diff --git a/doc/openapi/components/schemas/config/formats/column.yaml b/doc/openapi/components/schemas/config/formats/column.yaml
index 3832c7718..28a16b910 100644
--- a/doc/openapi/components/schemas/config/formats/column.yaml
+++ b/doc/openapi/components/schemas/config/formats/column.yaml
@@ -2,8 +2,9 @@
 ---
 
 allOf:
-- $ref: line.yaml
 - type: object
   properties:
     delimiter:
       type: string
+
+- $ref: line.yaml
diff --git a/doc/openapi/components/schemas/config/formats/csv.yaml b/doc/openapi/components/schemas/config/formats/csv.yaml
index 6578a8755..7ac680bf8 100644
--- a/doc/openapi/components/schemas/config/formats/csv.yaml
+++ b/doc/openapi/components/schemas/config/formats/csv.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: column.yaml
diff --git a/doc/openapi/components/schemas/config/formats/iotagent_ul.yaml b/doc/openapi/components/schemas/config/formats/iotagent_ul.yaml
index 23cd4a88f..155db87eb 100644
--- a/doc/openapi/components/schemas/config/formats/iotagent_ul.yaml
+++ b/doc/openapi/components/schemas/config/formats/iotagent_ul.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: ../format.yaml
diff --git a/doc/openapi/components/schemas/config/formats/json.yaml b/doc/openapi/components/schemas/config/formats/json.yaml
index 5e07302d4..cae3501bb 100644
--- a/doc/openapi/components/schemas/config/formats/json.yaml
+++ b/doc/openapi/components/schemas/config/formats/json.yaml
@@ -38,4 +38,5 @@ allOf:
       default: false
       description: 
         Escape the `/` characters in strings with `\/`.
+
 - $ref: ../format.yaml
diff --git a/doc/openapi/components/schemas/config/formats/json_edgeflex.yaml b/doc/openapi/components/schemas/config/formats/json_edgeflex.yaml
index a5fa8918f..4d163d8e5 100644
--- a/doc/openapi/components/schemas/config/formats/json_edgeflex.yaml
+++ b/doc/openapi/components/schemas/config/formats/json_edgeflex.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: json.yaml
diff --git a/doc/openapi/components/schemas/config/formats/json_kafka.yaml b/doc/openapi/components/schemas/config/formats/json_kafka.yaml
index a5fa8918f..4d163d8e5 100644
--- a/doc/openapi/components/schemas/config/formats/json_kafka.yaml
+++ b/doc/openapi/components/schemas/config/formats/json_kafka.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: json.yaml
diff --git a/doc/openapi/components/schemas/config/formats/json_reserve.yaml b/doc/openapi/components/schemas/config/formats/json_reserve.yaml
index a5fa8918f..4d163d8e5 100644
--- a/doc/openapi/components/schemas/config/formats/json_reserve.yaml
+++ b/doc/openapi/components/schemas/config/formats/json_reserve.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: json.yaml
diff --git a/doc/openapi/components/schemas/config/formats/line.yaml b/doc/openapi/components/schemas/config/formats/line.yaml
index dd0434c1b..479554427 100644
--- a/doc/openapi/components/schemas/config/formats/line.yaml
+++ b/doc/openapi/components/schemas/config/formats/line.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     separator:
       type: string
+
 - $ref: ../format.yaml
diff --git a/doc/openapi/components/schemas/config/formats/opal_asyncip.yaml b/doc/openapi/components/schemas/config/formats/opal_asyncip.yaml
index 1d635f985..5d7af8db9 100644
--- a/doc/openapi/components/schemas/config/formats/opal_asyncip.yaml
+++ b/doc/openapi/components/schemas/config/formats/opal_asyncip.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     dev_id:
       type: integer
+
 - $ref: ../format.yaml
diff --git a/doc/openapi/components/schemas/config/formats/protobuf.yaml b/doc/openapi/components/schemas/config/formats/protobuf.yaml
index 23cd4a88f..155db87eb 100644
--- a/doc/openapi/components/schemas/config/formats/protobuf.yaml
+++ b/doc/openapi/components/schemas/config/formats/protobuf.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: ../format.yaml
diff --git a/doc/openapi/components/schemas/config/formats/tsv.yaml b/doc/openapi/components/schemas/config/formats/tsv.yaml
index 6578a8755..7ac680bf8 100644
--- a/doc/openapi/components/schemas/config/formats/tsv.yaml
+++ b/doc/openapi/components/schemas/config/formats/tsv.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: column.yaml
diff --git a/doc/openapi/components/schemas/config/formats/value.yaml b/doc/openapi/components/schemas/config/formats/value.yaml
index 23cd4a88f..155db87eb 100644
--- a/doc/openapi/components/schemas/config/formats/value.yaml
+++ b/doc/openapi/components/schemas/config/formats/value.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: ../format.yaml
diff --git a/doc/openapi/components/schemas/config/formats/villas_binary.yaml b/doc/openapi/components/schemas/config/formats/villas_binary.yaml
index 23cd4a88f..155db87eb 100644
--- a/doc/openapi/components/schemas/config/formats/villas_binary.yaml
+++ b/doc/openapi/components/schemas/config/formats/villas_binary.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: ../format.yaml
diff --git a/doc/openapi/components/schemas/config/formats/villas_human.yaml b/doc/openapi/components/schemas/config/formats/villas_human.yaml
index 3b709c721..28a16b910 100644
--- a/doc/openapi/components/schemas/config/formats/villas_human.yaml
+++ b/doc/openapi/components/schemas/config/formats/villas_human.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: line.yaml
diff --git a/doc/openapi/components/schemas/config/formats/villas_web.yaml b/doc/openapi/components/schemas/config/formats/villas_web.yaml
index 83351cd45..49044ec21 100644
--- a/doc/openapi/components/schemas/config/formats/villas_web.yaml
+++ b/doc/openapi/components/schemas/config/formats/villas_web.yaml
@@ -6,4 +6,5 @@ allOf:
   properties:
     delimiter:
       type: string
+
 - $ref: villas_binary.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/average.yaml b/doc/openapi/components/schemas/config/hooks/average.yaml
index 702832c98..f7109594a 100644
--- a/doc/openapi/components/schemas/config/hooks/average.yaml
+++ b/doc/openapi/components/schemas/config/hooks/average.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   required:
   - offset
@@ -17,3 +15,5 @@ allOf:
         - `0` inserts the averaged signal before all other signals in the sample
         - `1` inserts the averaged signal after the first signal.
 
