFIG_SHELL_MODBUS shell_modbus)

software/lib/Kconfig

@@ -0,0 +1,8 @@
+menu "Irrigation system software libraries"
+
+rsource "fwu/Kconfig"
+rsource "modbus_server/Kconfig"
+rsource "valve/Kconfig"
+rsource "shell_system/Kconfig"
+rsource "shell_modbus/Kconfig"
+endmenu

software/lib/fwu/CMakeLists.txt

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

software/lib/fwu/Kconfig

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

software/lib/fwu/fwu.c

@@ -1,8 +1,8 @@
-#include "fwu.h"
 #include <zephyr/kernel.h>
 #include <zephyr/sys/crc.h>
 #include <zephyr/sys/byteorder.h>
 #include <zephyr/logging/log.h>
+#include <lib/fwu.h>
 
 LOG_MODULE_REGISTER(fwu, LOG_LEVEL_INF);
 

software/lib/modbus_server/CMakeLists.txt

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

software/lib/modbus_server/Kconfig

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

software/lib/modbus_server/modbus_server.c

@@ -5,9 +5,9 @@
 #include <zephyr/logging/log.h>
 #include <zephyr/settings/settings.h>
 #include <zephyr/sys/reboot.h>
-#include "modbus_server.h"
+#include <lib/modbus_server.h>
-#include "valve.h"
+#include <lib/valve.h>
-#include "fwu.h"
+#include <lib/fwu.h>
 
 #include <zephyr/usb/usb_device.h>
 
@@ -135,7 +135,7 @@ static int input_reg_rd(uint16_t addr, uint16_t *reg)
 		*reg = (0 << 8) | 0;
 		break;
 	case REG_INPUT_FIRMWARE_VERSION_PATCH:
-		*reg = 1;
+		*reg = 2;
 		break;
 	default:
 		*reg = 0;

software/lib/shell_modbus/CMakeLists.txt

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

software/lib/shell_modbus/Kconfig

@@ -0,0 +1,5 @@
+config SHELL_MODBUS
+    bool "Enable Shell Modbus"
+    default y
+    help
+      Enable the modnbus shell commands.

software/lib/shell_modbus/shell_modbus.c

@@ -1,7 +1,7 @@
 #include <zephyr/shell/shell.h>
 #include <stdlib.h>
-#include <modbus_server.h>
+#include <lib/modbus_server.h>
-#include <valve.h>
+#include <lib/valve.h>
 
 static int cmd_modbus_set_baud(const struct shell *sh, size_t argc, char **argv)
 {

software/lib/shell_system/CMakeLists.txt

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

software/lib/shell_system/Kconfig

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

software/lib/valve/CMakeLists.txt

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

software/lib/valve/Kconfig

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

software/lib/valve/valve.c

@@ -1,10 +1,21 @@
-#include "valve.h"
 #include <zephyr/kernel.h>
 #include <zephyr/settings/settings.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/device.h>
+#include <zephyr/drivers/gpio.h>
+#include <lib/valve.h>
 
 LOG_MODULE_REGISTER(valve, LOG_LEVEL_INF);
 
+static const struct valve_gpios valve_gpios = {
+    .in0 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), in0_gpios),
+    .in1 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), in1_gpios),
+    .rst = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), rst_gpios),
+    .sen = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), sen_gpios),
+    .s0 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), s0_gpios),
+    .s1 = GPIO_DT_SPEC_GET(DT_NODELABEL(vnd7050aj), s1_gpios),
+};
+
 static enum valve_state current_state = VALVE_STATE_CLOSED;
 static enum valve_movement current_movement = VALVE_MOVEMENT_IDLE;
 static uint16_t max_opening_time_s = 60;
@@ -13,11 +24,15 @@ static struct k_work_delayable valve_work;
 
 static void valve_work_handler(struct k_work *work)
 {
+    gpio_pin_set_dt(&valve_gpios.in0, 0);
+    gpio_pin_set_dt(&valve_gpios.in1, 0);
+    gpio_pin_set_dt(&valve_gpios.rst, 0);
+
     if (current_movement == VALVE_MOVEMENT_OPENING) {
-        LOG_INF("Virtual valve finished opening");
+        LOG_INF("Valve finished opening");
     } else if (current_movement == VALVE_MOVEMENT_CLOSING) {
         current_state = VALVE_STATE_CLOSED;
-        LOG_INF("Virtual valve finished closing");
+        LOG_INF("Valve finished closing");
     }
     current_movement = VALVE_MOVEMENT_IDLE;
 }
@@ -27,22 +42,35 @@ void valve_init(void)
     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));
+
+    gpio_pin_configure_dt(&valve_gpios.in0, GPIO_OUTPUT_INACTIVE);
+    gpio_pin_configure_dt(&valve_gpios.in1, GPIO_OUTPUT_INACTIVE);
+    gpio_pin_configure_dt(&valve_gpios.rst, GPIO_OUTPUT_INACTIVE);
+    gpio_pin_configure_dt(&valve_gpios.sen, GPIO_OUTPUT_INACTIVE);
+    gpio_pin_configure_dt(&valve_gpios.s0, GPIO_OUTPUT_INACTIVE);
+    gpio_pin_configure_dt(&valve_gpios.s1, GPIO_OUTPUT_INACTIVE);
 }
 
 void valve_open(void)
 {
     if (current_state == VALVE_STATE_CLOSED) {
+        gpio_pin_set_dt(&valve_gpios.rst, 1);
+        gpio_pin_set_dt(&valve_gpios.in1, 0);
+        gpio_pin_set_dt(&valve_gpios.in0, 1);
         current_state = VALVE_STATE_OPEN;
         current_movement = VALVE_MOVEMENT_OPENING;
-        k_work_schedule(&valve_work, K_SECONDS(max_opening_time_s));
+        k_work_schedule(&valve_work, K_MSEC(max_opening_time_s * 1000 * 0.9));
     }
 }
 
 void valve_close(void)
 {
     if (current_state == VALVE_STATE_OPEN) {
+        gpio_pin_set_dt(&valve_gpios.rst, 1);
+        gpio_pin_set_dt(&valve_gpios.in0, 0);
+        gpio_pin_set_dt(&valve_gpios.in1, 1);
         current_movement = VALVE_MOVEMENT_CLOSING;
-        k_work_schedule(&valve_work, K_SECONDS(max_closing_time_s));
+        k_work_schedule(&valve_work, K_MSEC(max_closing_time_s * 1000 * 0.9));
     }
 }
 

software/modules/fwu/CMakeLists.txt

@@ -1,7 +0,0 @@
-cmake_minimum_required(VERSION 3.13.1)
-include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
-
-project(fwu)
-
-target_sources(app PRIVATE src/fwu.c)
-target_include_directories(app PUBLIC include)

software/modules/modbus_server/CMakeLists.txt

@@ -1,7 +0,0 @@
-cmake_minimum_required(VERSION 3.13.1)
-include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
-
-project(modbus_server)
-
-target_sources(app PRIVATE src/modbus_server.c)
-target_include_directories(app PUBLIC include)

software/modules/modbus_server/Kconfig

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

software/modules/valve/CMakeLists.txt

@@ -1,7 +0,0 @@
-cmake_minimum_required(VERSION 3.13.1)
-include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
-
-project(valve)
-
-target_sources(app PRIVATE src/valve.c)
-target_include_directories(app PUBLIC include)