diff --git a/cmd/iocheckout/main.go b/cmd/iocheckout/main.go
index d1f4b5e8..1589ee2f 100644
--- a/cmd/iocheckout/main.go
+++ b/cmd/iocheckout/main.go
@@ -9,7 +9,7 @@ import (
 
 	"github.com/macformula/hil/iocontrol"
 	"github.com/macformula/hil/iocontrol/raspi"
-	"github.com/macformula/hil/iocontrol/sil"
+	// "github.com/macformula/hil/iocontrol/sil"
 	"github.com/macformula/hil/iocontrol/speedgoat"
 	"github.com/macformula/hil/macformula"
 	"github.com/macformula/hil/macformula/pinout"
@@ -62,14 +62,14 @@ func main() {
 	}
 
 	if *useRaspi {
-		rp := raspi.NewController()
+		rp := raspi.NewController(logger)
 		ioControlOpts = append(ioControlOpts, iocontrol.WithRaspi(rp))
 	}
 
-	if *useSil {
-		s := sil.NewController(_silPort, logger)
-		ioControlOpts = append(ioControlOpts, iocontrol.WithSil(s))
-	}
+	// if *useSil {
+	// 	s := sil.NewController(_silPort, logger)
+	// 	ioControlOpts = append(ioControlOpts, iocontrol.WithSil(s))
+	// }
 
 	ioControl := iocontrol.NewIOControl(logger, ioControlOpts...)
 