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/cast.yaml b/doc/openapi/components/schemas/config/hooks/cast.yaml
index db94349c2..7304d19e5 100644
--- a/doc/openapi/components/schemas/config/hooks/cast.yaml
+++ b/doc/openapi/components/schemas/config/hooks/cast.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   properties:
     new_type:
@@ -23,3 +21,6 @@ allOf:
       type: string
       description: The new unit of the casted signal.
       example: V
+
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/decimate.yaml b/doc/openapi/components/schemas/config/hooks/decimate.yaml
index f719a6eb1..1212a0fc7 100644
--- a/doc/openapi/components/schemas/config/hooks/decimate.yaml
+++ b/doc/openapi/components/schemas/config/hooks/decimate.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   required:
     - ratio
@@ -11,4 +10,5 @@ allOf:
       type: integer
       description: The decimation ratio. A value of 4 will skip every, but the 4th sample in a row.
       example: 4
-  
\ No newline at end of file
+
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/dp.yaml b/doc/openapi/components/schemas/config/hooks/dp.yaml
index 9398b1932..73f21c65d 100644
--- a/doc/openapi/components/schemas/config/hooks/dp.yaml
+++ b/doc/openapi/components/schemas/config/hooks/dp.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: single.yaml
 - type: object
   required:
   - f0
@@ -31,3 +29,5 @@ allOf:
       type: boolean
       default: false
 
+- $ref: common.yaml
+- $ref: single.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/drop.yaml b/doc/openapi/components/schemas/config/hooks/drop.yaml
index e164e66ef..5af5e9214 100644
--- a/doc/openapi/components/schemas/config/hooks/drop.yaml
+++ b/doc/openapi/components/schemas/config/hooks/drop.yaml
@@ -3,4 +3,3 @@
 
 allOf:
 - $ref: common.yaml
-
diff --git a/doc/openapi/components/schemas/config/hooks/dump.yaml b/doc/openapi/components/schemas/config/hooks/dump.yaml
index e164e66ef..5af5e9214 100644
--- a/doc/openapi/components/schemas/config/hooks/dump.yaml
+++ b/doc/openapi/components/schemas/config/hooks/dump.yaml
@@ -3,4 +3,3 @@
 
