4 winders test; keep alive embedded==>management. procedures.

20 files changed, 1879 insertions, 65 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index aa0db0ea9..c7077124c 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -139,7 +139,7 @@ void DisconnectionRequest(MessageContainer* requestContainer)
 int KeepAliveOneSecondCounter = 0;
 #define KEEPALIVE_COMMUNICATION_ABORT_LIMIT 10
 bool KeepAliveActive = false;
-bool keepalivetest = false;
+bool keepalivetest = true;
 void KeepAliveRequestFunc(MessageContainer* requestContainer)
 {
     MessageContainer responseContainer;
@@ -158,12 +158,50 @@ void KeepAliveRequestFunc(MessageContainer* requestContainer)
     SendChars((char*)container_buffer, container_size);
     //keep_alive_request__free_unpacked(request,NULL);
 }
+
+int  KARequestId = 0x01010101;
+char KARequestToken[36+1];
+void KeepAliveResponseFunc(MessageContainer* requestContainer)
+{
+    //KeepAliveRequest* request =
+    KeepAliveResponse *response =   keep_alive_response__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    if (strcmp(requestContainer->token,KARequestToken)==0)
+    {
+        if (keepalivetest == false)
+            KeepAliveOneSecondCounter = 0;
+        KeepAliveActive = true;
+        //Report("keepalive response received",__FILE__,__LINE__,KARequestId,RpWarning,msec_millisecondCounter, 0);
+    }
+    keep_alive_response__free_unpacked(response,NULL);
+}
+
+void KeepAliveRequest1Second(void)
+{
+    MessageContainer responseContainer;
+
+    KeepAliveResponse request =   KEEP_ALIVE_REQUEST__INIT;
+
+    strcpy(KARequestToken,"Happy days are coming to us, soon");
+    memcpy(&KARequestToken[32],&KARequestId,sizeof(KARequestId));
+    KARequestId++;
+    //Report("keepalive request sent",__FILE__,__LINE__,KARequestId,RpWarning,msec_millisecondCounter, 0);
+
+    if (keepalivetest == false)
+        KeepAliveOneSecondCounter = 0;
+    //KeepAliveActive = true;
+    responseContainer = createContainer(MESSAGE_TYPE__KeepAliveRequest, KARequestToken, true, &request, &keep_alive_request__pack, &keep_alive_request__get_packed_size);
+    //-------------------------------------------------------------------------------------------
+    uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    SendChars((char*)container_buffer, container_size);
+}
 void KeepAliveOneSecondCall(void)
 {
-    if (KeepAliveActive == false)
-        return;
     if (FileUploadGetState()==false)
         return;
+    KeepAliveRequest1Second();
+    if (KeepAliveActive == false)
+        return;
 
     KeepAliveOneSecondCounter++;
     if (KeepAliveOneSecondCounter > (KEEPALIVE_COMMUNICATION_ABORT_LIMIT/2))
@@ -181,7 +219,7 @@ void KeepAliveOneSecondCall(void)
         JobStopReporting();
         //AlarmHandlingStop();
         //CommunicationMailboxFlush();
-        keepalivetest = false;
+        //keepalivetest = false;
         //USBCDCD_init();
         USBCDCD_Reinit();
         //UART_ResetBuffers();
diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.h b/Software/Embedded_SW/Embedded/Communication/Connection.h
index 8089cd82f..c0a31344f 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.h
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.h
@@ -12,6 +12,7 @@
 void ConnectionRequest(MessageContainer* requestContainer);
 void DisconnectionRequest(MessageContainer* requestContainer);
 void KeepAliveRequestFunc(MessageContainer* requestContainer);
+void KeepAliveResponseFunc(MessageContainer* requestContainer);
 void KeepAliveOneSecondCall(void);
 
 extern int KeepAliveOneSecondCounter;
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index 64f06a8c5..b14efbd55 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -42,6 +42,7 @@
 #include "Modules/General/process.h"
 #include "Modules/Thread/Thread_ex.h"
 #include "Modules/Ids/Ids_ex.h"
+#include "Modules/Ifs/Ifs.h"
 
