diff --git a/src/AppFuncs.tt b/src/AppFuncs.tt
index efdfa8f..92081e7 100644
--- a/src/AppFuncs.tt
+++ b/src/AppFuncs.tt
@@ -31,7 +31,7 @@
 <#
 foreach (var registerMetadata in DeviceMetadata.Registers)
 {
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
 #>
 void app_read_REG_<#= registerName #>(void);
 <#
@@ -41,7 +41,7 @@ void app_read_REG_<#= registerName #>(void);
 <#
 foreach (var registerMetadata in DeviceMetadata.Registers)
 {
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
 #>
 bool app_write_REG_<#= registerName #>(void *a);
 <#
diff --git a/src/AppFuncsImpl.tt b/src/AppFuncsImpl.tt
index 324c963..54a03d4 100644
--- a/src/AppFuncsImpl.tt
+++ b/src/AppFuncsImpl.tt
@@ -25,7 +25,7 @@ void (*app_func_rd_pointer[])(void) = {
 registerIndex = 0;
 foreach (var registerMetadata in deviceRegisters)
 {
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
 #>
 	&app_read_REG_<#= registerName #><#= ++registerIndex < deviceRegisters.Count ? "," : string.Empty #>
 <#
@@ -38,7 +38,7 @@ bool (*app_func_wr_pointer[])(void*) = {
 registerIndex = 0;
 foreach (var registerMetadata in deviceRegisters)
 {
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
 #>
 	&app_write_REG_<#= registerName #><#= ++registerIndex < deviceRegisters.Count ? "," : string.Empty #>
 <#
@@ -49,7 +49,7 @@ foreach (var registerMetadata in deviceRegisters)
 foreach (var registerMetadata in deviceRegisters)
 {
     var register = registerMetadata.Value;
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
     var firmwareType = TemplateHelper.GetFirmwareType(register.Type);
 	var allowWrite = (register.Access & RegisterAccess.Write) != 0;
     var isArrayRegister = register.Length > 0;
diff --git a/src/AppRegs.tt b/src/AppRegs.tt
index ffa5eb7..8d0fe7c 100644
--- a/src/AppRegs.tt
+++ b/src/AppRegs.tt
@@ -22,7 +22,7 @@ int totalRegisterSize = 0;
 foreach (var registerMetadata in DeviceMetadata.Registers)
 {
     var register = registerMetadata.Value;
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
     maxRegisterNameLength = Math.Max(maxRegisterNameLength, registerName.Length);
     minRegisterAddress = Math.Min(minRegisterAddress, register.Address);
     maxRegisterAddress = Math.Max(maxRegisterAddress, register.Address);
@@ -33,8 +33,8 @@ foreach (var registerMetadata in DeviceMetadata.Registers)
 void init_ios(void);
 <#
 var maxPinNameLength = Math.Max(
-    inputPins.Count > 0 ? inputPins.Max(pin => FirmwareNamingConvention.Instance.Apply(pin.Key).Length) : 0,
-    outputPins.Count > 0 ? outputPins.Max(pin => FirmwareNamingConvention.Instance.Apply(pin.Key).Length) : 0);
+    inputPins.Count > 0 ? inputPins.Max(pin => TemplateHelper.GetFirmwareName(pin.Key).Length) : 0,
+    outputPins.Count > 0 ? outputPins.Max(pin => TemplateHelper.GetFirmwareName(pin.Key).Length) : 0);
 if (inputPins.Count > 0)
 {
 #>
@@ -44,7 +44,7 @@ if (inputPins.Count > 0)
 <#
     foreach (var pin in inputPins)
     {
-        var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+        var pinName = TemplateHelper.GetFirmwareName(pin.Key);
         var descriptionOffset = maxPinNameLength - pinName.Length + 10;
 #>
 // <#= pinName #><#= new string(' ', descriptionOffset) #>Description: <#= pin.Value.Description #>
@@ -56,7 +56,7 @@ if (inputPins.Count > 0)
     foreach (var pin in inputPins)
     {
         var pinInfo = pin.Value;
-        var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+        var pinName = TemplateHelper.GetFirmwareName(pin.Key);
         var nameOffset = maxPinNameLength - pinName.Length + 4;
 #>
 #define read_<#= pinName #> read_io(<#= pinInfo.Port #>, <#= pinInfo.PinNumber #>)<#= new string(' ', nameOffset) #>// <#= pinName #>
@@ -77,7 +77,7 @@ if (outputPins.Count > 0)
 <#
     foreach (var pin in outputPins)
     {
-        var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+        var pinName = TemplateHelper.GetFirmwareName(pin.Key);
         var descriptionOffset = maxPinNameLength - pinName.Length + 10;
 #>
 // <#= pinName #><#= new string(' ', descriptionOffset) #>Description: <#= pin.Value.Description #>
@@ -88,7 +88,7 @@ if (outputPins.Count > 0)
     foreach (var pin in outputPins)
     {
         var pinInfo = pin.Value;
-        var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+        var pinName = TemplateHelper.GetFirmwareName(pin.Key);
         var setFunc = pinInfo.Invert ? "clear_io" : "set_io";
         var clrFunc = pinInfo.Invert ? "set_io" : "clear_io";
 #>
@@ -114,7 +114,7 @@ typedef struct
 foreach (var registerMetadata in DeviceMetadata.Registers)
 {
     var register = registerMetadata.Value;
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
     var arrayType = register.Length > 0 ? $"[{register.Length}]" : string.Empty;
     var firmwareType = TemplateHelper.GetFirmwareType(register.Type);
 #>
@@ -133,7 +133,7 @@ foreach (var registerMetadata in DeviceMetadata.Registers)
 {
     var register = registerMetadata.Value;
     var registerAddress = register.Address.ToString();
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
     var registerType = TemplateHelper.GetFirmwareRegisterType(register.Type);
     var addressOffset = new string(' ', maxRegisterNameLength - registerName.Length - registerAddress.Length + 6);
     var descriptionOffset = new string(' ', 7 - registerType.Length);
@@ -158,25 +158,17 @@ foreach (var registerMetadata in DeviceMetadata.Registers)
 /* Registers' bits                                                      */
 /************************************************************************/
 <#
-var maxBitNameLength = DeviceMetadata.BitMasks.Values
-    .SelectMany(mask => mask.Bits)
-    .Select(bitField => FirmwareNamingConvention.Instance.Apply(bitField.Key).Length)
-    .Prepend(0).Max();
-var maxMemberNameLength = (from groupMask in DeviceMetadata.GroupMasks
-                           let maskName = FirmwareGroupMaskNamingConvention.Instance.Apply(groupMask.Key)
-                           from member in groupMask.Value.Values
-                           let memberName = FirmwareNamingConvention.Instance.Apply(member.Key)