 allOf:
 - $ref: common.yaml
-
diff --git a/doc/openapi/components/schemas/config/hooks/ebm.yaml b/doc/openapi/components/schemas/config/hooks/ebm.yaml
index d545cdabd..283541187 100644
--- a/doc/openapi/components/schemas/config/hooks/ebm.yaml
+++ b/doc/openapi/components/schemas/config/hooks/ebm.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   required:
     - phases
@@ -20,3 +19,5 @@ allOf:
         maxItems: 2
         items:
           type: integer
+
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/gate.yaml b/doc/openapi/components/schemas/config/hooks/gate.yaml
index 052aaa454..3350381d9 100644
--- a/doc/openapi/components/schemas/config/hooks/gate.yaml
+++ b/doc/openapi/components/schemas/config/hooks/gate.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: single.yaml
 - type: object
   properties: 
     mode:
@@ -25,3 +23,6 @@ allOf:
     samples:
       description: The number if samples for which the gate opens when the triggering condition is met. Exclusive with the `duration` setting.
       type: number
+
+- $ref: common.yaml
+- $ref: single.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/jitter_calc.yaml b/doc/openapi/components/schemas/config/hooks/jitter_calc.yaml
index e164e66ef..5af5e9214 100644
--- a/doc/openapi/components/schemas/config/hooks/jitter_calc.yaml
+++ b/doc/openapi/components/schemas/config/hooks/jitter_calc.yaml
@@ -3,4 +3,3 @@
 
 allOf:
 - $ref: common.yaml
-
diff --git a/doc/openapi/components/schemas/config/hooks/limit_rate.yaml b/doc/openapi/components/schemas/config/hooks/limit_rate.yaml
index bd0764c91..bcbe7da87 100644
--- a/doc/openapi/components/schemas/config/hooks/limit_rate.yaml
+++ b/doc/openapi/components/schemas/config/hooks/limit_rate.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   required:
   - rate
@@ -18,3 +17,5 @@ allOf:
       - local
       - received
       - origin
+
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/limit_value.yaml b/doc/openapi/components/schemas/config/hooks/limit_value.yaml
index 4e8341f7e..7fed40b98 100644
--- a/doc/openapi/components/schemas/config/hooks/limit_value.yaml
+++ b/doc/openapi/components/schemas/config/hooks/limit_value.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   required:
   - min
@@ -15,3 +13,6 @@ allOf:
     max:
       description: The largest value which will pass through the hook before getting clipped.
       type: number
+
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/lua.yaml b/doc/openapi/components/schemas/config/hooks/lua.yaml
index b7f7b0506..b44286f68 100644
--- a/doc/openapi/components/schemas/config/hooks/lua.yaml
+++ b/doc/openapi/components/schemas/config/hooks/lua.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   additionalProperties:
     description: |
@@ -79,3 +78,5 @@ allOf:
                 An arbitrary Lua expression which will be evaluated and used for the value of the signal.
                 Note you can access the current sample using the global Lua variable `smp`.
         - $ref: ../signal_spec.yaml
+
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/ma.yaml b/doc/openapi/components/schemas/config/hooks/ma.yaml
index 2218a9526..963c66142 100644
--- a/doc/openapi/components/schemas/config/hooks/ma.yaml
+++ b/doc/openapi/components/schemas/config/hooks/ma.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   properties:
     window_size:
@@ -12,3 +10,6 @@ allOf:
       example: 100
       default: 0
       minimum: 0
+
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/pmu_dft.yaml b/doc/openapi/components/schemas/config/hooks/pmu_dft.yaml
index 7dc5af849..bc7c905f1 100644
--- a/doc/openapi/components/schemas/config/hooks/pmu_dft.yaml
+++ b/doc/openapi/components/schemas/config/hooks/pmu_dft.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   required:
   - sample_rate
@@ -106,3 +104,6 @@ allOf:
       default: 0.0
       example: 1.0
       description: An offset added to the calculated RoCoF. This setting does not really make sense but is available for completeness reasons"
+
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/pps_ts.yaml b/doc/openapi/components/schemas/config/hooks/pps_ts.yaml
index bddbc0060..e8d860a92 100644
--- a/doc/openapi/components/schemas/config/hooks/pps_ts.yaml
+++ b/doc/openapi/components/schemas/config/hooks/pps_ts.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: single.yaml
 - type: object
   required:
   - expected_smp_rate
@@ -28,3 +26,6 @@ allOf:
     horizon_compensation:
       type: integer
       default: 10
+
+- $ref: common.yaml
+- $ref: single.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/print.yaml b/doc/openapi/components/schemas/config/hooks/print.yaml
index babffe778..6ec8f3ee2 100644
--- a/doc/openapi/components/schemas/config/hooks/print.yaml
+++ b/doc/openapi/components/schemas/config/hooks/print.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   properties:
     output:
@@ -15,4 +14,5 @@ allOf:
       type: string
       default: ''
       description: An optional prefix which will be prepended to each line written by this hook to the output
-  
\ No newline at end of file
+  
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/rms.yaml b/doc/openapi/components/schemas/config/hooks/rms.yaml
index 2218a9526..963c66142 100644
--- a/doc/openapi/components/schemas/config/hooks/rms.yaml
+++ b/doc/openapi/components/schemas/config/hooks/rms.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   properties:
     window_size:
@@ -12,3 +10,6 @@ allOf:
       example: 100
       default: 0
       minimum: 0
+
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/round.yaml b/doc/openapi/components/schemas/config/hooks/round.yaml
index cb98b4c87..fc5050e36 100644
--- a/doc/openapi/components/schemas/config/hooks/round.yaml
+++ b/doc/openapi/components/schemas/config/hooks/round.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   properties: 
     precision:
@@ -11,3 +9,6 @@ allOf:
       default: 0
       example: 4
       description: The number of decimal digits to which the singal is rounded.
+
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/scale.yaml b/doc/openapi/components/schemas/config/hooks/scale.yaml
index c720da701..2ae217d55 100644
--- a/doc/openapi/components/schemas/config/hooks/scale.yaml
+++ b/doc/openapi/components/schemas/config/hooks/scale.yaml
@@ -2,8 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
-- $ref: multi.yaml
 - type: object
   properties: 
     offset:
@@ -17,4 +15,5 @@ allOf:
       example: 1e3
       description: The gain which is mulitplied to the signal before the offset is added.
 
