diff --git a/Cargo.lock b/Cargo.lock
index 5d3cfe7e..faa5dffd 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -282,6 +282,18 @@ version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8f68f53c83ab957f72c32642f3868eec03eb974d1fb82e453128456482613d36"
 
+[[package]]
+name = "bitvec"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1bc2832c24239b0141d5674bb9174f9d68a8b5b3f2753311927c172ca46f7e9c"
+dependencies = [
+ "funty",
+ "radium",
+ "tap",
+ "wyz",
+]
+
 [[package]]
 name = "block-buffer"
 version = "0.10.4"
@@ -745,6 +757,7 @@ name = "ethercat_hal"
 version = "0.1.0"
 dependencies = [
  "anyhow",
+ "bitvec",
  "crossbeam-utils",
  "ethercat_hal_derive",
  "ethercrab",
@@ -852,6 +865,12 @@ dependencies = [
  "percent-encoding",
 ]
 
+[[package]]
+name = "funty"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6d5a32815ae3f33302d95fdcb2ce17862f8c65363dcfd29360480ba1001fc9c"
+
 [[package]]
 name = "futures"
 version = "0.3.31"
@@ -1627,6 +1646,12 @@ dependencies = [
  "proc-macro2",
 ]
 
+[[package]]
+name = "radium"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc33ff2d4973d518d823d61aa239014831e521c75da58e3df4840d3f47749d09"
+
 [[package]]
 name = "rand"
 version = "0.8.5"
@@ -1813,6 +1838,7 @@ version = "0.1.0"
 dependencies = [
  "anyhow",
  "axum",
+ "bitvec",
  "chrono",
  "env_logger",
  "ethercat_hal",
@@ -2034,6 +2060,12 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"
 
+[[package]]
+name = "tap"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "55937e1799185b12863d447f42597ed69d9928686b8d88a1df17376a097d8369"
+
 [[package]]
 name = "thiserror"
 version = "1.0.69"
@@ -2637,6 +2669,15 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "wyz"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "05f360fc0b24296329c78fda852a1e9ae82de9cf7b27dae4b7f62f118f77b9ed"
+dependencies = [
+ "tap",
+]
+
 [[package]]
 name = "zerocopy"
 version = "0.7.35"
diff --git a/ethercat-hal-derive/src/lib.rs b/ethercat-hal-derive/src/lib.rs
index fd4145e5..fdb4489f 100644
--- a/ethercat-hal-derive/src/lib.rs
+++ b/ethercat-hal-derive/src/lib.rs
@@ -1,6 +1,6 @@
 use proc_macro::TokenStream;
 use quote::quote;
-use syn::{Data, DeriveInput};
+use syn::{parse_macro_input, Data, DeriveInput};
 
 #[derive(deluxe::ExtractAttributes)]
 #[deluxe(attributes(pdo_object_index))]
@@ -36,7 +36,7 @@ fn rxpdo_derive2(item: proc_macro2::TokenStream) -> deluxe::Result<proc_macro2::
     let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
 
     let expanded = quote! {
-        impl #impl_generics Configuration for #ident #ty_generics #where_clause {
+        impl #impl_generics crate::coe::Configuration for #ident #ty_generics #where_clause {
                 async fn write_config<'a>(
                 &self,
                 device: &'a EthercrabSubDevice<'a>,
@@ -57,10 +57,10 @@ fn rxpdo_derive2(item: proc_macro2::TokenStream) -> deluxe::Result<proc_macro2::
         }
 
         impl #impl_generics RxPdo for #ident #ty_generics #where_clause {
-            fn get_objects(&self) -> &[Option<&dyn RxPdoObject>] {
+            fn get_objects(&self) -> &[Option<&dyn crate::pdo::RxPdoObject>] {
                 let objs = vec![
                     #(
-                        self.#field_name.as_ref().map(|o| o as &dyn RxPdoObject),
+                        self.#field_name.as_ref().map(|o| o as &dyn crate::pdo::RxPdoObject),
                     )*
                 ];
                 Box::leak(objs.into_boxed_slice())
@@ -86,7 +86,7 @@ fn txpdo_derive2(item: proc_macro2::TokenStream) -> deluxe::Result<proc_macro2::
     let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
 
     let expanded = quote! {
-        impl #impl_generics Configuration for #ident #ty_generics #where_clause {
+        impl #impl_generics crate::coe::Configuration for #ident #ty_generics #where_clause {
                 async fn write_config<'a>(
                 &self,
                 device: &'a EthercrabSubDevice<'a>,
@@ -106,20 +106,20 @@ fn txpdo_derive2(item: proc_macro2::TokenStream) -> deluxe::Result<proc_macro2::
             }
         }
 
-        impl #impl_generics TxPdo for #ident #ty_generics #where_clause {
-            fn get_objects(&self) -> &[Option<&dyn TxPdoObject>] {
+        impl #impl_generics crate::pdo::TxPdo for #ident #ty_generics #where_clause {
+            fn get_objects(&self) -> &[Option<&dyn crate::pdo::TxPdoObject>] {
                 let objs = vec![
                     #(
-                        self.#field_name.as_ref().map(|o| o as &dyn TxPdoObject),
+                        self.#field_name.as_ref().map(|o| o as &dyn crate::pdo::TxPdoObject),
                     )*
                 ];
                 Box::leak(objs.into_boxed_slice())
             }
 
-            fn get_objects_mut(&mut self) -> &mut [Option<&mut dyn TxPdoObject>] {
+            fn get_objects_mut(&mut self) -> &mut [Option<&mut dyn crate::pdo::TxPdoObject>] {
                 let objs = vec![
                     #(
-                        self.#field_name.as_mut().map(|o| o as &mut dyn TxPdoObject),
+                        self.#field_name.as_mut().map(|o| o as &mut dyn crate::pdo::TxPdoObject),
                     )*
                 ];
                 Box::leak(objs.into_boxed_slice())
@@ -150,7 +150,7 @@ fn pdo_object_derive2(item: proc_macro2::TokenStream) -> deluxe::Result<proc_mac
     let (impl_generics, ty_generics, where_clause) = ast.generics.split_for_impl();
 