diff --git a/cmd/raspitest/.gitignore b/cmd/raspitest/.gitignore
new file mode 100644
index 00000000..45f36a7e
--- /dev/null
+++ b/cmd/raspitest/.gitignore
@@ -0,0 +1 @@
+raspitest
diff --git a/cmd/raspitest/main.go b/cmd/raspitest/main.go
new file mode 100644
index 00000000..3154ff25
--- /dev/null
+++ b/cmd/raspitest/main.go
@@ -0,0 +1,137 @@
+package main
+
+import (
+	"bufio"
+	"context"
+	"flag"
+	"fmt"
+	"log"
+	"os"
+	"strings"
+
+	"go.uber.org/zap"
+
+	"github.com/macformula/hil/iocontrol/raspi"
+)
+
+const helpText = "commands: high | low | read | help | exit"
+
+func main() {
+	boardPin := flag.Uint("pin", 0, "Raspberry Pi board pin number (1-40)")
+	// one-shot mode (optional)
+	oneSet := flag.String("set", "", "one-shot: set pin: high|low")
+	oneGet := flag.Bool("get", false, "one-shot: read pin")
+	flag.Parse()
+
+	if *boardPin == 0 || *boardPin > 40 {
+		log.Fatalf("pin is required and must be between 1 and 40: --pin N (board numbering)")
+	}
+
+	logger, err := zap.NewDevelopment()
+	if err != nil {
+		log.Fatalf("init logger: %v", err)
+	}
+	defer logger.Sync()
+
+	ctrl := raspi.NewController(logger)
+	if err := ctrl.Open(context.Background()); err != nil {
+		log.Fatalf("open raspi controller: %v", err)
+	}
+	defer func() {
+		if err := ctrl.Close(); err != nil {
+			logger.Warn("failed to close raspi controller", zap.Error(err))
+		}
+	}()
+
+	pin := raspi.NewDigitalPin(uint8(*boardPin))
+
+	// One-shot path
+	if *oneSet != "" || *oneGet {
+		switch {
+		case *oneSet != "":
+			switch strings.ToLower(*oneSet) {
+			case "high", "1", "on":
+				if err := ctrl.SetDigital(pin, true); err != nil {
+					log.Fatalf("set high: %v", err)
+				}
+				fmt.Printf("P1-%d -> HIGH\n", *boardPin)
+			case "low", "0", "off":
+				if err := ctrl.SetDigital(pin, false); err != nil {
+					log.Fatalf("set low: %v", err)
+				}
+				fmt.Printf("P1-%d -> LOW\n", *boardPin)
+			default:
+				log.Fatalf("unknown --set value: %q (use high|low)", *oneSet)
+			}
+		case *oneGet:
+			level, err := ctrl.ReadDigital(pin)
+			if err != nil {
+				log.Fatalf("read: %v", err)
+			}
+			if level {
+				fmt.Printf("P1-%d <- HIGH\n", *boardPin)
+			} else {
+				fmt.Printf("P1-%d <- LOW\n", *boardPin)
+			}
+		}
+		return
+	}
+
+	// Interactive path: read from the controlling TTY
+	tty, err := os.OpenFile("/dev/tty", os.O_RDWR, 0)
+	if err != nil {
+		log.Fatalf("open /dev/tty: %v", err)
+	}
+	defer tty.Close()
+
+	fmt.Printf("raspitest ready on pin P1-%d\n%s\n", *boardPin, helpText)
+
+	reader := bufio.NewScanner(tty)
+	for {
+		fmt.Fprintf(tty, "P1-%d> ", *boardPin)
+		if !reader.Scan() {
+			break
+		}
+		cmd := strings.ToLower(strings.TrimSpace(reader.Text()))
+		if cmd == "" {
+			continue
+		}
+
+		switch cmd {
+		case "high", "1", "on":
+			if err := ctrl.SetDigital(pin, true); err != nil {
+				fmt.Fprintf(tty, "error setting HIGH: %v\n", err)
+				continue
+			}
+			fmt.Fprintln(tty, "-> HIGH")
+		case "low", "0", "off":
+			if err := ctrl.SetDigital(pin, false); err != nil {
+				fmt.Fprintf(tty, "error setting LOW: %v\n", err)
+				continue
+			}
+			fmt.Fprintln(tty, "-> LOW")
+		case "read", "get":
+			level, err := ctrl.ReadDigital(pin)
+			if err != nil {
+				fmt.Fprintf(tty, "error reading pin: %v\n", err)
+				continue
+			}
+			if level {
+				fmt.Fprintln(tty, "<- HIGH")
+			} else {
+				fmt.Fprintln(tty, "<- LOW")
+			}
+		case "help", "?":
+			fmt.Fprintln(tty, helpText)
+		case "exit", "quit":
+			fmt.Fprintln(tty, "bye")
+			return
+		default:
+			fmt.Fprintf(tty, "unknown command %q (%s)\n", cmd, helpText)
+		}
+	}
+
+	if err := reader.Err(); err != nil {
+		log.Fatalf("tty read error: %v", err)
+	}
+}
diff --git a/go.mod b/go.mod
index 42bfaeb8..3e6af879 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module github.com/macformula/hil
 
-go 1.22.0
+go 1.22.6
 
 require (
 	github.com/cenkalti/backoff v2.2.1+incompatible
@@ -21,11 +21,7 @@ require (
 	google.golang.org/grpc v1.60.1
 	google.golang.org/protobuf v1.32.0
 	gopkg.in/yaml.v3 v3.0.1
-)
-
-require (
-	github.com/dmarkham/enumer v1.6.1 // indirect
-	github.com/pascaldekloe/name v1.0.0 // indirect
+	periph.io/x/conn/v3 v3.7.2
 )
 