-    
\ No newline at end of file
+- $ref: common.yaml
+- $ref: multi.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/shift_seq.yaml b/doc/openapi/components/schemas/config/hooks/shift_seq.yaml
index b0c88080f..a92430a07 100644
--- a/doc/openapi/components/schemas/config/hooks/shift_seq.yaml
+++ b/doc/openapi/components/schemas/config/hooks/shift_seq.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   required:
   - offset
@@ -11,3 +10,4 @@ allOf:
       type: integer
       description: The offset which is added to the sequence number of each processed sample.
 
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/shift_ts.yaml b/doc/openapi/components/schemas/config/hooks/shift_ts.yaml
index f3cb9259f..e39d9851d 100644
--- a/doc/openapi/components/schemas/config/hooks/shift_ts.yaml
+++ b/doc/openapi/components/schemas/config/hooks/shift_ts.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   required:
   - offset
@@ -16,3 +15,5 @@ allOf:
     offset:
       type: number
       description: The offset in seconds which is added to the timestamp field of each processed sample.
+
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/skip_first.yaml b/doc/openapi/components/schemas/config/hooks/skip_first.yaml
index 1a57baef4..6a2e793da 100644
--- a/doc/openapi/components/schemas/config/hooks/skip_first.yaml
+++ b/doc/openapi/components/schemas/config/hooks/skip_first.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   properties: 
     samples:
@@ -11,3 +10,5 @@ allOf:
     seconds:
       type: number
       description: The number of seconds for which this hook should initially drop samples after a start or restart of the node/path.
+
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/hooks/stats.yaml b/doc/openapi/components/schemas/config/hooks/stats.yaml
index 215c94c59..a2d933fbd 100644
--- a/doc/openapi/components/schemas/config/hooks/stats.yaml
+++ b/doc/openapi/components/schemas/config/hooks/stats.yaml
@@ -2,7 +2,6 @@
 ---
 
 allOf:
-- $ref: common.yaml
 - type: object
   properties: 
     format:
@@ -23,3 +22,5 @@ allOf:
       type: string
       description: The file where you want to write the report to. If omitted, stdout (the terminal) will be used.
       default: '/dev/stdout'
+
+- $ref: common.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/api.yaml b/doc/openapi/components/schemas/config/nodes/api.yaml
index 80226ae84..213ae54b5 100644
--- a/doc/openapi/components/schemas/config/nodes/api.yaml
+++ b/doc/openapi/components/schemas/config/nodes/api.yaml
@@ -10,4 +10,5 @@ allOf:
     ```bash
     curl http://localhost:80/api/v2/universal/api_node_name/config
     ```
+
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/can.yaml b/doc/openapi/components/schemas/config/nodes/can.yaml
index 564e59c27..4db03c7e4 100644
--- a/doc/openapi/components/schemas/config/nodes/can.yaml
+++ b/doc/openapi/components/schemas/config/nodes/can.yaml
@@ -3,5 +3,25 @@
 
 allOf:
 - type: object
-  properties: {}
+  properties:
+    interface_name:
+      type: string
+      description: Name of the Socket CAN interface
+
+    in:
+      type: object
+      properties:
+        signals:
+          type: array
+          items:
+            $ref: ./signals/can.yaml
+
+    out:
+      type: object
+      properties:
+        signals:
+          type: array
+          items:
+            $$ref: ./signals/can.yaml
+
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/comedi.yaml b/doc/openapi/components/schemas/config/nodes/comedi.yaml
index 4e79b9ef2..5de261876 100644
--- a/doc/openapi/components/schemas/config/nodes/comedi.yaml
+++ b/doc/openapi/components/schemas/config/nodes/comedi.yaml
@@ -3,7 +3,37 @@
 