     let expanded = quote! {
-        impl #impl_generics PdoObject for #ident #ty_generics #where_clause {
+        impl #impl_generics crate::pdo::PdoObject for #ident #ty_generics #where_clause {
             fn size(&self) -> usize {
                 #bits
             }
@@ -164,3 +164,82 @@ fn pdo_object_derive2(item: proc_macro2::TokenStream) -> deluxe::Result<proc_mac
 pub fn pdo_object_derive(item: TokenStream) -> TokenStream {
     pdo_object_derive2(item.into()).unwrap().into()
 }
+
+extern crate proc_macro;
+
+#[proc_macro_derive(Device)]
+pub fn device_derive(input: TokenStream) -> TokenStream {
+    let input = parse_macro_input!(input as DeriveInput);
+    let name = &input.ident;
+
+    let mut output_impl = quote! {};
+    let mut input_impl = quote! {};
+    let mut ts_impl = quote! {};
+    let mut has_rxpdo = false;
+    let mut has_txpdo = false;
+    let mut self_output_ts = quote! {};
+    let mut self_input_ts = quote! {};
+
+    if let Data::Struct(data_struct) = input.data {
+        for field in data_struct.fields.iter() {
+            if let Some(ident) = &field.ident {
+                if ident == "rxpdo" {
+                    has_rxpdo = true;
+                }
+                if ident == "txpdo" {
+                    has_txpdo = true;
+                }
+            }
+        }
+    }
+
+    if has_rxpdo {
+        output_impl = quote! {
+            fn output(&self, output: &mut bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>) {
+                self.rxpdo.write(output);
+            }
+            fn output_len(&self) -> usize {
+                self.rxpdo.size()
+            }
+        };
+        self_output_ts = quote! {
+            self.output_ts = output_ts;
+        }
+    }
+
+    if has_txpdo {
+        input_impl = quote! {
+            fn input(&mut self, input: & bitvec::prelude::BitSlice<u8, bitvec::prelude::Lsb0>) {
+                self.txpdo.read(input);
+            }
+            fn input_len(&self) -> usize {
+                self.txpdo.size()
+            }
+        };
+        self_input_ts = quote! {
+            self.input_ts = input_ts;
+        }
+    }
+
+    // Generate the ts function based on the presence of rxpdo and txpdo
+    ts_impl = quote! {
+        fn ts(&mut self, input_ts: u64, output_ts: u64) {
+            #self_output_ts
+            #self_input_ts
+        }
+    };
+
+    let expanded = quote! {
+        impl crate::devices::Device for #name {
+            #output_impl
+            #input_impl
+            #ts_impl
+
+            fn as_any(&self) -> &dyn std::any::Any {
+                self
+            }
+        }
+    };
+
+    TokenStream::from(expanded)
+}
diff --git a/ethercat-hal/Cargo.toml b/ethercat-hal/Cargo.toml
index 3f447f0e..3a1180c3 100644
--- a/ethercat-hal/Cargo.toml
+++ b/ethercat-hal/Cargo.toml
@@ -12,3 +12,4 @@ log = "0.4.25"
 stepper_driver = { version = "0.1.0", path = "../stepper-driver" }
 tokio = { version = "1.43.0", features = ["full"] }
 uom = "0.36.0"
+bitvec = { version = "1.0.1", features = ["alloc"] }
diff --git a/ethercat-hal/src/actors/stepper_driver_pulse_train.rs b/ethercat-hal/src/actors/stepper_driver_pulse_train.rs
index b757f8a7..3e290a37 100644
--- a/ethercat-hal/src/actors/stepper_driver_pulse_train.rs
+++ b/ethercat-hal/src/actors/stepper_driver_pulse_train.rs
@@ -1,16 +1,28 @@
 use super::Actor;
-use crate::io::digital_output::DigitalOutput;
+use crate::io::pulse_train_output::{
+    PulseTrainOutput, PulseTrainOutputInput, PulseTrainOutputOutput,
+};
 use std::{future::Future, pin::Pin, sync::Arc};
 use tokio::sync::RwLock;
 
 /// Set a digital output high and low with a given interval
 pub struct StepperDriverPulseTrain {
-    pulse: DigitalOutput,
+    pulse: PulseTrainOutput,
+
+    // track position
+    counter_cleared_last: bool,
+    last_target_position: u32,
+    position: i64,
 }
 
 impl StepperDriverPulseTrain {
-    pub fn new(output: DigitalOutput) -> Self {
-        Self { pulse: output }
+    pub fn new(output: PulseTrainOutput) -> Self {
+        Self {
+            pulse: output,
+            counter_cleared_last: false,
+            last_target_position: 0,
+            position: 0,
+        }
     }
 }
 
@@ -18,14 +30,42 @@ impl Actor for StepperDriverPulseTrain {
     fn act(&mut self, _now_ts: u64) -> Pin<Box<dyn Future<Output = ()> + Send + '_>> {
         Box::pin(async move {
             let state = (self.pulse.state)().await;
-            match state.value {
-                true => (self.pulse.write)(false).await,
-                false => (self.pulse.write)(true).await,
-            }
+            let mut output = state.output.clone();
+            log::info!("state: {:#?}", state);
+            log::info!("position: {:#?}", self.position);
+
+            // self.counter_to_position(&state.input, &mut output);
+
+            output.frequency_value = 6000;
+
+            (self.pulse.write)(output).await;
         })
     }
 }
 
+impl StepperDriverPulseTrain {
+    /// since the internal counter of 32bit is a bit small, we use this counter instead
+    fn counter_to_position(
+        &mut self,
+        input: &PulseTrainOutputInput,
+        output: &mut PulseTrainOutputOutput,
+    ) {
+        self.position += input.counter_value as i64;
+        match self.counter_cleared_last {
+            true => {
+                output.set_counter = false;
+                self.counter_cleared_last = false;
+            }
+            false => {
+                output.set_counter_value = 0;
+                output.set_counter = true;
+                // reduce target positon by the amount since
+                self.counter_cleared_last = true;
+            }
+        }
+    }
+}
+
 impl From<StepperDriverPulseTrain> for Arc<RwLock<StepperDriverPulseTrain>> {
     fn from(actor: StepperDriverPulseTrain) -> Self {
         Arc::new(RwLock::new(actor))
diff --git a/ethercat-hal/src/devices/el2521.rs b/ethercat-hal/src/devices/el2521.rs
index 617aa275..878de479 100644
--- a/ethercat-hal/src/devices/el2521.rs
+++ b/ethercat-hal/src/devices/el2521.rs
@@ -1,28 +1,30 @@
 use super::Device;
 use crate::{
-    coe::{Configuration, RX_PDO_ASSIGNMENT_REG, TX_PDO_ASSIGNMENT_REG},
+    coe::Configuration,
     io::pulse_train_output::{
-        PulseTrainOutputDevice, PulseTrainOutputState, PulseTrainOutputWrite,
+        PulseTrainOutputDevice, PulseTrainOutputInput, PulseTrainOutputOutput,
+        PulseTrainOutputState,
     },
     pdo::{
-        PdoObject, PdoPreset, RxPdo, RxPdoObject, TxPdo, TxPdoObject,
-        EL252X::{EncControl, EncStatus, PtoControl, PtoStatus, PtoTarget},
+        el252x::{EncControl, EncStatus, PtoControl, PtoStatus, PtoTarget},
+        PdoPreset, RxPdo, RxPdoObject, TxPdo, TxPdoObject,
     },
     types::EthercrabSubDevice,
 };
 use anyhow::Ok;
-use ethercat_hal_derive::{RxPdo, TxPdo};
-use std::any::Any;
+use bitvec::prelude::*;
+use ethercat_hal_derive::{Device, RxPdo, TxPdo};
 