 #include "Common/SWUpdate/FileSystem.h"
 #include "Common/SWUpdate/FirmwareUpgrade.h"
@@ -142,7 +143,7 @@ void receive_callback(char* buffer, size_t length)
      if (requestContainer == NULL)
          return;
 #ifndef DISPESER_TEST
-    if ((requestContainer->type>= MESSAGE_TYPE__StartDiagnosticsRequest)&&(requestContainer->type != MESSAGE_TYPE__KeepAliveRequest)) //user action resets the idle counter
+    if ((requestContainer->type>= MESSAGE_TYPE__StartDiagnosticsRequest)&&(requestContainer->type != MESSAGE_TYPE__KeepAliveRequest)&&(requestContainer->type != MESSAGE_TYPE__KeepAliveResponse)) //user action resets the idle counter
     {
          ReportWithPackageFilter(CommFilter,"Message received", __FILE__,__LINE__,requestContainer->type, RpMessage,length, 0);
     }
@@ -411,6 +412,9 @@ void receive_callback(char* buffer, size_t length)
          case MESSAGE_TYPE__KeepAliveRequest:
              KeepAliveRequestFunc(requestContainer);
              break;
+         case MESSAGE_TYPE__KeepAliveResponse:
+             KeepAliveResponseFunc(requestContainer);
+             break;
          case MESSAGE_TYPE__FileUploadRequest:
              FileUploadRequestFunc(requestContainer);
              break;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index fda349f69..9c5c52bb9 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -335,13 +335,13 @@ void FPGA_GetBusy()
     F1MOTNBUSY1 F1_MOT_NBUSY1;
     F1MOTNBUSY2 F1_MOT_NBUSY2;
     F2MOTNBUSY1 F2_MOT_NBUSY1;
-    //F3MOTNBUSY1 F3_MOT_NBUSY1; - for spare motors
+    F3MOTNBUSY1 F3_MOT_NBUSY1; //- for spare motors
 
     F1SPIBUSY1 F1_SPI_BUSY1;
     F1SPIBUSY2 F1_SPI_BUSY2;
     F2SPIBUSY1 F2_SPI_BUSY1;
     F2SPIBUSY2 F2_SPI_BUSY2;
-    //F3SPIBUSY1 F3_SPI_BUSY1; - for spare motors
+    F3SPIBUSY1 F3_SPI_BUSY1;// - for spare motors
 
     //Read NBUSY from FPGA
     unsigned short readValue = 0;
@@ -351,14 +351,15 @@ void FPGA_GetBusy()
     F1_MOT_NBUSY2.ushort = (uint16_t) ~((unsigned int) readValue);
     readValue = F2_Moto_Driver_NBUSY1_D;
     F2_MOT_NBUSY1.ushort = (uint16_t) ~((unsigned int) readValue);
-    //F3_MOT_NBUSY1.ushort = F3_Moto_Driver_NBUSY1_D;  - for spare motors
+    readValue = F3_Moto_Driver_NBUSY1_D;
+    F3_MOT_NBUSY1.ushort = (uint16_t) ~((unsigned int) readValue);; // - for spare motors
 
     //Read SPI BUSY from FPGA
     F1_SPI_BUSY1.ushort = F1_SPI_Busy1_D;
     F1_SPI_BUSY2.ushort = F1_SPI_Busy2_D;
     F2_SPI_BUSY1.ushort = F2_SPI_Busy1_D;
     F2_SPI_BUSY2.ushort = F2_SPI_Busy2_D;
-    //F3_SPI_BUSY1.ushort = F3_SPI_Busy1_D;  - for spare motors
+    F3_SPI_BUSY1.ushort = F3_SPI_Busy1_D; // - for spare motors
 
         MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_CLEANHEAD_A1_NBUSY)  | F1_SPI_BUSY1.bits.F1_MOTO_DH_CLEANHEAD_A1_SDI_busy;
         MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_DH_CLEANMECH_A1_NBUSY)  | F1_SPI_BUSY1.bits.F1_MOTO_DH_CLEANMECH_A1_SDI_busy;
@@ -381,10 +382,17 @@ void FPGA_GetBusy()
         MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LDRIVING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LDRIVING_A1_SDI_busy;
         MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LLOADING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_LLOADING_A1_SDI_busy;
         MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_LPIVOT1].Busy = (F1_MOT_NBUSY1.bits.F1_MOTO_LPIVOT1_A1_NBUSY)       | F1_SPI_BUSY2.bits.F1_MOTO_LPIVOT1_A1_SDI_busy;
-        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RDANCER_A1_NBUSY)       | F1_SPI_BUSY2.bits.F1_MOTO_RDANCER_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RDANCER].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RDANCER_A1_NBUSY)       & F1_SPI_BUSY2.bits.F1_MOTO_RDANCER_A1_SDI_busy;
         MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RDRIVING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_RDRIVING_A1_SDI_busy;
         MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].Busy = (F1_MOT_NBUSY2.bits.F1_MOTO_RLOADING_A1_NBUSY)      | F1_SPI_BUSY1.bits.F1_MOTO_RLOADING_A1_SDI_busy;
 
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1].Busy = (F3_MOT_NBUSY1.bits.F3_MOTO_SPARE1_1_A1_NBUSY)      | F3_SPI_BUSY1.bits.F3_MOTO_SPARE1_1_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2].Busy = (F3_MOT_NBUSY1.bits.F3_MOTO_SPARE1_2_A1_NBUSY)      | F3_SPI_BUSY1.bits.F3_MOTO_SPARE1_2_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1].Busy = (F3_MOT_NBUSY1.bits.F3_MOTO_SPARE2_1_A1_NBUSY)      | F3_SPI_BUSY1.bits.F3_MOTO_SPARE2_1_A1_SDI_busy;
+        MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2].Busy = (F3_MOT_NBUSY1.bits.F3_MOTO_SPARE2_2_A1_NBUSY)      | F3_SPI_BUSY1.bits.F3_MOTO_SPARE2_2_A1_SDI_busy;
+
+
+
         TempSensorResponse[TEMP_SENSE_ANALOG_MIXCHIP_TEMP].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_MIXCHIP_TEMP_1_BUSY;
         TempSensorResponse[TEMP_SENSE_ANALOG_DYEINGH_TEMP1].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP1_1_BUSY;
         TempSensorResponse[TEMP_SENSE_ANALOG_DYEINGH_TEMP2].Busy = F2_SPI_BUSY1.bits.F2_ANALOG_DYEINGH_TEMP2_1_BUSY;
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.h
index f726baeb4..79239835f 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.h
@@ -27,8 +27,8 @@
 
     typedef enum Dancers4Winders
     {
-      HARDWARE_DANCER_0 = 0,
-      HARDWARE_DANCER_1 = 1,
+      HARDWARE_DANCER_0 = 0,  //winder
+      HARDWARE_DANCER_1 = 1, // puller
       HARDWARE_DANCER_2 = 2,
       HARDWARE_DANCER_3 = 3,
       HARDWARE_DANCER_4 = 4,
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
index bbbc49c7d..3331241cb 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
@@ -42,6 +42,8 @@ typedef enum {
     EEPROM_PULLER_TENSION_POSITION,
     EEPROM_WINDER_TENSION_POSITION,
     EEPROM_INIT_FAILURE_COUNTER,
+    EEPROM_STORAGE_DANCER_3,
+    EEPROM_STORAGE_DANCER_4,
     MAX_EEPROM_STORAGE
 }EEPROM_STORAGE_USAGE_ENUM;
 #define MAX_SERIAL_NUM_LEN 5 //5*4 bytes
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 327b5d19b..55148e655 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -496,9 +496,17 @@ uint32_t MillisecLoop(uint32_t tick)
     #ifdef test_RTFU_dancer
        test_dancer_responce_RTFU();
     #else
+#ifdef FOUR_WINDERS
+        Dancer_Data[HARDWARE_DANCER_0] = Read_Dancer_Position(HARDWARE_DANCER_0);
+        Dancer_Data[HARDWARE_DANCER_1] = Read_Dancer_Position(HARDWARE_DANCER_1);
+        Dancer_Data[HARDWARE_DANCER_2] = Read_Dancer_Position(HARDWARE_DANCER_2);
+        Dancer_Data[HARDWARE_DANCER_3] = Read_Dancer_Position(HARDWARE_DANCER_3);
+        Dancer_Data[HARDWARE_DANCER_4] = Read_Dancer_Position(HARDWARE_DANCER_4);
+#else
         Dancer_Data[FEEDER_DANCER] = Read_Dancer_Position(FEEDER_DANCER);
         Dancer_Data[POOLER_DANCER] = Read_Dancer_Position(POOLER_DANCER);
         Dancer_Data[WINDER_DANCER] = Read_Dancer_Position(WINDER_DANCER);
+#endif
     #endif
 