 allOf:
 - type: object
+  required:
+  - rate
+  - signals
+
   properties:
-    format:
-      $ref: ../format_spec.yaml
+    subdevice:
+      type: integer
+
+    bufsize:
+      type: integer
+      default: 16
+
+    signals:
+      type: array
+      items:
+        type: object
+        required:
+        - channel
+        - range
+        - aref
+        properties:
+          channel:
+            type: integer
+
+          range:
+            type: integer
+
+          aref:
+            type: integer
+
+    rate:
+      type: integer
+
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/ethercat.yaml b/doc/openapi/components/schemas/config/nodes/ethercat.yaml
index 810164b83..38c201671 100644
--- a/doc/openapi/components/schemas/config/nodes/ethercat.yaml
+++ b/doc/openapi/components/schemas/config/nodes/ethercat.yaml
@@ -2,8 +2,39 @@
 ---
 
 allOf:
-- $ref: ../node.yaml
 - type: object
   properties:
-    format:
-      $ref: ../format_spec.yaml
+    rate:
+      type: number
+
+    in:
+      type: object
+      properties:
+        num_channels:
+          type: integer
+
+        range:
+          type: number
+
+        product_code:
+          type: integer
+
+        vendor_id:
+          type: integer
+
+    out:
+      type: object
+      properties:
+        num_channels:
+          type: integer
+
+        range:
+          type: number
+
+        product_code:
+          type: integer
+
+        vendor_id:
+          type: integer
+
+- $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/exec.yaml b/doc/openapi/components/schemas/config/nodes/exec.yaml
index 033ea6b85..c2d7058ac 100644
--- a/doc/openapi/components/schemas/config/nodes/exec.yaml
+++ b/doc/openapi/components/schemas/config/nodes/exec.yaml
@@ -19,7 +19,7 @@ allOf:
 
       exec:
         description: |
-          The program which should be execed in the sub-process.
+          The program which should be executed in the sub-process.
 
           The option is passed to the system shell for execution.
         
@@ -43,7 +43,6 @@ allOf:
       environment:
         type: object
         description: |
-          A object of key/value pairs of environemnt variables which should be passed to the sub-process in addition to the parent environment.
-
+          A object of key/value pairs of environment variables which should be passed to the sub-process in addition to the parent environment.
 
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/iec61850-8-1.yaml b/doc/openapi/components/schemas/config/nodes/iec61850-8-1.yaml
index 81bda0f9d..d15f2c785 100644
--- a/doc/openapi/components/schemas/config/nodes/iec61850-8-1.yaml
+++ b/doc/openapi/components/schemas/config/nodes/iec61850-8-1.yaml
@@ -12,7 +12,7 @@ allOf:
         signals:
           type: array
           items:
-            $ref: ../iec61850_signal.yaml
+            $ref: ./signals/iec61850.yaml
 
     out:
       type: object
@@ -23,7 +23,7 @@ allOf:
         signals:
           type: array
           items:
-            $ref: ../iec61850_signal.yaml
+            $ref: ./signals/iec61850.yaml
         
         svid:
           type: string
@@ -47,8 +47,6 @@ allOf:
         vlan_priority:
           type: integer
 
-          
-
     interface:
       type: string
       description: Name of network interface to/from which this node will publish/subscribe for SV frames.
diff --git a/doc/openapi/components/schemas/config/nodes/kafka.yaml b/doc/openapi/components/schemas/config/nodes/kafka.yaml
index 6e1663ffa..0f2ec9476 100644
--- a/doc/openapi/components/schemas/config/nodes/kafka.yaml
+++ b/doc/openapi/components/schemas/config/nodes/kafka.yaml
@@ -75,8 +75,4 @@ allOf:
       description: A timeout in seconds for the broker connection.
       default: 1.0
 
-
-
-
-
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/loopback.yaml b/doc/openapi/components/schemas/config/nodes/loopback.yaml
index 0af5b51ff..58e57b20e 100644
--- a/doc/openapi/components/schemas/config/nodes/loopback.yaml
+++ b/doc/openapi/components/schemas/config/nodes/loopback.yaml
@@ -26,5 +26,4 @@ allOf:
       default: auto
       description: Specify the synchronization mode of the internal queue.
 