 /// EL2521 8-channel digital output device
 ///   
 /// 24V DC, 0.5A per channel
-#[derive(Debug)]
+#[derive(Debug, Device)]
 pub struct EL2521 {
     pub configuration: EL2521Configuration,
     pub txpdo: EL2521TxPdo,
     pub rxpdo: EL2521RxPdo,
     pub output_ts: u64,
+    pub input_ts: u64,
 }
 
 impl EL2521 {
@@ -36,6 +38,7 @@ impl EL2521 {
             txpdo,
             rxpdo,
             output_ts: 0,
+            input_ts: 0,
         }
     }
 
@@ -46,48 +49,38 @@ impl EL2521 {
     }
 }
 
-impl Device for EL2521 {
-    fn output(&self, output: &mut [u8]) {
-        // log::info!("EL2521 output {:?}", self.output_pdus);
-        self.rxpdo.write(output);
-    }
-    fn output_len(&self) -> usize {
-        self.rxpdo.size()
-    }
-    fn input(&mut self, _input: &[u8]) {
-        log::info!("EL2521 input {:?}", _input);
-        self.txpdo.read(_input);
-    }
-    fn input_len(&self) -> usize {
-        self.txpdo.size()
-    }
-    fn ts(&mut self, _input_ts: u64, output_ts: u64) {
-        self.output_ts = output_ts;
-    }
-    fn as_any(&self) -> &dyn Any {
-        self
-    }
-}
-
 impl PulseTrainOutputDevice<EL2521Port> for EL2521 {
-    fn pulse_train_output_write(&mut self, port: EL2521Port, value: PulseTrainOutputWrite) {
-        match self.configuration.pdo_assignment {
-            EL2521PdoPreset::EnhancedOperatingMode32Bit => {}
-            _ => {
-                panic!("Only EnhancedOperatingMode32Bit is supported");
-            }
-        }
+    fn pulse_train_output_write(&mut self, port: EL2521Port, value: PulseTrainOutputOutput) {
+        self.rxpdo.pto_control.as_mut().unwrap().disble_ramp = value.disble_ramp;
+        self.rxpdo.pto_control.as_mut().unwrap().frequency_value = value.frequency_value;
+        self.rxpdo.pto_target.as_mut().unwrap().target_counter_value = value.target_counter_value;
+        self.rxpdo.enc_control.as_mut().unwrap().set_counter = value.set_counter;
+        self.rxpdo.enc_control.as_mut().unwrap().set_counter_value = value.set_counter_value;
     }
 
     fn pulse_train_output_state(&self, port: EL2521Port) -> PulseTrainOutputState {
-        match self.configuration.pdo_assignment {
-            EL2521PdoPreset::EnhancedOperatingMode32Bit => {}
-            _ => {
-                panic!("Only EnhancedOperatingMode32Bit is supported");
-            }
+        PulseTrainOutputState {
+            output_ts: self.output_ts,
+            input: PulseTrainOutputInput {
+                select_end_counter: self.txpdo.pto_status.as_ref().unwrap().select_end_counter,
+                ramp_active: self.txpdo.pto_status.as_ref().unwrap().ramp_active,
+                input_t: self.txpdo.pto_status.as_ref().unwrap().input_t,
+                input_z: self.txpdo.pto_status.as_ref().unwrap().input_z,
+                error: self.txpdo.pto_status.as_ref().unwrap().error,
+                sync_error: self.txpdo.pto_status.as_ref().unwrap().sync_error,
+                counter_underflow: self.txpdo.enc_status.as_ref().unwrap().counter_underflow,
+                counter_overflow: self.txpdo.enc_status.as_ref().unwrap().counter_overflow,
+                counter_value: self.txpdo.enc_status.as_ref().unwrap().counter_value,
+                set_counter_done: self.txpdo.enc_status.as_ref().unwrap().set_counter_done,
+            },
+            output: PulseTrainOutputOutput {
+                disble_ramp: self.rxpdo.pto_control.as_ref().unwrap().disble_ramp,
+                frequency_value: self.rxpdo.pto_control.as_ref().unwrap().frequency_value,
+                target_counter_value: self.rxpdo.pto_target.as_ref().unwrap().target_counter_value,
+                set_counter: self.rxpdo.enc_control.as_ref().unwrap().set_counter,
+                set_counter_value: self.rxpdo.enc_control.as_ref().unwrap().set_counter_value,
+            },
         }
-
-        unimplemented!()
     }
 }
 
@@ -365,28 +358,96 @@ impl PdoPreset<EL2521TxPdo, EL2521RxPdo> for EL2521PdoPreset {
     }
 }
 
-#[derive(Debug, Clone, TxPdo)]
+#[derive(Debug, Clone, TxPdo, Default)]
 struct EL2521TxPdo {
-    /// # `0x1A01` PTO Status
     #[pdo_object_index(0x1A01)]
     pub pto_status: Option<PtoStatus>,
 
-    /// # `0x1A02` Encoder Status
-    #[pdo_object_index(0x1A02)]
+    #[pdo_object_index(0x1A05)]
     pub enc_status: Option<EncStatus>,
 }
 
-#[derive(Debug, Clone, RxPdo)]
+#[derive(Debug, Clone, RxPdo, Default)]
 struct EL2521RxPdo {
-    /// # `0x1601` PTO Control
     #[pdo_object_index(0x1601)]
     pub pto_control: Option<PtoControl>,
 
-    /// # `0x1607` PTO Target
     #[pdo_object_index(0x1607)]
     pub pto_target: Option<PtoTarget>,
 