 require (
@@ -58,4 +54,5 @@ require (
 	golang.org/x/text v0.22.0 // indirect
 	golang.org/x/tools v0.30.0 // indirect
 	google.golang.org/genproto/googleapis/rpc v0.0.0-20240108191215-35c7eff3a6b1 // indirect
+	periph.io/x/host/v3 v3.8.5
 )
diff --git a/go.sum b/go.sum
index b36aaeb8..c4621a37 100644
--- a/go.sum
+++ b/go.sum
@@ -20,8 +20,6 @@ github.com/containerd/console v1.0.4-0.20230313162750-1ae8d489ac81 h1:q2hJAaP1k2
 github.com/containerd/console v1.0.4-0.20230313162750-1ae8d489ac81/go.mod h1:YynlIjWYF8myEu6sdkwKIvGQq+cOckRm6So2avqoYAk=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
-github.com/dmarkham/enumer v1.6.1 h1:aSc9awYtZL07TUueWs40QcHtxTvHTAwG0EqrNsK45w4=
-github.com/dmarkham/enumer v1.6.1/go.mod h1:yixql+kDDQRYqcuBM2n9Vlt7NoT9ixgXhaXry8vmRg8=
 github.com/ethereum/go-ethereum v1.13.5 h1:U6TCRciCqZRe4FPXmy1sMGxTfuk8P7u2UoinF3VbaFk=
 github.com/ethereum/go-ethereum v1.13.5/go.mod h1:yMTu38GSuyxaYzQMViqNmQ1s3cE84abZexQmTgenWk0=
 github.com/fatih/color v1.15.0 h1:kOqh6YHBtK8aywxGerMG2Eq3H6Qgoqeo13Bk2Mv/nBs=
@@ -36,13 +34,14 @@ github.com/golang/protobuf v1.5.3/go.mod h1:XVQd3VNwM+JqD3oG2Ue2ip4fOMUkwXdXDdiu
 github.com/google/flatbuffers v25.2.10+incompatible h1:F3vclr7C3HpB1k9mxCGRMXq6FdUalZ6H/pNX4FP1v0Q=
 github.com/google/flatbuffers v25.2.10+incompatible/go.mod h1:1AeVuKshWv4vARoZatz6mlQ0JxURH0Kv5+zNeJKJCa8=
 github.com/google/go-cmp v0.5.5/go.mod h1:v8dTdLbMG2kIc/vJvl+f65V22dbkXbowE6jgT/gNBxE=
-github.com/google/go-cmp v0.5.9 h1:O2Tfq5qg4qc4AmwVlvv0oLiVAGB7enBSJ2x2DqQFi38=
-github.com/google/go-cmp v0.5.9/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/go-cmp v0.6.0 h1:ofyhxvXcZhMsU5ulbFiLKl/XBFqE1GSq7atu8tAmTRI=
+github.com/google/go-cmp v0.6.0/go.mod h1:17dUlkBOakJ0+DkrSSNjCkIjxS6bF9zb3elmeNGIjoY=
 github.com/google/uuid v1.3.1 h1:KjJaJ9iWZ3jOFZIf1Lqf4laDRCasjl0BCmnEGxkdLb4=
 github.com/google/uuid v1.3.1/go.mod h1:TIyPZe4MgqvfeYDBFedMoGGpEw/LqOeaOT+nhxU+yHo=
 github.com/holiman/uint256 v1.2.3 h1:K8UWO1HUJpRMXBxbmaY1Y8IAMZC/RsKB+ArEnnK4l5o=
 github.com/holiman/uint256 v1.2.3/go.mod h1:SC8Ryt4n+UBbPbIBKaG9zbbDlp4jOru9xFZmPzLUTxw=
+github.com/jonboulle/clockwork v0.4.0 h1:p4Cf1aMWXnXAUh8lVfewRBx1zaTSYKrKMF2g3ST4RZ4=
+github.com/jonboulle/clockwork v0.4.0/go.mod h1:xgRqUGwRcjKCO1vbZUEtSLrqKoPSsUpK7fnezOII0kc=
 github.com/kylelemons/godebug v1.1.0 h1:RPNrshWIDI6G2gRW9EHilWtl7Z6Sb1BR0xunSBf0SNc=
 github.com/kylelemons/godebug v1.1.0/go.mod h1:9/0rRGxNHcop5bhtWyNeEfOS8JIWk580+fNqagV/RAw=
 github.com/lucasb-eyer/go-colorful v1.2.0 h1:1nnpGOrhyZZuNyfu1QjKiUICQ74+3FNCN69Aj6K7nkY=
@@ -67,8 +66,6 @@ github.com/muesli/reflow v0.3.0 h1:IFsN6K9NfGtjeggFP+68I4chLZV2yIKsXJFNZ+eWh6s=
 github.com/muesli/reflow v0.3.0/go.mod h1:pbwTDkVPibjO2kyvBQRBxTWEEGDGq0FlB1BIKtnHY/8=