-
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/ngsi.yaml b/doc/openapi/components/schemas/config/nodes/ngsi.yaml
index 0ddb2e0b2..594c8cf3f 100644
--- a/doc/openapi/components/schemas/config/nodes/ngsi.yaml
+++ b/doc/openapi/components/schemas/config/nodes/ngsi.yaml
@@ -18,9 +18,9 @@ allOf:
 
     ssl_verify:
       type: boolean
+      description: Verify SSL certificate against local trust store.
 
     timeout:
       type: number
 
-
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/redis.yaml b/doc/openapi/components/schemas/config/nodes/redis.yaml
index 714298e3a..a1a80d1d1 100644
--- a/doc/openapi/components/schemas/config/nodes/redis.yaml
+++ b/doc/openapi/components/schemas/config/nodes/redis.yaml
@@ -60,7 +60,6 @@ allOf:
 
         See: https://redis.io/commands/auth
 
-
     db:
       type: integer
       default: 0
@@ -126,8 +125,4 @@ allOf:
           type: string
           description: A path to the private key file.
 
-        
-
-
-
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/rtp.yaml b/doc/openapi/components/schemas/config/nodes/rtp.yaml
index 26a45ead0..68c6eed92 100644
--- a/doc/openapi/components/schemas/config/nodes/rtp.yaml
+++ b/doc/openapi/components/schemas/config/nodes/rtp.yaml
@@ -7,6 +7,46 @@ allOf:
     format:
       $ref: ../format_spec.yaml
 
+    rtcp:
+      type: boolean
+      description: Enable Real-time Control Protocol (RTCP)
+
+    aimd:
+      type: object
+      properties: 
+        a:
+          type: number
+          default: 10
+        b:
+          type: number
+          default: 0.5
+        Kp:
+          type: number
+          default: 1.0
+        Ki:
+          type: number
+          default: 0.0
+        Kd:
+          type: number
+          default: 0.0
+        rate_min:
+          type: number
+          default: 1
+        rate_source:
+          type: number
+          default: 2000
+        rate_init:
+          type: number
+        log:
+          type: string
+        hook_type:
+          type: string
+          default: disabled
+          enum:
+          - decimate
+          - limit_rate
+          - disabled
+
     out:
       type: object
       properties: 
diff --git a/doc/openapi/components/schemas/config/nodes/signal.yaml b/doc/openapi/components/schemas/config/nodes/signal.yaml
index 67444205d..933c48f3a 100644
--- a/doc/openapi/components/schemas/config/nodes/signal.yaml
+++ b/doc/openapi/components/schemas/config/nodes/signal.yaml
@@ -56,7 +56,6 @@ allOf:
       default: 0.0
       description: Tha pase of the signal when the `signal` setting is one of `sine` or `pulse`.
 
-
     pulse_width:
       type: number
       default: 1.0
diff --git a/doc/openapi/components/schemas/config/nodes/signal_v2.yaml b/doc/openapi/components/schemas/config/nodes/signal_v2.yaml
index 921e240e8..9077a6708 100644
--- a/doc/openapi/components/schemas/config/nodes/signal_v2.yaml
+++ b/doc/openapi/components/schemas/config/nodes/signal_v2.yaml
@@ -4,7 +4,33 @@
 allOf:
 - type: object
   properties:
-    format:
-      $ref: ../format_spec.yaml
+    realtime:
+      type: boolean
+      default: true
+      description: Pace the generation of samples by the `rate` setting.
+
+    limit:
+      type: integer
+      default: 0
+      description: Stop the node after the provided number of samples.
+
+    rate:
+      type: number
+      description: The rate at which the samples are generated if operating in real-time mode (See `realtime` option).
+
+    monitor_missed:
+      type: boolean
+      default: false
+      description: Raise warnings if the signal generator fails to operate in real-time due to missed deadlines.
+
+    in:
+      type: object
+      required:
+      - signals
+      properties:
+        signals:
+          type: array
+          items:
+            $ref: ./signals/generator.yaml
 