 #endif
@@ -732,7 +740,6 @@ uint32_t MillisecLowLoop(uint32_t tick)
         //static int Counter = 0;
         MachineUpdateResponseFunc();
         //KeepAliveOneSecondCall();
-
         //TemperatureListString(Lenstr);
         //ReportWithPackageFilter(ThreadFilter,Lenstr,__FILE__,__LINE__,(int)Counter++,RpWarning,(int) msec_millisecondCounter,0);
         for (Sensor_i = StartPT100;Sensor_i < MAX_HEAD_CARD_TEMP_SENS_ID;Sensor_i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index a76142b00..05987ee7f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -17,6 +17,7 @@
 #include "drivers/Motors/Motor.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/FPGA/FPGA.h"
@@ -407,6 +408,9 @@ void DiagnosticLoadDancerError(int DancerId, double value)
     //    DancerErrorCounterIndex[DancerId] = 0;
 
 }
+#ifdef FOUR_WINDERS
+    double dancer2,dancer3,dancer4;
+#endif
 void CopyTemperaturesToMonitor(void)
 {
     DiagnosticsMonitor.mixertemperature =
@@ -511,6 +515,18 @@ void CopyTemperaturesToMonitor(void)
     DiagnosticsMonitor.headblowervoltage2 = &headblowervoltage2;
     DiagnosticsMonitor.n_headblowervoltage1 = 1;
     DiagnosticsMonitor.n_headblowervoltage2 = 1;
+#ifdef FOUR_WINDERS
+//    double dancer2,dancer3,dancer4;
+    dancer2 = Control_Read_Dancer_Position(HARDWARE_DANCER_2,0);
+    dancer3 = Control_Read_Dancer_Position(HARDWARE_DANCER_3,0);
+    dancer4 = Control_Read_Dancer_Position(HARDWARE_DANCER_4,0);
+    DiagnosticsMonitor.n_headblower1airflow = 1;
+    DiagnosticsMonitor.n_headblower2airflow = 1;
+    DiagnosticsMonitor.headblower1airflow = &dancer4;
+    DiagnosticsMonitor.headblower2airflow = &dancer3;
+    DiagnosticsMonitor.headblowervoltage1 = &dancer2;
+    DiagnosticsMonitor.n_headblowervoltage1 = 1;
+#endif
     DiagnosticsMonitor.dryerzone1temperature =
             HeaterTemperature[HEATER_TYPE__DryerAirHeater];
     DiagnosticsMonitor.dryerzone2temperature =
@@ -975,11 +991,19 @@ void Diagnostic100msecCollection(void)
     {
         //if (JobIsActive())
         {
+#ifdef FOUR_WINDERS
+            DiagnosticLoadMotor(FEEDER_MOTOR, ThreadGetMotorSpeed (WINDER_2_MOTOR));
+            DiagnosticLoadMotor(DRYER_MOTOR, ThreadGetMotorSpeed (WINDER_3_MOTOR));
+            DiagnosticLoadMotor(POOLER_MOTOR, ThreadGetMotorSpeed (WINDER_4_MOTOR));
+            DiagnosticLoadMotor(WINDER_MOTOR, ThreadGetMotorSpeed (WINDER_MOTOR));
+            DiagnosticLoadMotor(SCREW_MOTOR, ThreadGetMotorSpeed (SCREW_MOTOR));
+#else
             DiagnosticLoadMotor(FEEDER_MOTOR, ThreadGetMotorSpeed (FEEDER_MOTOR));
             DiagnosticLoadMotor(DRYER_MOTOR, ThreadGetMotorSpeed (DRYER_MOTOR));
             DiagnosticLoadMotor(POOLER_MOTOR, ThreadGetMotorSpeed (POOLER_MOTOR));
             DiagnosticLoadMotor(WINDER_MOTOR, ThreadGetMotorSpeed (WINDER_MOTOR));
             DiagnosticLoadMotor(SCREW_MOTOR, ThreadGetMotorSpeed (SCREW_MOTOR));
+#endif
         }
         for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
         {
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index ac2009bcd..019be5c31 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -43,6 +43,7 @@
 #include "Drivers/I2C_Communication/I2C.h"
 #include "drivers/Flash_ram/MCU_E2Prom.h"
 #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
+#include "drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
 