-                           select maskName.Length + memberName.Length)
-                           .Prepend(0).Max();
-var maxBitMemberNameLength = Math.Max(maxBitNameLength, maxMemberNameLength);
+var maxBitMaskNameLength = TemplateHelper.GetMaxFirmwareBitMaskNameLength(DeviceMetadata);
+var maxGroupMaskNameLength = TemplateHelper.GetMaxFirmwareGroupMaskNameLength(DeviceMetadata);
+var maxMaskNameLength = Math.Max(maxBitMaskNameLength, maxGroupMaskNameLength);
 foreach (var bitMask in DeviceMetadata.BitMasks)
 {
     var mask = bitMask.Value;
     foreach (var bitField in mask.Bits)
     {
         var fieldInfo = bitField.Value;
-        var fieldName = FirmwareNamingConvention.Instance.Apply(bitField.Key);
-        var fieldNamePadding = new string(' ', maxBitMemberNameLength - fieldName.Length + 6);
+        var fieldName = TemplateHelper.GetFirmwareName(bitField.Key);
+        var fieldNamePadding = new string(' ', maxMaskNameLength - fieldName.Length + 6);
         var bitShift = (int)Math.Log(fieldInfo.Value, 2);
         var bitShiftPadding = new string(' ', 8 - bitShift.ToString().Length);
 #>
@@ -190,8 +182,8 @@ foreach (var groupMask in DeviceMetadata.GroupMasks)
 {
     var mask = groupMask.Value;
     var maskSelect = TemplateHelper.GetMaskSelect(mask).ToString("X2");
-    var maskName = FirmwareGroupMaskNamingConvention.Instance.Apply(groupMask.Key);
-    var maskNamePadding = new string(' ', maxBitMemberNameLength - maskName.Length);
+    var maskName = TemplateHelper.GetFirmwareGroupMaskName(groupMask.Key);
+    var maskNamePadding = new string(' ', maxMaskNameLength - maskName.Length);
     var maskSelectPadding = new string(' ', 11 - maskSelect.Length);
 #>
 #define MSK_<#= maskName #>_SEL<#= maskNamePadding #>0x<#= maskSelect #><#= maskSelectPadding #>// 
@@ -200,8 +192,8 @@ foreach (var groupMask in DeviceMetadata.GroupMasks)
     foreach (var member in mask.Values)
     {
         var memberInfo = member.Value;
-        var memberName = FirmwareNamingConvention.Instance.Apply(member.Key);
-        var memberNamePadding = new string(' ', maxBitMemberNameLength - memberName.Length - maskName.Length + 4);
+        var memberName = TemplateHelper.GetFirmwareName(member.Key);
+        var memberNamePadding = new string(' ', maxMaskNameLength - memberName.Length - maskName.Length + 4);
         var memberHexValue = memberInfo.Value.ToString("X2");
         var memberHexPadding = new string(' ', 11 - memberHexValue.Length);
 #>
diff --git a/src/AppRegsImpl.tt b/src/AppRegsImpl.tt
index 4c20622..84f9cd5 100644
--- a/src/AppRegsImpl.tt
+++ b/src/AppRegsImpl.tt
@@ -26,7 +26,7 @@ int totalRegisterSize = 0;
 foreach (var registerMetadata in deviceRegisters)
 {
     var register = registerMetadata.Value;
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
     maxRegisterNameLength = Math.Max(maxRegisterNameLength, registerName.Length);
     minRegisterAddress = Math.Min(minRegisterAddress, register.Address);
     maxRegisterAddress = Math.Max(maxRegisterAddress, register.Address);
@@ -40,8 +40,8 @@ foreach (var registerMetadata in deviceRegisters)
 void init_ios(void)
 {<#
 var maxPinNameLength = Math.Max(
-    inputPins.Count > 0 ? inputPins.Max(pin => FirmwareNamingConvention.Instance.Apply(pin.Key).Length) : 0,
-    outputPins.Count > 0 ? outputPins.Max(pin => FirmwareNamingConvention.Instance.Apply(pin.Key).Length) : 0);
+    inputPins.Count > 0 ? inputPins.Max(pin => TemplateHelper.GetFirmwareName(pin.Key).Length) : 0,
+    outputPins.Count > 0 ? outputPins.Max(pin => TemplateHelper.GetFirmwareName(pin.Key).Length) : 0);
 if (inputPins.Count > 0)
 {
 #>
@@ -51,7 +51,7 @@ if (inputPins.Count > 0)
     foreach (var pin in inputPins)
     {
         var pinInfo = pin.Value;
-        var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+        var pinName = TemplateHelper.GetFirmwareName(pin.Key);
         var pullMode = TemplateHelper.GetFirmwarePullMode(pinInfo.PinMode);
         var senseMode = TemplateHelper.GetFirmwareSenseMode(pinInfo.TriggerMode);
         var descriptionPadding = new string(' ', 49 - pinInfo.Port.Length - pullMode.Length - senseMode.Length);
@@ -72,7 +72,7 @@ if (inputPins.Count > 0)
             var pinInfo = pin.Value;
             var port = pinInfo.Port;
             var pinNumber = pinInfo.PinNumber.ToString();
-            var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+            var pinName = TemplateHelper.GetFirmwareName(pin.Key);
             if (!pinInfo.InterruptNumber.HasValue)
                 Error($"({pinName}) Interrupt number must be specified if interrupt priority is set.");
             var interruptNumber = pinInfo.InterruptNumber.GetValueOrDefault();
@@ -94,7 +94,7 @@ if (outputPins.Count > 0)
     foreach (var pin in outputPins)
     {
         var pinInfo = pin.Value;
-        var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+        var pinName = TemplateHelper.GetFirmwareName(pin.Key);
         var descriptionOffset = maxPinNameLength - pinName.Length + 10;
         var inputEnable = pinInfo.AllowRead ? "IN_EN_IO_EN" : "IN_EN_IO_DIS";
         var outMode = TemplateHelper.GetFirmwareOutputIO(pinInfo.PinMode);
@@ -110,7 +110,7 @@ if (outputPins.Count > 0)
 }
     foreach (var pin in outputPins)
     {
-        var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+        var pinName = TemplateHelper.GetFirmwareName(pin.Key);
         var pinState = pin.Value.InitialState > 0 ? "set" : "clr";
 #>
     <#= pinState #>_<#= pinName #>;
@@ -154,7 +154,7 @@ uint8_t *app_regs_pointer[] = {
 registerIndex = 0;
 foreach (var registerMetadata in deviceRegisters)
 {
-    var registerName = FirmwareNamingConvention.Instance.Apply(registerMetadata.Key);
+    var registerName = TemplateHelper.GetFirmwareName(registerMetadata.Key);
 #>
     (uint8_t*)(&app_regs.REG_<#= registerName #>)<#= ++registerIndex < deviceRegisters.Count ? "," : string.Empty #>
 <#
diff --git a/src/Firmware.cs b/src/Firmware.cs
index 6992162..ee06f62 100644
--- a/src/Firmware.cs
+++ b/src/Firmware.cs
@@ -283,6 +283,37 @@ public static string GetFirmwareType(PayloadType payloadType)
         };
     }
 