 github.com/muesli/termenv v0.15.2 h1:GohcuySI0QmI3wN8Ok9PtKGkgkFIk7y6Vpb5PvrY+Wo=
 github.com/muesli/termenv v0.15.2/go.mod h1:Epx+iuz8sNs7mNKhxzH4fWXGNpZwUaJKRS1noLXviQ8=
-github.com/pascaldekloe/name v1.0.0 h1:n7LKFgHixETzxpRv2R77YgPUFo85QHGZKrdaYm7eY5U=
-github.com/pascaldekloe/name v1.0.0/go.mod h1:Z//MfYJnH4jVpQ9wkclwu2I2MkHmXTlT9wR5UZScttM=
 github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
 github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
@@ -94,21 +91,15 @@ golang.org/x/crypto v0.0.0-20191011191535-87dc89f01550/go.mod h1:yigFU9vqHzYiE8U
 golang.org/x/exp v0.0.0-20230905200255-921286631fa9 h1:GoHiUyI/Tp2nVkLI2mCxVkOjsbSXD66ic0XW0js0R9g=
 golang.org/x/exp v0.0.0-20230905200255-921286631fa9/go.mod h1:S2oDrQGGwySpoQPVqRShND87VCbxmc6bL1Yd2oYrm6k=
 golang.org/x/mod v0.4.2/go.mod h1:s0Qsj1ACt9ePp/hMypM3fl4fZqREWJwdYDEqhRiZZUA=
-golang.org/x/mod v0.13.0 h1:I/DsJXRlw/8l/0c24sM9yb0T4z9liZTduXvdAWYiysY=
-golang.org/x/mod v0.13.0/go.mod h1:hTbmBsO62+eylJbnUtE2MGJUyE7QWk4xUqPFrRgJ+7c=
 golang.org/x/mod v0.23.0 h1:Zb7khfcRGKk+kqfxFaP5tZqCnDZMjC5VtUBs87Hr6QM=
 golang.org/x/mod v0.23.0/go.mod h1:6SkKJ3Xj0I0BrPOZoBy3bdMptDDU9oJrpohJ3eWZ1fY=
 golang.org/x/net v0.0.0-20190404232315-eb5bcb51f2a3/go.mod h1:t9HGtf8HONx5eT2rtn7q6eTqICYqUVnKs3thJo3Qplg=
 golang.org/x/net v0.0.0-20190620200207-3b0461eec859/go.mod h1:z5CRVTTTmAJ677TzLLGU+0bjPO0LkuOLi4/5GtJWs/s=
 golang.org/x/net v0.0.0-20210405180319-a5a99cb37ef4/go.mod h1:p54w0d4576C0XHj96bSt6lcn1PtDYWL6XObtHCRCNQM=
-golang.org/x/net v0.20.0 h1:aCL9BSgETF1k+blQaYUBx9hJ9LOGP3gAVemcZlf1Kpo=
-golang.org/x/net v0.20.0/go.mod h1:z8BVo6PvndSri0LbOE3hAn0apkU+1YvI6E70E9jsnvY=
 golang.org/x/net v0.35.0 h1:T5GQRQb2y08kTAByq9L4/bz8cipCdA8FbRTXewonqY8=
 golang.org/x/net v0.35.0/go.mod h1:EglIi67kWsHKlRzzVMUD93VMSWGFOMSZgxFjparz1Qk=
 golang.org/x/sync v0.0.0-20190423024810-112230192c58/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
 golang.org/x/sync v0.0.0-20210220032951-036812b2e83c/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
-golang.org/x/sync v0.4.0 h1:zxkM55ReGkDlKSM+Fu41A+zmbZuaPVbGMzvvdUPznYQ=
-golang.org/x/sync v0.4.0/go.mod h1:FU7BRWz2tNW+3quACPkgCx/L+uEAv1htQ0V83Z9Rj+Y=
 golang.org/x/sync v0.11.0 h1:GGz8+XQP4FvTTrjZPzNKTMFtSXH80RAzG+5ghFPgK9w=
 golang.org/x/sync v0.11.0/go.mod h1:Czt+wKu1gCyEFDUtn0jG5QVvpJ6rzVqr5aXyt9drQfk=
 golang.org/x/sys v0.0.0-20181122145206-62eef0e2fa9b/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=
@@ -120,26 +111,18 @@ golang.org/x/sys v0.0.0-20210510120138-977fb7262007/go.mod h1:oPkhp1MJrh7nUepCBc
 golang.org/x/sys v0.0.0-20220811171246-fbc7d0a398ab/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.1.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