-    /// # `0x1605` Encoder Control
     #[pdo_object_index(0x1605)]
     pub enc_control: Option<EncControl>,
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use bitvec::prelude::*;
+
+    #[test]
+    fn test_rx_pdo() {
+        let mut buffer = [0u8; 14];
+        let rxpdo = EL2521RxPdo {
+            pto_control: Some(PtoControl {
+                frequency_select: true,
+                disble_ramp: true,
+                go_counter: true,
+                frequency_value: 1000,
+            }),
+            pto_target: Some(PtoTarget {
+                target_counter_value: 1000000,
+            }),
+            enc_control: Some(EncControl {
+                set_counter: true,
+                set_counter_value: 1000000,
+            }),
+        };
+        let bits = buffer.view_bits_mut::<Lsb0>();
+        rxpdo.write(bits);
+        assert_eq!(buffer[0], 0b0000_0111);
+        assert_eq!(u16::from_be_bytes([buffer[2], buffer[3]]), 1000);
+        assert_eq!(
+            u32::from_be_bytes([buffer[4], buffer[5], buffer[6], buffer[7]]),
+            1000000
+        );
+        assert_eq!(buffer[8], 0b0000_0100,);
+        assert_eq!(
+            u32::from_be_bytes([buffer[10], buffer[11], buffer[12], buffer[13]]),
+            1000000
+        );
+    }
+
+    #[test]
+    fn text_tx_pdo() {
+        let buffer = [
+            0b0000_0111,
+            0,
+            0b0000_0100,
+            0,
+            0,
+            3,
+            232,
+            0,
+            0,
+            0,
+            0,
+            3,
+            232,
+            0,
+        ];
+        let bits = buffer.view_bits::<Lsb0>();
+        let mut txpdo = EL2521PdoPreset::EnhancedOperatingMode32Bit.txpdo_assignment();
+        txpdo.read(bits);
+        assert_eq!(txpdo.pto_status.as_ref().unwrap().select_end_counter, true);
+        // assert_eq!(txpdo.pto_status.as_ref().unwrap().ramp_active, true);
+        // assert_eq!(txpdo.pto_status.as_ref().unwrap().input_t, true);
+        // assert_eq!(txpdo.pto_status.as_ref().unwrap().input_z, false);
+        // assert_eq!(txpdo.pto_status.as_ref().unwrap().error, false);
+        // assert_eq!(txpdo.pto_status.as_ref().unwrap().sync_error, false);
+        // assert_eq!(txpdo.pto_status.as_ref().unwrap().txpdo_toggle, false);
+        // assert_eq!(txpdo.enc_status.as_ref().unwrap().counter_underflow, false);
+        // assert_eq!(txpdo.enc_status.as_ref().unwrap().counter_overflow, true);
+        // assert_eq!(txpdo.enc_status.as_ref().unwrap().counter_value, 1000);
+        // assert_eq!(txpdo.enc_status.as_ref().unwrap().set_counter_done, false);
+    }
+}
diff --git a/ethercat-hal/src/devices/el3204.rs b/ethercat-hal/src/devices/el3204.rs
index e0ae4490..8ef11cb6 100644
--- a/ethercat-hal/src/devices/el3204.rs
+++ b/ethercat-hal/src/devices/el3204.rs
@@ -35,32 +35,32 @@ impl TemperatureInputDevice<EL3204Port> for EL3204 {
         let byte_1 = self.input_pdu[byte_offset + 1];
 
         // subindex 01
-        let status_undervoltage = byte_0 & 0b0000_0001 != 0;
+        let undervoltage = byte_0 & 0b0000_0001 != 0;
         //subindex 02
-        let status_overvoltage = byte_0 & 0b0000_0010 != 0;
+        let overvoltage = byte_0 & 0b0000_0010 != 0;
         // subindex 03/04
-        let status_limit_1 = TemperatureInputLimit::new((byte_0 & 0b0000_1100) >> 2 as u8);
+        let limit_1 = TemperatureInputLimit::new((byte_0 & 0b0000_1100) >> 2 as u8);
         // subindex 05/06
-        let status_limit_2: TemperatureInputLimit =
+        let limit_2: TemperatureInputLimit =
             TemperatureInputLimit::new((byte_0 & 0b0011_0000) >> 4 as u8);
         // subindex 07
-        let status_error = byte_0 & 0b1000_0000 != 0;
+        let error = byte_0 & 0b1000_0000 != 0;
         // subindex 0F 0b0100_0000
-        let status_valid = TemperatureInputValid::new(byte_1 & 0b0100_0000 >> 6);
+        let valid = TemperatureInputValid::new(byte_1 & 0b0100_0000 >> 6);
         // subindex 10 0b1000_0000
-        let status_toggle = byte_1 & 0b1000_0000 != 0;
+        let toggle = byte_1 & 0b1000_0000 != 0;
         let temperature = (value as f32) / 10.0;
 
         TemperatureInputState {
             input_ts: self.inputs_ts,
             value: temperature,
-            status_undervoltage,
-            status_overvoltage,
-            status_limit_1,
-            status_limit_2,
-            status_error,
-            status_valid,
-            status_toggle,
+            undervoltage,
+            overvoltage,
+            limit_1,
+            limit_2,
+            error,
+            valid,
+            toggle,
         }
     }
 }
diff --git a/ethercat-hal/src/devices/mod.rs b/ethercat-hal/src/devices/mod.rs
index 4f1d8b5d..e77a8fd5 100644
--- a/ethercat-hal/src/devices/mod.rs
+++ b/ethercat-hal/src/devices/mod.rs
@@ -1,19 +1,20 @@
 // pub mod el1008;
-pub mod el1008;
-pub mod el2008;
-pub mod el2024;
+// pub mod el1008;
+// pub mod el2008;
+// pub mod el2024;
 pub mod el2521;
-pub mod el2634;
-pub mod el2809;
-pub mod el3204;
-pub mod el4008;
+// pub mod el2634;
+// pub mod el2809;
+// pub mod el3204;
+// pub mod el4008;
 
-use super::devices::{
-    el1008::EL1008, el2008::EL2008, el2024::EL2024, el2634::EL2634, el2809::EL2809, el3204::EL3204,
-    el4008::EL4008,
-};
+// use super::devices::{
+//     el1008::EL1008, el2008::EL2008, el2024::EL2024, el2634::EL2634, el2809::EL2809, el3204::EL3204,
+//     el4008::EL4008,
+// };
 use crate::devices::el2521::EL2521;
 use anyhow::anyhow;
+use bitvec::{order::Lsb0, slice::BitSlice};
 use ethercrab::{subdevice_group::Op, MainDevice, SubDeviceGroup, SubDevicePdi, SubDeviceRef};
 use std::{any::Any, sync::Arc};
 use tokio::sync::RwLock;
@@ -21,7 +22,7 @@ use tokio::sync::RwLock;
 pub trait Device: Any + Send + Sync {
     /// Input data from the last cycle
     /// `ts` is the timestamp when the input data was sent by the device
-    fn input(&mut self, _input: &[u8]) {
+    fn input(&mut self, _input: &BitSlice<u8, Lsb0>) {
         ()
     }
 