+    public static string GetFirmwareName(string value)
+    {
+        return FirmwareNamingConvention.Instance.Apply(value);
+    }
+
+    public static string GetFirmwareGroupMaskName(string value)
+    {
+        var suffixIndex = value.LastIndexOf("Mask");
+        if (suffixIndex >= 1)
+            value = value.Substring(0, suffixIndex);
+        return GetFirmwareName(value);
+    }
+
+    public static int GetMaxFirmwareBitMaskNameLength(DeviceInfo deviceMetadata)
+    {
+        return deviceMetadata.BitMasks.Values
+            .SelectMany(mask => mask.Bits)
+            .Select(bitField => GetFirmwareName(bitField.Key).Length)
+            .Prepend(0).Max();
+    }
+
+    public static int GetMaxFirmwareGroupMaskNameLength(DeviceInfo deviceMetadata)
+    {
+        return (from groupMask in deviceMetadata.GroupMasks
+                let maskName = GetFirmwareGroupMaskName(groupMask.Key)
+                from member in groupMask.Value.Values
+                let memberName = GetFirmwareName(member.Key)
+                select maskName.Length + memberName.Length)
+                .Prepend(0).Max();
+    }
+
     public static string GetFirmwareRegisterType(PayloadType payloadType)
     {
         return payloadType switch
diff --git a/src/Interrupts.tt b/src/Interrupts.tt
index 0317226..d6bcbcd 100644
--- a/src/Interrupts.tt
+++ b/src/Interrupts.tt
@@ -42,7 +42,7 @@ var interruptPins = TemplateHelper.GetPortPinsOfType<InputPinInfo>(PortPinMetada
 foreach (var pin in interruptPins)
 {
     var pinInfo = pin.Value;
-    var pinName = FirmwareNamingConvention.Instance.Apply(pin.Key);
+    var pinName = TemplateHelper.GetFirmwareName(pin.Key);
     if (!pinInfo.InterruptNumber.HasValue)
         Error($"({pinName}) Interrupt number must be specified if interrupt priority is set.");
     var interruptNumber = pinInfo.InterruptNumber.GetValueOrDefault();
diff --git a/tests/ExpectedOutput/device.app_funcs.c b/tests/ExpectedOutput/device.app_funcs.c
index b435b9c..ea3572a 100644
--- a/tests/ExpectedOutput/device.app_funcs.c
+++ b/tests/ExpectedOutput/device.app_funcs.c
@@ -22,7 +22,8 @@ void (*app_func_rd_pointer[])(void) = {
 	&app_read_REG_PULSE_DO_PORT0,
 	&app_read_REG_PULSE_DO0,
 	&app_read_REG_START_PULSE,
-	&app_read_REG_START_PULSE_TRAIN
+	&app_read_REG_START_PULSE_TRAIN,
+	&app_read_REG_ENCODER_MODE
 };
 