 golang.org/x/sys v0.6.0/go.mod h1:oPkhp1MJrh7nUepCBck5+mAzfO9JrbApNNgaTdGDITg=
-golang.org/x/sys v0.16.0 h1:xWw16ngr6ZMtmxDyKyIgsE93KNKz5HKmMa3b8ALHidU=
-golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/sys v0.30.0 h1:QjkSwP/36a20jFYWkSue1YwXzLmsV5Gfq7Eiy72C1uc=
 golang.org/x/sys v0.30.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
 golang.org/x/term v0.0.0-20201126162022-7de9c90e9dd1/go.mod h1:bj7SfCRtBDWHUb9snDiAeCFNEtKQo2Wmx5Cou7ajbmo=
-golang.org/x/term v0.16.0 h1:m+B6fahuftsE9qjo0VWp2FW0mB3MTJvR0BaMQrq0pmE=
-golang.org/x/term v0.16.0/go.mod h1:yn7UURbUtPyrVJPGPq404EukNFxcm/foM+bV/bfcDsY=
 golang.org/x/term v0.29.0 h1:L6pJp37ocefwRRtYPKSWOWzOtWSxVajvz2ldH/xi3iU=
 golang.org/x/term v0.29.0/go.mod h1:6bl4lRlvVuDgSf3179VpIxBF0o10JUpXWOnI7nErv7s=
 golang.org/x/text v0.3.0/go.mod h1:NqM8EUOU14njkJ3fqMW+pc6Ldnwhi/IjpwHt7yyuwOQ=
 golang.org/x/text v0.3.3/go.mod h1:5Zoc/QRtKVWzQhOtBMvqHzDpF6irO9z98xDceosuGiQ=
-golang.org/x/text v0.14.0 h1:ScX5w1eTa3QqT8oi6+ziP7dTV1S2+ALU0bI+0zXKWiQ=
-golang.org/x/text v0.14.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU=
 golang.org/x/text v0.22.0 h1:bofq7m3/HAFvbF51jz3Q9wLg3jkvSPuiZu/pD1XwgtM=
 golang.org/x/text v0.22.0/go.mod h1:YRoo4H8PVmsu+E3Ou7cqLVH8oXWIHVoX0jqUWALQhfY=
 golang.org/x/tools v0.0.0-20180917221912-90fa682c2a6e/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ=
 golang.org/x/tools v0.0.0-20191119224855-298f0cb1881e/go.mod h1:b+2E5dAYhXwXZwtnZ6UAqBI28+e2cm9otk0dWdXHAEo=
 golang.org/x/tools v0.1.1/go.mod h1:o0xws9oXOQQZyjljx8fwUC0k7L1pTE6eaCbjGeHmOkk=
-golang.org/x/tools v0.14.0 h1:jvNa2pY0M4r62jkRQ6RwEZZyPcymeL9XZMLBbV7U2nc=
-golang.org/x/tools v0.14.0/go.mod h1:uYBEerGOWcJyEORxN+Ek8+TT266gXkNlHdJBwexUsBg=
 golang.org/x/tools v0.30.0 h1:BgcpHewrV5AUp2G9MebG4XPFI1E2W41zU1SaqVA9vJY=
 golang.org/x/tools v0.30.0/go.mod h1:c347cR/OJfw5TI+GfX7RUPNMdDRRbjvYTS0jPyvsVtY=
 golang.org/x/xerrors v0.0.0-20190717185122-a985d3407aa7/go.mod h1:I/5z698sn9Ka8TeJc9MKroUUfqBBauWjQqLJ2OPfmY0=
@@ -160,3 +143,7 @@ gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
 gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
 gotest.tools/v3 v3.5.1 h1:EENdUnS3pdur5nybKYIh2Vfgc8IUNBjxDPSjtiJcOzU=
 gotest.tools/v3 v3.5.1/go.mod h1:isy3WKz7GK6uNw/sbHzfKBLvlvXwUyV06n6brMxxopU=
+periph.io/x/conn/v3 v3.7.2 h1:qt9dE6XGP5ljbFnCKRJ9OOCoiOyBGlw7JZgoi72zZ1s=
+periph.io/x/conn/v3 v3.7.2/go.mod h1:Ao0b4sFRo4QOx6c1tROJU1fLJN1hUIYggjOrkIVnpGg=
+periph.io/x/host/v3 v3.8.5 h1:g4g5xE1XZtDiGl1UAJaUur1aT7uNiFLMkyMEiZ7IHII=
+periph.io/x/host/v3 v3.8.5/go.mod h1:hPq8dISZIc+UNfWoRj+bPH3XEBQqJPdFdx218W92mdc=
diff --git a/iocontrol/raspi/analog.go b/iocontrol/raspi/analog.go
index 4d9c3847..ceb488bd 100644
--- a/iocontrol/raspi/analog.go
+++ b/iocontrol/raspi/analog.go
@@ -1,10 +1,12 @@
 package raspi
 