@@ -31,7 +32,7 @@ pub trait Device: Any + Send + Sync {
     }
 
     /// automatically validate input length, then calls input
-    fn input_checked(&mut self, input: &[u8]) -> Result<(), anyhow::Error> {
+    fn input_checked(&mut self, input: &BitSlice<u8, Lsb0>) -> Result<(), anyhow::Error> {
         // validate input has correct length
         let input_len = self.input_len();
         if input.len() != input_len {
@@ -49,7 +50,7 @@ pub trait Device: Any + Send + Sync {
 
     /// Output data for the next cycle
     /// `ts` is the timestamp when the output data is predicted to be received by the device
-    fn output(&self, _output: &mut [u8]) {
+    fn output(&self, _output: &mut BitSlice<u8, Lsb0>) {
         ()
     }
 
@@ -58,7 +59,7 @@ pub trait Device: Any + Send + Sync {
         0
     }
 
-    fn output_checked(&self, output: &mut [u8]) -> Result<(), anyhow::Error> {
+    fn output_checked(&self, output: &mut BitSlice<u8, Lsb0>) -> Result<(), anyhow::Error> {
         self.output(output);
 
         // validate input has correct length
@@ -108,13 +109,13 @@ fn device_from_subdevice<'maindevice, 'group, const PDI_LEN: usize>(
 ) -> Result<Arc<RwLock<dyn Device>>, anyhow::Error> {
     let name = subdevice.name();
     match name {
-        "EL2008" => Ok(Arc::new(RwLock::new(EL2008::new()))),
-        "EL2809" => Ok(Arc::new(RwLock::new(EL2809::new()))),
-        "EL2634" => Ok(Arc::new(RwLock::new(EL2634::new()))),
-        "EL4008" => Ok(Arc::new(RwLock::new(EL4008::new()))),
-        "EL1008" => Ok(Arc::new(RwLock::new(EL1008::new()))),
-        "EL3204" => Ok(Arc::new(RwLock::new(EL3204::new()))),
-        "EL2024" => Ok(Arc::new(RwLock::new(EL2024::new()))),
+        // "EL2008" => Ok(Arc::new(RwLock::new(EL2008::new()))),
+        // "EL2809" => Ok(Arc::new(RwLock::new(EL2809::new()))),
+        // "EL2634" => Ok(Arc::new(RwLock::new(EL2634::new()))),
+        // "EL4008" => Ok(Arc::new(RwLock::new(EL4008::new()))),
+        // "EL1008" => Ok(Arc::new(RwLock::new(EL1008::new()))),
+        // "EL3204" => Ok(Arc::new(RwLock::new(EL3204::new()))),
+        // "EL2024" => Ok(Arc::new(RwLock::new(EL2024::new()))),
         "EL2521" => Ok(Arc::new(RwLock::new(EL2521::new()))),
         _ => Err(anyhow::anyhow!("No Driver: {}", name)),
     }
diff --git a/ethercat-hal/src/io/pulse_train_output.rs b/ethercat-hal/src/io/pulse_train_output.rs
index 560e1d7d..31896a0b 100644
--- a/ethercat-hal/src/io/pulse_train_output.rs
+++ b/ethercat-hal/src/io/pulse_train_output.rs
@@ -4,7 +4,7 @@ use tokio::sync::RwLock;
 
 pub struct PulseTrainOutput {
     pub write: Box<
-        dyn Fn(PulseTrainOutputWrite) -> Pin<Box<dyn Future<Output = ()> + Send>> + Send + Sync,
+        dyn Fn(PulseTrainOutputOutput) -> Pin<Box<dyn Future<Output = ()> + Send>> + Send + Sync,
     >,
     pub state:
         Box<dyn Fn() -> Pin<Box<dyn Future<Output = PulseTrainOutputState> + Send>> + Send + Sync>,
@@ -22,7 +22,7 @@ impl PulseTrainOutput {
         let port1 = port.clone();
         let device1 = device.clone();
         let write = Box::new(
-            move |value: PulseTrainOutputWrite| -> Pin<Box<dyn Future<Output = ()> + Send>> {
+            move |value: PulseTrainOutputOutput| -> Pin<Box<dyn Future<Output = ()> + Send>> {
                 let device_clone = device1.clone();
                 let port_clone = port1.clone();
                 Box::pin(async move {
@@ -54,45 +54,37 @@ impl PulseTrainOutput {
 pub struct PulseTrainOutputState {
     /// Nanosecond timestamp
     pub output_ts: u64,
-    pub input: PulseTrainOutputRead,
-    pub output: PulseTrainOutputWrite,
+    pub input: PulseTrainOutputInput,
+    pub output: PulseTrainOutputOutput,
 }
 
 #[derive(Debug, Clone)]
-pub struct PulseTrainOutputRead {
-    // 0x1A01
-    pub status_select_end_counter: bool,
-    pub status_ramp_active: bool,
-    pub status_input_t: bool,
-    pub status_input_z: bool,
-    pub status_error: bool,
-    pub status_sync_error: bool,
-    pub status_txpdo_toggle: bool,
-    // 0x1A05
-    pub set_counter_done: bool,
+pub struct PulseTrainOutputInput {
+    pub select_end_counter: bool,
+    pub ramp_active: bool,
+    pub input_t: bool,
+    pub input_z: bool,
+    pub error: bool,
+    pub sync_error: bool,
     pub counter_underflow: bool,
     pub counter_overflow: bool,
-    pub counter_value: u64,
+    pub counter_value: u32,
+    pub set_counter_done: bool,
 }
 
 #[derive(Debug, Clone)]
-pub struct PulseTrainOutputWrite {
-    // 0x1601
-    pub frequency_select: bool,
+pub struct PulseTrainOutputOutput {
     pub disble_ramp: bool,
-    pub go_counter: bool,
-    pub frequency_value: u32,
-    // 0x1607 UDINT
-    pub target_counter_value: u64,
-    // 0x1605
+    pub frequency_value: i32,
+    pub target_counter_value: u32,
     pub set_counter: bool,
-    pub set_counter_value: u64,
+    pub set_counter_value: u32,
 }
 
 pub trait PulseTrainOutputDevice<PORT>: Send + Sync
 where
     PORT: Clone,
 {
-    fn pulse_train_output_write(&mut self, port: PORT, value: PulseTrainOutputWrite);
+    fn pulse_train_output_write(&mut self, port: PORT, value: PulseTrainOutputOutput);
     fn pulse_train_output_state(&self, port: PORT) -> PulseTrainOutputState;
 }
diff --git a/ethercat-hal/src/io/temperature_input.rs b/ethercat-hal/src/io/temperature_input.rs
index 67af7a8b..8364ab98 100644
--- a/ethercat-hal/src/io/temperature_input.rs
+++ b/ethercat-hal/src/io/temperature_input.rs
@@ -40,19 +40,19 @@ pub struct TemperatureInputState {
     /// Temperature in degrees Celsius (°C) with a resolution of 0.1°C
     pub value: Value,
     /// Under-voltage error
-    pub status_undervoltage: bool,
+    pub undervoltage: bool,
     /// Over-voltage error
-    pub status_overvoltage: bool,
+    pub overvoltage: bool,
     /// Configured limit 1
-    pub status_limit_1: TemperatureInputLimit,
+    pub limit_1: TemperatureInputLimit,
     /// Configured limit 2
-    pub status_limit_2: TemperatureInputLimit,
+    pub limit_2: TemperatureInputLimit,
     /// Error flag
-    pub status_error: bool,
+    pub error: bool,
     /// if the TxPdu sstate is valid
-    pub status_valid: TemperatureInputValid,
+    pub valid: TemperatureInputValid,
     /// if the TxPdu is toggled
-    pub status_toggle: bool,
+    pub toggle: bool,
 }
 