 bool (*app_func_wr_pointer[])(void*) = {
@@ -39,7 +40,8 @@ bool (*app_func_wr_pointer[])(void*) = {
 	&app_write_REG_PULSE_DO_PORT0,
 	&app_write_REG_PULSE_DO0,
 	&app_write_REG_START_PULSE,
-	&app_write_REG_START_PULSE_TRAIN
+	&app_write_REG_START_PULSE_TRAIN,
+	&app_write_REG_ENCODER_MODE
 };
 
 /************************************************************************/
@@ -244,3 +246,20 @@ bool app_write_REG_START_PULSE_TRAIN(void *a)
 	app_regs.REG_START_PULSE_TRAIN[0] = reg[0];
     return true;
 }
+
+/************************************************************************/
+/* REG_ENCODER_MODE                                                     */
+/************************************************************************/
+void app_read_REG_ENCODER_MODE(void)
+{
+	//app_regs.REG_ENCODER_MODE = 0;
+
+}
+
+bool app_write_REG_ENCODER_MODE(void *a)
+{
+	uint8_t reg = *((uint8_t*)a);
+
+	app_regs.REG_ENCODER_MODE = reg;
+    return true;
+}
diff --git a/tests/ExpectedOutput/device.app_funcs.h b/tests/ExpectedOutput/device.app_funcs.h
index 525a2c7..f247f28 100644
--- a/tests/ExpectedOutput/device.app_funcs.h
+++ b/tests/ExpectedOutput/device.app_funcs.h
@@ -34,6 +34,7 @@ void app_read_REG_PULSE_DO_PORT0(void);
 void app_read_REG_PULSE_DO0(void);
 void app_read_REG_START_PULSE(void);
 void app_read_REG_START_PULSE_TRAIN(void);
+void app_read_REG_ENCODER_MODE(void);
 
 bool app_write_REG_DIGITAL_INPUTS(void *a);
 bool app_write_REG_ANALOG_DATA(void *a);
@@ -49,6 +50,7 @@ bool app_write_REG_PULSE_DO_PORT0(void *a);
 bool app_write_REG_PULSE_DO0(void *a);
 bool app_write_REG_START_PULSE(void *a);
 bool app_write_REG_START_PULSE_TRAIN(void *a);
+bool app_write_REG_ENCODER_MODE(void *a);
 
 
 #endif /* _APP_FUNCTIONS_H_ */
\ No newline at end of file
diff --git a/tests/ExpectedOutput/device.app_ios_and_regs.c b/tests/ExpectedOutput/device.app_ios_and_regs.c
index 0f4f06d..7609ccf 100644
--- a/tests/ExpectedOutput/device.app_ios_and_regs.c
+++ b/tests/ExpectedOutput/device.app_ios_and_regs.c
@@ -77,7 +77,8 @@ uint8_t app_regs_type[] = {
     TYPE_U16,
     TYPE_U16,
     TYPE_U16,
-    TYPE_U16
+    TYPE_U16,
+    TYPE_U8
 };
 
 uint16_t app_regs_n_elements[] = {
@@ -94,7 +95,8 @@ uint16_t app_regs_n_elements[] = {
     1,
     1,
     1,
-    2
+    2,
+    1
 };
 