 // AnalogPin defines an analog pin for the Raspberry Pi
-type AnalogPin struct{}
+type AnalogPin struct{
+	id uint8
+}
 
-func NewAnalogPin() *AnalogPin {
-	return &AnalogPin{}
+func NewAnalogPin(idx uint8) *AnalogPin {
+	return &AnalogPin{id: idx}
 }
 
 // String returns the pin type
diff --git a/iocontrol/raspi/controller.go b/iocontrol/raspi/controller.go
index c59602f5..d25893b5 100644
--- a/iocontrol/raspi/controller.go
+++ b/iocontrol/raspi/controller.go
@@ -1,51 +1,134 @@
 package raspi
 
-import "context"
+// ### NOTE ###
+// This driver currently requires permissions (sudo) to access the GPIO pins. Running HIL stack on root is not recommended.
+// Need to add udev rule to allow gpio group to access /dev/gpiomem and related device nodes without sudo.
+// Once the Ansible script is updated to install the udev rule, permissions will no longer be required.
+
+import (
+	"context"
+	"fmt"
+	"sync"
+
+	"github.com/pkg/errors"
+	"go.uber.org/zap"
+	"periph.io/x/conn/v3/gpio"
+	"periph.io/x/conn/v3/gpio/gpioreg"
+	"periph.io/x/host/v3"
+)
+
+const (
+	_loggerName = "raspi_controller"
+)
+
+// Mapping from board pins (1-40) to their corresponding BCM GPIO numbers
+// CAN HAT uses 8, 10, 3, 5, 15, 19, 21, 23, 24, 26, 27, 28, 33 (https://www.waveshare.com/wiki/2-CH_CAN_HAT)
+// Remaining pins are listed below (see https://pinout.xyz/pinout/pin7_gpio4/)
+var boardToBCM = map[uint8]int{
+	7: 4, 11: 17, 12: 18, 13: 27, 16: 23, 18: 24, 22: 25,
+	29: 5, 31: 6, 32: 12, 35: 19, 36: 16, 37: 26, 38: 20, 40: 21,
+}
 