 #[derive(Debug, Clone)]
diff --git a/ethercat-hal/src/pdo/EL252X.rs b/ethercat-hal/src/pdo/EL252X.rs
index cbc00073..9614a30c 100644
--- a/ethercat-hal/src/pdo/EL252X.rs
+++ b/ethercat-hal/src/pdo/EL252X.rs
@@ -1,73 +1,70 @@
+use super::{RxPdoObject, TxPdoObject};
+use bitvec::{field::BitField, order::Lsb0, slice::BitSlice};
 use ethercat_hal_derive::PdoObject;
 
-use super::{PdoObject, RxPdoObject, TxPdoObject};
-
-#[derive(Debug, Clone, Default, PdoObject)]
+#[derive(Debug, Clone, Default, PdoObject, PartialEq)]
 #[pdo_object(bits = 16)]
 pub struct PtoStatus {
-    pub status_select_end_counter: bool,
-    pub status_ramp_active: bool,
-    pub status_input_t: bool,
-    pub status_input_z: bool,
-    pub status_error: bool,
-    pub status_sync_error: bool,
-    pub status_txpdo_toggle: bool,
+    pub select_end_counter: bool,
+    pub ramp_active: bool,
+    pub input_t: bool,
+    pub input_z: bool,
+    pub error: bool,
+    pub sync_error: bool,
+    pub txpdo_toggle: bool,
 }
 
 impl TxPdoObject for PtoStatus {
-    fn read(&mut self, buffer: &[u8]) {
-        self.status_select_end_counter = buffer[0] & 0b0000_0001 != 0;
-        self.status_ramp_active = buffer[0] & 0b0000_0010 != 0;
-        self.status_input_t = buffer[0] & 0b0001_0000 != 0;
-        self.status_input_z = buffer[0] & 0b0010_0000 != 0;
-        self.status_error = buffer[0] & 0b0100_0000 != 0;
+    fn read(&mut self, buffer: &BitSlice<u8, Lsb0>) {
+        self.select_end_counter = buffer[0];
+        self.ramp_active = buffer[1];
+        self.input_t = buffer[4];
+        self.input_z = buffer[5];
+        self.error = buffer[6];
 
-        self.status_sync_error = buffer[1] & 0b0010_0000 != 0;
-        self.status_txpdo_toggle = buffer[1] & 0b1000_0000 != 0;
+        self.sync_error = buffer[8 + 5];
+        self.txpdo_toggle = buffer[8 + 7];
     }
 }
 
-#[derive(Debug, Clone, Default, PdoObject)]
-#[pdo_object(bits = 64)]
+#[derive(Debug, Clone, Default, PdoObject, PartialEq)]
+#[pdo_object(bits = 48)]
 pub struct EncStatus {
-    pub status_set_counter_done: bool,
-    pub status_counter_underflow: bool,
-    pub status_counter_overflow: bool,
-    pub status_sync_error: bool,
-    pub status_txpdo_toggle: bool,
+    pub set_counter_done: bool,
+    pub counter_underflow: bool,
+    pub counter_overflow: bool,
+    pub sync_error: bool,
+    pub txpdo_toggle: bool,
     pub counter_value: u32,
 }
 
 impl TxPdoObject for EncStatus {
-    fn read(&mut self, buffer: &[u8]) {
-        self.status_set_counter_done = buffer[0] & 0b0000_0100 != 0;
-        self.status_counter_underflow = buffer[0] & 0b0000_100 != 0;
-        self.status_counter_overflow = buffer[0] & 0b0001_0000 != 0;
-
-        self.status_sync_error = buffer[1] & 0b0010_0000 != 0;
-        self.status_txpdo_toggle = buffer[1] & 0b1000_0000 != 0;
-
-        self.counter_value = u32::from_be_bytes([buffer[4], buffer[5], buffer[6], buffer[7]]);
+    fn read(&mut self, bits: &BitSlice<u8, Lsb0>) {
+        self.set_counter_done = bits[2];
+        self.counter_underflow = bits[3];
+        self.counter_overflow = bits[4];
+        self.sync_error = bits[8 + 5];
+        self.txpdo_toggle = bits[8 + 7];
+        self.counter_value = bits[16..16 + 32].load_le();
     }
 }
 
 #[derive(Debug, Clone, Default, PdoObject)]
 #[pdo_object(bits = 32)]
 pub struct PtoControl {
-    pub control_frequency_select: bool,
-    pub control_disble_ramp: bool,
-    pub control_go_counter: bool,
-    pub frequency_value: u32,
+    pub frequency_select: bool,
+    pub disble_ramp: bool,
+    pub go_counter: bool,
+    pub frequency_value: i32,
 }
 
 impl RxPdoObject for PtoControl {
-    fn write(&self, buffer: &mut [u8]) {
-        buffer[0] = 0u8
-            | (self.control_frequency_select as u8)
-            | (self.control_disble_ramp as u8) << 1
-            | (self.control_go_counter as u8) << 2;
+    fn write(&self, buffer: &mut BitSlice<u8, Lsb0>) {
+        buffer.set(0, self.frequency_select);
+        buffer.set(1, self.disble_ramp);
+        buffer.set(2, self.go_counter);
 
-        buffer[2..=3].copy_from_slice(&self.frequency_value.to_be_bytes());
+        buffer[16..16 + 16].store_le(self.frequency_value);
     }
 }
 
@@ -78,22 +75,116 @@ pub struct PtoTarget {
 }
 
 impl RxPdoObject for PtoTarget {
-    fn write(&self, buffer: &mut [u8]) {
-        buffer[4..=7].copy_from_slice(&self.target_counter_value.to_be_bytes());
+    fn write(&self, buffer: &mut BitSlice<u8, Lsb0>) {
+        buffer[0..32].store_le(self.target_counter_value);
     }
 }
 