 uint8_t *app_regs_pointer[] = {
@@ -111,5 +113,6 @@ uint8_t *app_regs_pointer[] = {
     (uint8_t*)(&app_regs.REG_PULSE_DO_PORT0),
     (uint8_t*)(&app_regs.REG_PULSE_DO0),
     (uint8_t*)(&app_regs.REG_START_PULSE),
-    (uint8_t*)(&app_regs.REG_START_PULSE_TRAIN)
+    (uint8_t*)(&app_regs.REG_START_PULSE_TRAIN),
+    (uint8_t*)(&app_regs.REG_ENCODER_MODE)
 };
\ No newline at end of file
diff --git a/tests/ExpectedOutput/device.app_ios_and_regs.h b/tests/ExpectedOutput/device.app_ios_and_regs.h
index a2e61ac..6e1cdd2 100644
--- a/tests/ExpectedOutput/device.app_ios_and_regs.h
+++ b/tests/ExpectedOutput/device.app_ios_and_regs.h
@@ -145,6 +145,7 @@ typedef struct
     uint16_t REG_PULSE_DO0;
     uint16_t REG_START_PULSE;
     uint16_t REG_START_PULSE_TRAIN[2];
+    uint8_t REG_ENCODER_MODE;
 } AppRegs;
 
 /************************************************************************/
@@ -165,6 +166,7 @@ typedef struct
 #define ADD_REG_PULSE_DO0                  43 // U16    
 #define ADD_REG_START_PULSE               100 // U16    Starts a PWM pulse.
 #define ADD_REG_START_PULSE_TRAIN         101 // U16    Starts a PWM pulse train.
+#define ADD_REG_ENCODER_MODE              103 // U8     Configures the operation mode of the encoder.
 
 /************************************************************************/
 /* Tests registers' memory limits                                       */
@@ -174,24 +176,27 @@ typedef struct
 /************************************************************************/
 /* Memory limits */
 #define APP_REGS_ADD_MIN                    0x20
-#define APP_REGS_ADD_MAX                    0x65
-#define APP_NBYTES_OF_REG_BANK              117
+#define APP_REGS_ADD_MAX                    0x67
+#define APP_NBYTES_OF_REG_BANK              118
 
 /************************************************************************/
 /* Registers' bits                                                      */
 /************************************************************************/
-#define B_DIO0               (1<<0)       // 
-#define B_DIO1               (1<<1)       // 
-#define B_DIO2               (1<<2)       // 
-#define B_DIO3               (1<<3)       // 
-#define B_DI_PORT0           (1<<8)       // 
-#define B_TEST_DI_PORT1      (1<<9)       // 
-#define B_SUPPLY_PORT0       (1<<10)      // 
-#define B_PORT_DIO1          (1<<11)      // 
-#define MSK_PWM_PORT_SEL     0x0F         // 
-#define GM_PWM_PORT_PWM0     0x01         // 
-#define GM_PWM_PORT_PWM1     0x02         // 
-#define GM_PWM_PORT_PWM2     0x04         // 
-#define GM_PWM_PORT_PWM3     0x0A         // 
+#define B_DIO0                          (1<<0)       // 
+#define B_DIO1                          (1<<1)       // 
+#define B_DIO2                          (1<<2)       // 
+#define B_DIO3                          (1<<3)       // 
+#define B_DI_PORT0                      (1<<8)       // 
+#define B_TEST_DI_PORT1                 (1<<9)       // 
+#define B_SUPPLY_PORT0                  (1<<10)      // 
+#define B_PORT_DIO1                     (1<<11)      // 
+#define MSK_PWM_PORT_SEL                0x0F         // 
+#define GM_PWM_PORT_PWM0                0x01         // 
+#define GM_PWM_PORT_PWM1                0x02         // 
+#define GM_PWM_PORT_PWM2                0x04         // 
+#define GM_PWM_PORT_PWM3                0x0A         // 
+#define MSK_ENCODER_MODE_SEL            0x01         // 
+#define GM_ENCODER_MODE_POSITION        0x00         // 
+#define GM_ENCODER_MODE_DISPLACEMENT    0x01         // 
 