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/signals/can.yaml b/doc/openapi/components/schemas/config/nodes/signals/can.yaml
new file mode 100644
index 000000000..67e0d488c
--- /dev/null
+++ b/doc/openapi/components/schemas/config/nodes/signals/can.yaml
@@ -0,0 +1,16 @@
+# yaml-language-server: $schema=http://json-schema.org/draft-07/schema
+---
+
+type: object
+properties:
+  can_id:
+    type: integer
+    default: 0
+
+  can_size:
+    type: integer
+    default: 8
+
+  can_offset:
+    type: integer
+    default: 0
diff --git a/doc/openapi/components/schemas/config/signal_spec.yaml b/doc/openapi/components/schemas/config/nodes/signals/common.yaml
similarity index 92%
rename from doc/openapi/components/schemas/config/signal_spec.yaml
rename to doc/openapi/components/schemas/config/nodes/signals/common.yaml
index 6c40b800f..ef026ee3f 100644
--- a/doc/openapi/components/schemas/config/signal_spec.yaml
+++ b/doc/openapi/components/schemas/config/nodes/signals/common.yaml
@@ -1,4 +1,6 @@
+# yaml-language-server: $schema=http://json-schema.org/draft-07/schema
 ---
+
 type: object
 properties:
   name:
diff --git a/doc/openapi/components/schemas/config/nodes/signals/generator.yaml b/doc/openapi/components/schemas/config/nodes/signals/generator.yaml
new file mode 100644
index 000000000..cce295652
--- /dev/null
+++ b/doc/openapi/components/schemas/config/nodes/signals/generator.yaml
@@ -0,0 +1,72 @@
+# yaml-language-server: $schema=http://json-schema.org/draft-07/schema
+---
+
+type: object
+required:
+- signal
+properties:
+  signal:
+    type: string
+    enum:
+    - random
+    - sine
+    - square
+    - triangle
+    - ramp
+    - counter
+    - constant
+    - mixed
+    - pulse
+    description: |
+      The type of signal which should be generated:
+
+      - `random`: a random walk with normal distributed step sizes will be generated.
+      - `sine`: a sine signal will be generated.
+      - `square`: a square / rectangle wave will be generated.
+      - `triangle`: a triangle wave will be generated.
+      - `ramp`: the generator will produce a ramp signal in the interval `[ 0, 1 / f ]`.
+      - `counter`: increasing integer counter is generated.
+      - `constant`: a constant value generated.
+      - `mixed`: the signals of of each sample are generated by cycling over all remaining signal types.
+      - `pulse`: generates pulses with a set frequency, phase and width
+
+  amplitude:
+    type: number
+    description: The amplitude of the signal when the `signal` setting is one of `sine`, `square` or `triangle`.
+    default: 1.0
+
+  frequency:
+    type: number
+    description: The frequency of the signal when the `signal` setting is one of `sine`, `square`, `triangle`,`pulse` or `ramp`.
+    default: 1.0 
+      
+  phase:
+    type: number
+    default: 0.0
+    description: Tha pase of the signal when the `signal` setting is one of `sine` or `pulse`.
+
+
+  pulse_width:
+    type: number
+    default: 1.0
+    description: The width of the pulse, with respect to the rate
+
+  pulse_low:
+    type: number
+    default: 0.0
+    description: The low value of the pulse signal.
+
+  pulse_high:
+    type: number
+    default: 1.0
+    description: The high value of the pulse signal.
+
+  stddev:
+    type: number
+    default: 0.2
+    description: The standard deviation of the normal distributed steps if the `signal` setting is set to `random`.
+
+  offset:
+    type: number
+    default: 0.0
+    description: Adds a constant offset to each of the generated signals.
diff --git a/doc/openapi/components/schemas/config/iec61850_signal.yaml b/doc/openapi/components/schemas/config/nodes/signals/iec61850.yaml
similarity index 100%
rename from doc/openapi/components/schemas/config/iec61850_signal.yaml
rename to doc/openapi/components/schemas/config/nodes/signals/iec61850.yaml
diff --git a/doc/openapi/components/schemas/config/signal_list.yaml b/doc/openapi/components/schemas/config/nodes/signals/list.yaml
similarity index 95%
rename from doc/openapi/components/schemas/config/signal_list.yaml
rename to doc/openapi/components/schemas/config/nodes/signals/list.yaml
index b49852212..e93719a38 100644
--- a/doc/openapi/components/schemas/config/signal_list.yaml
+++ b/doc/openapi/components/schemas/config/nodes/signals/list.yaml
@@ -1,4 +1,6 @@
+# yaml-language-server: $schema=http://json-schema.org/draft-07/schema
 ---
+
 title: Signal list
 description: |
   Each node should define a list of signals which it receives.
diff --git a/doc/openapi/components/schemas/config/nodes/socket.yaml b/doc/openapi/components/schemas/config/nodes/socket.yaml
index 5a40a9a4b..9349bc3c2 100644
--- a/doc/openapi/components/schemas/config/nodes/socket.yaml
+++ b/doc/openapi/components/schemas/config/nodes/socket.yaml
@@ -46,7 +46,6 @@ allOf:
         netem:
           $ref: ../netem.yaml
 
-        
         multicast:
           type: object
           properties: 
@@ -70,5 +69,4 @@ allOf:
             loop:
               type: boolean
 