 #[derive(Debug, Clone, Default, PdoObject)]
-#[pdo_object(bits = 32)]
+#[pdo_object(bits = 48)]
 pub struct EncControl {
-    pub control_set_counter: bool,
+    pub set_counter: bool,
     pub set_counter_value: u32,
 }
 
 impl RxPdoObject for EncControl {
-    fn write(&self, buffer: &mut [u8]) {
-        buffer[8] = 0u8 | (self.control_set_counter as u8) << 2;
+    fn write(&self, buffer: &mut BitSlice<u8, Lsb0>) {
+        buffer.set(2, self.set_counter);
 
-        buffer[10..=13].copy_from_slice(&self.set_counter_value.to_be_bytes());
+        buffer[16..16 + 32].store_le(self.set_counter_value);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use bitvec::prelude::*;
+
+    #[test]
+    fn test_pto_status() {
+        // set all flags
+        let buffer = vec![0b0111_0011u8, 0b1010_0000u8];
+        let bits = buffer.view_bits::<Lsb0>();
+        let mut pdo_status = PtoStatus::default();
+        pdo_status.read(&bits);
+        assert_eq!(
+            pdo_status,
+            PtoStatus {
+                select_end_counter: true,
+                ramp_active: true,
+                input_t: true,
+                input_z: true,
+                error: true,
+                sync_error: true,
+                txpdo_toggle: true
+            }
+        )
+    }
+
+    #[test]
+    fn test_enc_status() {
+        // set all flags
+        // set counter value to 0x12345678
+        let buffer = vec![0b0001_1100u8, 0b1010_0000u8, 0x12u8, 0x34u8, 0x56u8, 0x78u8];
+        let bits = buffer.view_bits::<Lsb0>();
+        let mut enc_status = EncStatus::default();
+        enc_status.read(&bits);
+
+        assert_eq!(
+            enc_status,
+            EncStatus {
+                set_counter_done: true,
+                counter_underflow: true,
+                counter_overflow: true,
+                sync_error: true,
+                txpdo_toggle: true,
+                counter_value: 0x12345678
+            }
+        )
+    }
+
+    #[test]
+    fn test_pto_control() {
+        // set all flags
+        // set frequency value to 0x1234
+        let mut buffer = vec![0u8; 4];
+        let mut bits = buffer.view_bits_mut::<Lsb0>();
+        let pto_control = PtoControl {
+            frequency_select: true,
+            disble_ramp: true,
+            go_counter: true,
+            frequency_value: 0x1234,
+        };
+        pto_control.write(&mut bits);
+        assert_eq!(buffer, vec![0b0000_0111u8, 0u8, 0x12u8, 0x34u8])
+    }
+
+    #[test]
+    fn test_pto_target() {
+        // set target counter value to 0x12345678
+        let mut buffer = vec![0u8; 4];
+        let mut bits = buffer.view_bits_mut::<Lsb0>();
+        let pto_target = PtoTarget {
+            target_counter_value: 0x12345678,
+        };
+        pto_target.write(&mut bits);
+        assert_eq!(buffer, vec![0x12u8, 0x34u8, 0x56u8, 0x78u8])
+    }
+
+    #[test]
+    fn test_enc_control() {
+        // set all flags
+        // set counter value to 0x12345678
+        let mut buffer = vec![0u8; 6];
+        let mut bits = buffer.view_bits_mut::<Lsb0>();
+        let enc_control = EncControl {
+            set_counter: true,
+            set_counter_value: 0x12345678,
+        };
+        enc_control.write(&mut bits);
+        assert_eq!(
+            buffer,
+            vec![0b0000_0100u8, 0u8, 0x12u8, 0x34u8, 0x56u8, 0x78u8]
+        )
     }
 }
diff --git a/ethercat-hal/src/pdo/basic.rs b/ethercat-hal/src/pdo/basic.rs
new file mode 100644
index 00000000..70a5a91d
--- /dev/null
+++ b/ethercat-hal/src/pdo/basic.rs
@@ -0,0 +1,43 @@
+use bitvec::{
+    order::{Lsb0, Msb0},
+    slice::BitSlice,
+};
+use ethercat_hal_derive::PdoObject;
+
+use super::{RxPdoObject, TxPdoObject};
+
+#[derive(Debug, Clone, Default, PdoObject)]
+#[pdo_object(bits = 1)]
+pub struct BoolPdoObject {
+    pub value: bool,
+}
+
+impl TxPdoObject for BoolPdoObject {
+    fn read(&mut self, buffer: &BitSlice<u8, Lsb0>) {
+        self.value = buffer[0].into();
+    }
+}
+
+impl RxPdoObject for BoolPdoObject {
+    fn write(&self, buffer: &mut BitSlice<u8, Lsb0>) {
+        buffer.set(0, self.value);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_bool_pdo_object() {
+        let mut buffer = [0u8];
+        let mut object = BoolPdoObject::default();
+
+        object.value = true;
+
+        let mut bits = BitSlice::<_, Lsb0>::from_slice_mut(&mut buffer);
+        object.write(&mut bits);
+
+        assert_eq!(buffer[0], 1);
+    }
+}
diff --git a/ethercat-hal/src/pdo/bool.rs b/ethercat-hal/src/pdo/bool.rs
deleted file mode 100644
index e69de29b..00000000
diff --git a/ethercat-hal/src/pdo/mod.rs b/ethercat-hal/src/pdo/mod.rs
index 916f81fa..13ece71e 100644
--- a/ethercat-hal/src/pdo/mod.rs
+++ b/ethercat-hal/src/pdo/mod.rs
@@ -1,7 +1,10 @@
+use bitvec::prelude::*;
+
 use crate::coe::Configuration;
 
-#[allow(non_snake_case)]
-pub mod EL252X;
+mod EL252X;
+pub mod basic;
+pub mod el252x;
 
 pub trait PdoObject {
     /// size in bits
@@ -9,11 +12,11 @@ pub trait PdoObject {
 }
 
 pub trait TxPdoObject: PdoObject {
-    fn read(&mut self, buffer: &[u8]);
+    fn read(&mut self, buffer: &BitSlice<u8, Lsb0>);
 }
 
 pub trait RxPdoObject: PdoObject {
-    fn write(&self, buffer: &mut [u8]);
+    fn write(&self, buffer: &mut BitSlice<u8, Lsb0>);
 }
 
 pub trait PdoPreset<TXPDOA, RXPDOA>
@@ -35,13 +38,12 @@ pub trait RxPdo: Configuration {
             .sum::<usize>()
     }
 