 #endif /* _APP_REGS_H_ */
\ No newline at end of file
diff --git a/tests/ExpectedOutput/device.async.cs b/tests/ExpectedOutput/device.async.cs
index 2386928..2b36d15 100644
--- a/tests/ExpectedOutput/device.async.cs
+++ b/tests/ExpectedOutput/device.async.cs
@@ -593,5 +593,51 @@ public async Task WriteStartPulseTrainAsync(StartPulseTrainPayload value, Cancel
             var request = StartPulseTrain.FromPayload(MessageType.Write, value);
             await CommandAsync(request, cancellationToken);
         }
+
+        /// <summary>
+        /// Asynchronously reads the contents of the <see cref="EncoderMode"/> register.
+        /// </summary>
+        /// <param name="cancellationToken">
+        /// A <see cref="CancellationToken"/> which can be used to cancel the operation.
+        /// </param>
+        /// <returns>
+        /// A task that represents the asynchronous read operation. The task result contains
+        /// the register payload.
+        /// </returns>
+        public async Task<EncoderModeMask> ReadEncoderModeAsync(CancellationToken cancellationToken = default)
+        {
+            var reply = await CommandAsync(HarpCommand.ReadByte(EncoderMode.Address), cancellationToken);
+            return EncoderMode.GetPayload(reply);
+        }
+
+        /// <summary>
+        /// Asynchronously reads the timestamped contents of the <see cref="EncoderMode"/> register.
+        /// </summary>
+        /// <param name="cancellationToken">
+        /// A <see cref="CancellationToken"/> which can be used to cancel the operation.
+        /// </param>
+        /// <returns>
+        /// A task that represents the asynchronous read operation. The task result contains
+        /// the timestamped register payload.
+        /// </returns>
+        public async Task<Timestamped<EncoderModeMask>> ReadTimestampedEncoderModeAsync(CancellationToken cancellationToken = default)
+        {
+            var reply = await CommandAsync(HarpCommand.ReadByte(EncoderMode.Address), cancellationToken);
+            return EncoderMode.GetTimestampedPayload(reply);
+        }
+
+        /// <summary>
+        /// Asynchronously writes a value to the <see cref="EncoderMode"/> register.
+        /// </summary>
+        /// <param name="value">The value to write in the register.</param>
+        /// <param name="cancellationToken">
+        /// A <see cref="CancellationToken"/> which can be used to cancel the operation.
+        /// </param>
+        /// <returns>The task object representing the asynchronous write operation.</returns>
+        public async Task WriteEncoderModeAsync(EncoderModeMask value, CancellationToken cancellationToken = default)
+        {
+            var request = EncoderMode.FromPayload(MessageType.Write, value);
+            await CommandAsync(request, cancellationToken);
+        }
     }
 }
diff --git a/tests/ExpectedOutput/device.cs b/tests/ExpectedOutput/device.cs
index 628a92f..82436b7 100644
--- a/tests/ExpectedOutput/device.cs
+++ b/tests/ExpectedOutput/device.cs
@@ -50,7 +50,8 @@ public Device() : base(WhoAmI) { }
             { 42, typeof(PulseDOPort0) },
             { 43, typeof(PulseDO0) },
             { 100, typeof(StartPulse) },
-            { 101, typeof(StartPulseTrain) }
+            { 101, typeof(StartPulseTrain) },
+            { 103, typeof(EncoderMode) }
         };
 
         /// <summary>
@@ -279,6 +280,7 @@ public IObservable<IGroupedObservable<Type, HarpMessage>> Process(IObservable<IG
     /// <seealso cref="PulseDO0"/>
     /// <seealso cref="StartPulse"/>
     /// <seealso cref="StartPulseTrain"/>
+    /// <seealso cref="EncoderMode"/>
     [XmlInclude(typeof(DigitalInputs))]
     [XmlInclude(typeof(AnalogData))]
     [XmlInclude(typeof(ComplexConfiguration))]
@@ -293,6 +295,7 @@ public IObservable<IGroupedObservable<Type, HarpMessage>> Process(IObservable<IG
     [XmlInclude(typeof(PulseDO0))]
     [XmlInclude(typeof(StartPulse))]
     [XmlInclude(typeof(StartPulseTrain))]
+    [XmlInclude(typeof(EncoderMode))]
     [Description("Filters register-specific messages reported by the Tests device.")]
     public class FilterRegister : FilterRegisterBuilder, INamedElement
     {
@@ -328,6 +331,7 @@ string INamedElement.Name
     /// <seealso cref="PulseDO0"/>
     /// <seealso cref="StartPulse"/>
     /// <seealso cref="StartPulseTrain"/>
+    /// <seealso cref="EncoderMode"/>
     [XmlInclude(typeof(DigitalInputs))]
     [XmlInclude(typeof(AnalogData))]
     [XmlInclude(typeof(ComplexConfiguration))]
@@ -342,6 +346,7 @@ string INamedElement.Name
     [XmlInclude(typeof(PulseDO0))]
     [XmlInclude(typeof(StartPulse))]
     [XmlInclude(typeof(StartPulseTrain))]
+    [XmlInclude(typeof(EncoderMode))]
     [XmlInclude(typeof(TimestampedDigitalInputs))]
     [XmlInclude(typeof(TimestampedAnalogData))]
     [XmlInclude(typeof(TimestampedComplexConfiguration))]
@@ -356,6 +361,7 @@ string INamedElement.Name
     [XmlInclude(typeof(TimestampedPulseDO0))]
     [XmlInclude(typeof(TimestampedStartPulse))]
     [XmlInclude(typeof(TimestampedStartPulseTrain))]
+    [XmlInclude(typeof(TimestampedEncoderMode))]
     [Description("Filters and selects specific messages reported by the Tests device.")]
     public partial class Parse : ParseBuilder, INamedElement
     {
@@ -388,6 +394,7 @@ public Parse()
     /// <seealso cref="PulseDO0"/>
     /// <seealso cref="StartPulse"/>
     /// <seealso cref="StartPulseTrain"/>
+    /// <seealso cref="EncoderMode"/>
     [XmlInclude(typeof(DigitalInputs))]
     [XmlInclude(typeof(AnalogData))]
     [XmlInclude(typeof(ComplexConfiguration))]
@@ -402,6 +409,7 @@ public Parse()
     [XmlInclude(typeof(PulseDO0))]
     [XmlInclude(typeof(StartPulse))]
     [XmlInclude(typeof(StartPulseTrain))]
+    [XmlInclude(typeof(EncoderMode))]
     [Description("Formats a sequence of values as specific Tests register messages.")]
     public partial class Format : FormatBuilder, INamedElement
     {
@@ -1923,6 +1931,103 @@ public static Timestamped<StartPulseTrainPayload> GetPayload(HarpMessage message
         }
     }
 