 // Controller provides control for various Raspberry Pi pins
 type Controller struct {
+	l      *zap.Logger
+	mu     sync.Mutex
+	opened bool
 }
 
 // NewController returns a new Raspberry Pi controller
-func NewController() *Controller {
-	return &Controller{}
+func NewController(l *zap.Logger) *Controller {
+	return &Controller{
+		l: l.Named(_loggerName),
+	}
 }
 
 // Open configures the controller
 func (c *Controller) Open(_ context.Context) error {
+	c.mu.Lock()
+	defer c.mu.Unlock()
+	if c.opened {
+		return errors.New("raspberry pi controller already opened")
+	}
+
+	// initialize periph io
+	if _, err := host.Init(); err != nil {
+		return errors.Wrap(err, "periph host init")
+	}
+
+	c.opened = true
 	return nil
 }
 
-// SetDigital sets an output digital pin for a Raspberry Pi digital pin
-func (c *Controller) SetDigital(output *DigitalPin, b bool) error {
+// Close tears down the controller instance
+func (c *Controller) Close() error {
+	c.l.Info("closing raspberry pi controller")
+	c.mu.Lock()
+	defer c.mu.Unlock()
+	c.opened = false
 	return nil
 }
 
+// SetDigital sets an output digital pin for a Raspberry Pi digital pin
+func (c *Controller) SetDigital(output *DigitalPin, level bool) error {
+	pin, err := resolvePin(output)
+	if err != nil {
+		return err
+	}
+
+	// configure as output, then write
+	if err := pin.Out(gpio.Low); err != nil {
+		return errors.Wrap(err, "set output mode")
+	}
+	if level {
+		return errors.Wrap(pin.Out(gpio.High), "write high")
+	}
+	return errors.Wrap(pin.Out(gpio.Low), "write low")
+}
+
 // ReadDigital returns the level of a Raspberry Pi digital pin
-func (c *Controller) ReadDigital(output *DigitalPin) (bool, error) {
-	return false, nil
+func (c *Controller) ReadDigital(input *DigitalPin) (bool, error) {
+	pin, err := resolvePin(input)
+	if err != nil {
+		return false, err
+	}
+
+	if err := pin.In(gpio.Float, gpio.NoEdge); err != nil {
+		return false, errors.Wrap(err, "set input mode")
+	}
+	return pin.Read() == gpio.High, nil
 }
 
 // WriteVoltage sets the voltage of a Raspberry Pi analog pin
 func (c *Controller) WriteVoltage(output *AnalogPin, voltage float64) error {
-	return nil
+	return errors.New("currently unsupported on raspi")
 }
 
 // ReadVoltage returns the voltage of a Raspberry Pi analog pin
 func (c *Controller) ReadVoltage(output *AnalogPin) (float64, error) {
-	return 0.00, nil
+	return 0.00, errors.New("currently unsupported on raspi")
 }
 
 // WriteCurrent sets the current of a Raspberry Pi analog pin
 func (c *Controller) WriteCurrent(output *AnalogPin, current float64) error {
-	return nil
+	return errors.New("currently unsupported on raspi")
 }
 
 // ReadCurrent returns the current of a Raspberry Pi analog pin
 func (c *Controller) ReadCurrent(output *AnalogPin) (float64, error) {
-	return 0.00, nil
+	return 0.00, errors.New("currently unsupported on raspi")
 }
 
-func (c *Controller) Close() error {
-	return nil
+// helpers
+func resolvePin(pin *DigitalPin) (gpio.PinIO, error) {
+	bcm, ok := boardToBCM[pin.id]
+	if !ok {
+		return nil, errors.Errorf("no BCM mapping for board pin %d", pin.id)
+	}
+
+	if p := gpioreg.ByName(fmt.Sprintf("GPIO%d", bcm)); p != nil {
+		return p, nil
+	}
+
+	return nil, errors.Errorf("GPIO for board pin %d unavailable", pin.id)
 }
diff --git a/iocontrol/raspi/digital.go b/iocontrol/raspi/digital.go
index 60431455..93aaf727 100644
--- a/iocontrol/raspi/digital.go
+++ b/iocontrol/raspi/digital.go
@@ -1,11 +1,13 @@
 package raspi
 