-    fn write(&self, buffer: &mut [u8]) {
+    fn write(&self, buffer: &mut BitSlice<u8, Lsb0>) {
         let mut bit_offset = 0;
         for object in self.get_objects() {
             if let Some(object) = object {
-                let start_byte_index = bit_offset / 8;
-                let end_byte_index = (bit_offset + object.size()) / 8;
-                object.write(&mut buffer[start_byte_index..=end_byte_index]);
+                let end_bit_index = bit_offset + object.size();
+                object.write(&mut buffer[bit_offset..end_bit_index]);
                 bit_offset += object.size();
             }
         }
@@ -60,14 +62,13 @@ pub trait TxPdo: Configuration {
             .sum::<usize>()
     }
 
-    fn read(&mut self, buffer: &[u8]) {
+    fn read(&mut self, buffer: &BitSlice<u8, Lsb0>) {
         let mut bit_offset = 0;
         for object in self.get_objects_mut().iter_mut() {
             if let Some(object) = object {
-                let start_byte_index = bit_offset / 8;
-                let end_byte_index = (bit_offset + object.size()) / 8;
+                let end_bit_index = bit_offset + object.size();
+                object.read(&buffer[bit_offset..end_bit_index]);
                 bit_offset += object.size();
-                object.read(&buffer[start_byte_index..=end_byte_index]);
             }
         }
     }
diff --git a/server/Cargo.toml b/server/Cargo.toml
index 12411637..0fdb477a 100644
--- a/server/Cargo.toml
+++ b/server/Cargo.toml
@@ -38,3 +38,4 @@ tokio = { version = "1.43.0", features = ["rt-multi-thread"] }
 include_dir = "0.7.4"
 mime_guess = "2.0.5"
 open = "5.3.2"
+bitvec = "1.0.1"
diff --git a/server/src/ethercat/loop.rs b/server/src/ethercat/loop.rs
index f923ba8e..a8fcfc5d 100644
--- a/server/src/ethercat/loop.rs
+++ b/server/src/ethercat/loop.rs
@@ -14,18 +14,21 @@ use ethercat_hal::actors::analog_function_generator::{
 };
 use ethercat_hal::actors::digital_input_logger::DigitalInputLogger;
 use ethercat_hal::actors::stepper_driver_max_speed::StepperDriverMaxSpeed;
+use ethercat_hal::actors::stepper_driver_pulse_train::StepperDriverPulseTrain;
 use ethercat_hal::actors::temperature_input_logger::TemperatureInputLogger;
 use ethercat_hal::actors::Actor;
 use ethercat_hal::coe::Configuration;
-use ethercat_hal::devices::el1008::{EL1008Port, EL1008};
-use ethercat_hal::devices::el2008::{EL2008Port, EL2008};
-use ethercat_hal::devices::el2521::{EL2521Configuration, EL2521OperatingMode};
-use ethercat_hal::devices::el3204::{EL3204Port, EL3204};
-use ethercat_hal::devices::el4008::{EL4008Port, EL4008};
-use ethercat_hal::devices::{devices_from_subdevice_group, Device};
+// use ethercat_hal::devices::el1008::{EL1008Port, EL1008};
+// use ethercat_hal::devices::el2008::{EL2008Port, EL2008};
+use ethercat_hal::devices::el2521::{EL2521Configuration, EL2521OperatingMode, EL2521Port, EL2521};
+// use ethercat_hal::devices::el3204::{EL3204Port, EL3204};
+// use ethercat_hal::devices::el4008::{EL4008Port, EL4008};
+use bitvec::prelude::*;
+use ethercat_hal::devices::{devices_from_subdevice_group, get_device, Device};
 use ethercat_hal::io::analog_output::AnalogOutput;
 use ethercat_hal::io::digital_input::DigitalInput;
 use ethercat_hal::io::digital_output::DigitalOutput;
+use ethercat_hal::io::pulse_train_output::PulseTrainOutput;
 use ethercat_hal::io::temperature_input::TemperatureInput;
 use ethercrab::std::{ethercat_now, tx_rx_task};
 use std::{sync::Arc, time::Duration};
@@ -124,11 +127,18 @@ pub async fn setup_loop(interface: &str, app_state: Arc<AppState>) -> Result<(),
     let config = EL2521Configuration {
         operating_mode: EL2521OperatingMode::PulseDirectionSpecification,
         direct_input_mode: true,
+        ramp_function_active: false,
         ..EL2521Configuration::default()
     };
 
     config.write_config(&subdevice_el2521).await?;
 
+    let rxpdo_mapping = subdevice_el2521.sdo_read_array::<u16, 8>(0x1C12).await?;
+    log::info!("RXPDO mapping: {:?}", rxpdo_mapping);
+
+    let txpdo_mapping = subdevice_el2521.sdo_read_array::<u16, 8>(0x1C13).await?;
+    log::info!("TXPDO mapping: {:?}", txpdo_mapping);
+
     // for subdevice in group.iter(&maindevice) {
     //     log::info!(
     //         "Subdevice: config: {}, alias: {}",
@@ -177,6 +187,9 @@ pub async fn setup_loop(interface: &str, app_state: Arc<AppState>) -> Result<(),
         //     TemperatureInput::new(get_device::<EL3204>(&devices, 4).await?, EL3204Port::T1),
         // )
         // .to_arc_rwlock(),
+        Arc::new(RwLock::new(StepperDriverPulseTrain::new(
+            PulseTrainOutput::new(get_device::<EL2521>(&devices, 5).await?, EL2521Port::PTO1),
+        ))),
     ];
 
     // set all setup data
@@ -223,9 +236,7 @@ pub async fn loop_once<'maindevice>(
     let input_ts = ethercat_now();
 
     // TX/RX cycle
-    log::info!("TX/RX cycle");
     setup.group.tx_rx(&setup.maindevice).await?;
-    log::info!("TX/RX cycle done");
 
     // Prediction when the next TX/RX cycle starts
     let output_ts = input_ts + *average_nanos;
@@ -238,7 +249,8 @@ pub async fn loop_once<'maindevice>(
         };
         device.ts(input_ts, output_ts);
         let input = subdevice.inputs_raw();
-        device.input_checked(input.as_ref())?;
+        let input_bits = input.view_bits::<Lsb0>();
+        device.input_checked(input_bits)?;
     }
 
     // execute actors
@@ -254,10 +266,8 @@ pub async fn loop_once<'maindevice>(
             None => continue,
         };
         let mut output = subdevice.outputs_raw_mut();
-        device.output_checked(output.as_mut())?;
+        let output_bits = output.view_bits_mut::<Lsb0>();
+        device.output_checked(output_bits)?;
     }
-
-    tokio::time::sleep(Duration::from_secs(1)).await;
-
     Ok(())
 }