+    /// <summary>
+    /// Represents a register that configures the operation mode of the encoder.
+    /// </summary>
+    [Description("Configures the operation mode of the encoder.")]
+    public partial class EncoderMode
+    {
+        /// <summary>
+        /// Represents the address of the <see cref="EncoderMode"/> register. This field is constant.
+        /// </summary>
+        public const int Address = 103;
+
+        /// <summary>
+        /// Represents the payload type of the <see cref="EncoderMode"/> register. This field is constant.
+        /// </summary>
+        public const PayloadType RegisterType = PayloadType.U8;
+
+        /// <summary>
+        /// Represents the length of the <see cref="EncoderMode"/> register. This field is constant.
+        /// </summary>
+        public const int RegisterLength = 1;
+
+        /// <summary>
+        /// Returns the payload data for <see cref="EncoderMode"/> register messages.
+        /// </summary>
+        /// <param name="message">A <see cref="HarpMessage"/> object representing the register message.</param>
+        /// <returns>A value representing the message payload.</returns>
+        public static EncoderModeMask GetPayload(HarpMessage message)
+        {
+            return (EncoderModeMask)message.GetPayloadByte();
+        }
+
+        /// <summary>
+        /// Returns the timestamped payload data for <see cref="EncoderMode"/> register messages.
+        /// </summary>
+        /// <param name="message">A <see cref="HarpMessage"/> object representing the register message.</param>
+        /// <returns>A value representing the timestamped message payload.</returns>
+        public static Timestamped<EncoderModeMask> GetTimestampedPayload(HarpMessage message)
+        {
+            var payload = message.GetTimestampedPayloadByte();
+            return Timestamped.Create((EncoderModeMask)payload.Value, payload.Seconds);
+        }
+
+        /// <summary>
+        /// Returns a Harp message for the <see cref="EncoderMode"/> register.
+        /// </summary>
+        /// <param name="messageType">The type of the Harp message.</param>
+        /// <param name="value">The value to be stored in the message payload.</param>
+        /// <returns>
+        /// A <see cref="HarpMessage"/> object for the <see cref="EncoderMode"/> register
+        /// with the specified message type and payload.
+        /// </returns>
+        public static HarpMessage FromPayload(MessageType messageType, EncoderModeMask value)
+        {
+            return HarpMessage.FromByte(Address, messageType, (byte)value);
+        }
+
+        /// <summary>
+        /// Returns a timestamped Harp message for the <see cref="EncoderMode"/>
+        /// register.
+        /// </summary>
+        /// <param name="timestamp">The timestamp of the message payload, in seconds.</param>
+        /// <param name="messageType">The type of the Harp message.</param>
+        /// <param name="value">The value to be stored in the message payload.</param>
+        /// <returns>
+        /// A <see cref="HarpMessage"/> object for the <see cref="EncoderMode"/> register
+        /// with the specified message type, timestamp, and payload.
+        /// </returns>
+        public static HarpMessage FromPayload(double timestamp, MessageType messageType, EncoderModeMask value)
+        {
+            return HarpMessage.FromByte(Address, timestamp, messageType, (byte)value);
+        }
+    }
+
+    /// <summary>
+    /// Provides methods for manipulating timestamped messages from the
+    /// EncoderMode register.
+    /// </summary>
+    /// <seealso cref="EncoderMode"/>
+    [Description("Filters and selects timestamped messages from the EncoderMode register.")]
+    public partial class TimestampedEncoderMode
+    {
+        /// <summary>
+        /// Represents the address of the <see cref="EncoderMode"/> register. This field is constant.
+        /// </summary>
+        public const int Address = EncoderMode.Address;
+
+        /// <summary>
+        /// Returns timestamped payload data for <see cref="EncoderMode"/> register messages.
+        /// </summary>
+        /// <param name="message">A <see cref="HarpMessage"/> object representing the register message.</param>
+        /// <returns>A value representing the timestamped message payload.</returns>
+        public static Timestamped<EncoderModeMask> GetPayload(HarpMessage message)
+        {
+            return EncoderMode.GetTimestampedPayload(message);
+        }
+    }
+
     /// <summary>
     /// Represents an operator which creates standard message payloads for the
     /// Tests device.
@@ -1941,6 +2046,7 @@ public static Timestamped<StartPulseTrainPayload> GetPayload(HarpMessage message
     /// <seealso cref="CreatePulseDO0Payload"/>
     /// <seealso cref="CreateStartPulsePayload"/>
     /// <seealso cref="CreateStartPulseTrainPayload"/>
+    /// <seealso cref="CreateEncoderModePayload"/>
     [XmlInclude(typeof(CreateDigitalInputsPayload))]
     [XmlInclude(typeof(CreateAnalogDataPayload))]
     [XmlInclude(typeof(CreateComplexConfigurationPayload))]
@@ -1955,6 +2061,7 @@ public static Timestamped<StartPulseTrainPayload> GetPayload(HarpMessage message
     [XmlInclude(typeof(CreatePulseDO0Payload))]
     [XmlInclude(typeof(CreateStartPulsePayload))]
     [XmlInclude(typeof(CreateStartPulseTrainPayload))]
+    [XmlInclude(typeof(CreateEncoderModePayload))]
     [XmlInclude(typeof(CreateTimestampedDigitalInputsPayload))]
     [XmlInclude(typeof(CreateTimestampedAnalogDataPayload))]
     [XmlInclude(typeof(CreateTimestampedComplexConfigurationPayload))]
@@ -1969,6 +2076,7 @@ public static Timestamped<StartPulseTrainPayload> GetPayload(HarpMessage message
     [XmlInclude(typeof(CreateTimestampedPulseDO0Payload))]
     [XmlInclude(typeof(CreateTimestampedStartPulsePayload))]
     [XmlInclude(typeof(CreateTimestampedStartPulseTrainPayload))]
+    [XmlInclude(typeof(CreateTimestampedEncoderModePayload))]
     [Description("Creates standard message payloads for the Tests device.")]
     public partial class CreateMessage : CreateMessageBuilder, INamedElement
     {
@@ -2878,6 +2986,60 @@ public HarpMessage GetMessage(double timestamp, MessageType messageType)
         }
     }
 