-
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/stats_node.yaml b/doc/openapi/components/schemas/config/nodes/stats_node.yaml
index 921e240e8..8494ab9cc 100644
--- a/doc/openapi/components/schemas/config/nodes/stats_node.yaml
+++ b/doc/openapi/components/schemas/config/nodes/stats_node.yaml
@@ -4,7 +4,17 @@
 allOf:
 - type: object
   properties:
-    format:
-      $ref: ../format_spec.yaml
+    rate:
+      type: number
+      description: A rate in Hz at which the statistics are generated by this node.
+
+    in:
+      type: object
+      required: signals
+      properties: 
+        signals:
+          type: array
+          items:
+            $ref: ./signals/stats.yaml
 
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/temper.yaml b/doc/openapi/components/schemas/config/nodes/temper.yaml
index c8e2a4adb..3e76bd2ae 100644
--- a/doc/openapi/components/schemas/config/nodes/temper.yaml
+++ b/doc/openapi/components/schemas/config/nodes/temper.yaml
@@ -25,5 +25,4 @@ allOf:
       type: integer
       description: A filter applied to the USB port number for selecting a specific sensor if multiple are available.
 
-
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/test_rtt.yaml b/doc/openapi/components/schemas/config/nodes/test_rtt.yaml
index 921e240e8..ca6540f84 100644
--- a/doc/openapi/components/schemas/config/nodes/test_rtt.yaml
+++ b/doc/openapi/components/schemas/config/nodes/test_rtt.yaml
@@ -3,8 +3,72 @@
 
 allOf:
 - type: object
+  required:
+  - cases
   properties:
     format:
       $ref: ../format_spec.yaml
 
+    prefix:
+      type: string
+      description: A prefix which is prepended to the output file name of the RTT test result file.
+      example: "test_1"
+
+    output:
+      type: string
+      default: "."
+      description: A directory path at which the RTT test result files be placed.
+
+    cooldown:
+      type: number
+      default: 0.0
+      description: |
+        A cool-down time between consecutive test cases.
+        The node will insert a pause between the tests to avoid any network effects of the previous test-case to influence the upcoming test-case.
+
+    cases:
+      type: object
+      description: |
+        A list of test-case specifications.
+
+        The values from the `rates` and `values` settings of each-test case specification will be used to form a cross-product.
+      properties:
+        rates:
+          description: |
+            A list of sending rates in Hz.
+            The resulting test-case will generate samples at the given rate.
+          example:
+          - 10
+          - 100
+          - 1000
+          - 10000
+          type: array
+          items:
+            type: number
+
+        values:
+          description: |
+            A list of sample length.
+            The resulting test-case will generate samples with the given number of signals.
+          type: array
+          items:
+            type: integer
+          example:
+          - 10
+          - 100
+
+        limit:
+          description: |
+            The resulting test-case will send the number of samples specified by this setting.
+            This setting is exclusive with the `duration` setting.
+          type: integer
+          example: 10000
+
+        duration:
+          description: |
+            The resulting test-case will be stopped after the configured duration in seconds.
+            This setting is exclusive with the `limit` setting.
+          type: number
+          example: 60.0
+      
 - $ref: ../node.yaml
diff --git a/doc/openapi/components/schemas/config/nodes/zeromq.yaml b/doc/openapi/components/schemas/config/nodes/zeromq.yaml
index 9422f8d6e..2e992921e 100644
--- a/doc/openapi/components/schemas/config/nodes/zeromq.yaml
+++ b/doc/openapi/components/schemas/config/nodes/zeromq.yaml
@@ -53,5 +53,4 @@ allOf:
           description: |
             The private key of the server.
 
-
 - $ref: ../node.yaml
diff --git a/include/villas/nodes/can.hpp b/include/villas/nodes/can.hpp
index 2162a718a..e948b773d 100644
--- a/include/villas/nodes/can.hpp
+++ b/include/villas/nodes/can.hpp
@@ -43,7 +43,6 @@ struct can_signal {
 struct can {
 	/* Settings */
 	char *interface_name;
-	double *sample_rate;
 	struct can_signal *in;
 	struct can_signal *out;
 
diff --git a/lib/nodes/can.cpp b/lib/nodes/can.cpp
index 9dfdccda6..261f40177 100644
--- a/lib/nodes/can.cpp
+++ b/lib/nodes/can.cpp
@@ -132,9 +132,8 @@ int villas::node::can_parse(NodeCompat *n, json_t *json)
 	c->in = nullptr;
 	c->out = nullptr;
 
-	ret = json_unpack_ex(json, &err, 0, "{ s: s, s: F, s?: { s?: o }, s?: { s?: o } }",
+	ret = json_unpack_ex(json, &err, 0, "{ s: s, s?: { s?: o }, s?: { s?: o } }",
 		"interface_name", &c->interface_name,
-		"sample_rate", &c->sample_rate,
 		"in",
 			"signals", &json_in_signals,
 		"out",