 // DigitalPin defines a digital pin for the Raspberry Pi
+// Works with physical board pin numbering (1-40)
 type DigitalPin struct {
+	id uint8
 }
 
-func NewDigitalPin() *DigitalPin {
-	return &DigitalPin{}
+func NewDigitalPin(idx uint8) *DigitalPin {
+	return &DigitalPin{id: idx}
 }
 
 // String returns the pin type
diff --git a/macformula/pinout/pinout.go b/macformula/pinout/pinout.go
index 85c869ba..1197cad4 100644
--- a/macformula/pinout/pinout.go
+++ b/macformula/pinout/pinout.go
@@ -2,7 +2,7 @@ package pinout
 
 import (
 	"github.com/macformula/hil/iocontrol"
-	"github.com/macformula/hil/iocontrol/raspi"
+	// "github.com/macformula/hil/iocontrol/raspi"
 	"github.com/macformula/hil/iocontrol/sil"
 	"github.com/macformula/hil/iocontrol/speedgoat"
 	"github.com/pkg/errors"
@@ -54,7 +54,7 @@ var _revisionDigitalOutputPinout = map[Revision]DigitalPinout{
 		HvilDisable:  speedgoat.NewDigitalPin(10),
 	},
 	MockTest: {
-		StartButtonN: raspi.NewDigitalPin(),
+		// StartButtonN: raspi.NewDigitalPin(),
 	},
 	Sil: {
 		IndicatorButton:  sil.NewDigitalOutputPin("DemoProject", IndicatorButton.String()),
@@ -76,7 +76,7 @@ var _revisionAnalogInputPinout = map[Revision]AnalogPinout{
 		FrontController3v3RefVoltage: speedgoat.NewAnalogPin(2),
 	},
 	MockTest: {
-		LvController3v3RefVoltage: raspi.NewAnalogPin(),
+		// LvController3v3RefVoltage: raspi.NewAnalogPin(),
 	},
 	Sil: {
 		HvilFeedback: sil.NewAnalogInputPin("FrontController", HvilFeedback.String()),
@@ -92,9 +92,9 @@ var _revisionAnalogOutputPinout = map[Revision]AnalogPinout{
 		AccelPedalPosition2: speedgoat.NewAnalogPin(11),
 	},
 	MockTest: {
-		AccelPedalPosition1: raspi.NewAnalogPin(),
-		AccelPedalPosition2: raspi.NewAnalogPin(),
-		HvCurrentSense:      raspi.NewAnalogPin(),
+		// AccelPedalPosition1: raspi.NewAnalogPin(),
+		// AccelPedalPosition2: raspi.NewAnalogPin(),
+		// HvCurrentSense:      raspi.NewAnalogPin(),
 	},
 	Sil: {
 		AccelPedalPosition1: sil.NewAnalogOutputPin("FrontController", AccelPedalPosition1.String()),
diff --git a/raspitest b/raspitest
new file mode 100755
index 00000000..75718e3d
Binary files /dev/null and b/raspitest differ
diff --git a/results/tag.go b/results/tag.go
index 640a065e..6599a7c9 100644
--- a/results/tag.go
+++ b/results/tag.go
@@ -12,7 +12,7 @@ type Tag struct {
 	CompOp        ComparisonOperator
 	UpperLimit    any    `yaml:"upperLimit,omitempty"`
 	LowerLimit    any    `yaml:"lowerLimit,omitempty"`
-	ExpectedValue any    `yaml:"expectedVal,omitempty"`
+	ExpectedValue any    `yaml:"expectedValue,omitempty"`
 	Unit          string `yaml:"unit"`
 }