+    /// <summary>
+    /// Represents an operator that creates a message payload
+    /// that configures the operation mode of the encoder.
+    /// </summary>
+    [DisplayName("EncoderModePayload")]
+    [Description("Creates a message payload that configures the operation mode of the encoder.")]
+    public partial class CreateEncoderModePayload
+    {
+        /// <summary>
+        /// Gets or sets the value that configures the operation mode of the encoder.
+        /// </summary>
+        [Description("The value that configures the operation mode of the encoder.")]
+        public EncoderModeMask EncoderMode { get; set; }
+
+        /// <summary>
+        /// Creates a message payload for the EncoderMode register.
+        /// </summary>
+        /// <returns>The created message payload value.</returns>
+        public EncoderModeMask GetPayload()
+        {
+            return EncoderMode;
+        }
+
+        /// <summary>
+        /// Creates a message that configures the operation mode of the encoder.
+        /// </summary>
+        /// <param name="messageType">Specifies the type of the created message.</param>
+        /// <returns>A new message for the EncoderMode register.</returns>
+        public HarpMessage GetMessage(MessageType messageType)
+        {
+            return Harp.Generators.Tests.EncoderMode.FromPayload(messageType, GetPayload());
+        }
+    }
+
+    /// <summary>
+    /// Represents an operator that creates a timestamped message payload
+    /// that configures the operation mode of the encoder.
+    /// </summary>
+    [DisplayName("TimestampedEncoderModePayload")]
+    [Description("Creates a timestamped message payload that configures the operation mode of the encoder.")]
+    public partial class CreateTimestampedEncoderModePayload : CreateEncoderModePayload
+    {
+        /// <summary>
+        /// Creates a timestamped message that configures the operation mode of the encoder.
+        /// </summary>
+        /// <param name="timestamp">The timestamp of the message payload, in seconds.</param>
+        /// <param name="messageType">Specifies the type of the created message.</param>
+        /// <returns>A new timestamped message for the EncoderMode register.</returns>
+        public HarpMessage GetMessage(double timestamp, MessageType messageType)
+        {
+            return Harp.Generators.Tests.EncoderMode.FromPayload(timestamp, messageType, GetPayload());
+        }
+    }
+
     /// <summary>
     /// Represents the payload of the AnalogData register.
     /// </summary>
@@ -3311,6 +3473,15 @@ public enum PwmPort : byte
         Pwm3 = 10
     }
 
+    /// <summary>
+    /// Specifies the type of encoder mode.
+    /// </summary>
+    public enum EncoderModeMask : byte
+    {
+        Position = 0,
+        Displacement = 1
+    }
+
     internal static partial class PayloadMarshal
     {
         internal static T[] GetSubArray<T>(T[] array, int offset, int count)
diff --git a/tests/Metadata/device.yml b/tests/Metadata/device.yml
index 9a7ad6b..38b87cc 100644
--- a/tests/Metadata/device.yml
+++ b/tests/Metadata/device.yml
@@ -160,6 +160,12 @@ registers:
         offset: 1
         mask: 0xFF
         interfaceType: byte
+  EncoderMode:
+    address: 103
+    type: U8
+    access: Write
+    maskType: EncoderModeMask
+    description: Configures the operation mode of the encoder.
 bitMasks:
   PortDigitalIOS:
     bits:
@@ -178,3 +184,8 @@ groupMasks:
       Pwm1: 0x2
       Pwm2: 0x4
       Pwm3: 0xA
+  EncoderModeMask:
+    description: Specifies the type of encoder mode.
+    values:
+      Position: 0x0
+      Displacement: 0x1