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "StateMachines/Initialization/InitSequence.h"
@@ -431,6 +432,11 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
         LOG_ERROR(1,"JobIsActive");
         return ERROR;
     }
+    if (FPGABurningActive == true)
+    {
+        LOG_ERROR(1,"FPGABurningActive");
+        return ERROR;
+    }
     if (watchdogCriticalAlarm == true)
     {
         LOG_ERROR(1,"Critical Alarm cleared - Watchdog de-activated");
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 9c82cb1bf..c0ccefde1 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -1118,8 +1118,8 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
          if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
              IDS_Cleaning_Stop_Cleaning_Solution (NULL);
          setRapidPressureRead(false);
-         if (JobEndSequence == true)
-             DistanceToSpoolReady(Module_IDS,ModuleDone);
+         //if (JobEndSequence == true)
+         //    DistanceToSpoolReady(Module_IDS,ModuleDone);
      }
      if (EnableCleaning == true)
      {
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
index 1edc03264..0f95fb2e2 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
@@ -27,5 +27,6 @@ void ResponseDemo(int MidtankId);
 bool IFS_MidTankFilling(void);
 MidTank_t IFS_MidTankIsActive(void);
 bool IFS_CartridgeLowerPresent();
+bool CartridgeValidationResponseFunc(MessageContainer* requestContainer);
 
 #endif /* MODULES_IFS_IFS_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 1f2da8dc0..13032f49d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -54,7 +54,7 @@ typedef struct
 
 
 #define MAX_THREAD_FEED_MOTORS (WINDER_MOTOR+1)
-#define MAX_SYSTEM_DANCERS (HARDWARE_DANCER_TYPE__RightDancer+1)
+#define MAX_SYSTEM_DANCERS NUM_OF_ROTENC
 
 extern TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM];
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 1ce27115d..852389001 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -347,10 +347,14 @@ int flipflop = 0;
 uint32_t motspeed;
 float speedf;
 int WinderCalculation = 0;
+int MotorOrder[4] = {HARDWARE_MOTOR_TYPE__MOTO_SCREW,SCREW_2_Motor,SCREW_3_Motor,SCREW_4_Motor};
+
+
 uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 {
     //uint32_t Steps;
     double temp,tempScrewSpeed;
+    int i,tempmot;
     //double screw_horizontal_speed = 0;
     //double RotationsPerSecond;
         if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
@@ -369,6 +373,14 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
 
     ScrewCurrentDirection = 1-ScrewCurrentDirection;
     CalculationDirectionChangeCounter++;
+#ifdef FOUR_WINDERS
+    tempmot = MotorOrder[0];
+    MotorOrder[0] = MotorOrder[1];
+    MotorOrder[1] = MotorOrder[2];
+    MotorOrder[2] = MotorOrder[3];
+    MotorOrder[3] = tempmot;
+    //Report("order change" ,__FILE__,MotorOrder[0],MotorOrder[1],RpWarning,MotorOrder[2], 0);
+#endif
     if (SampleWinding)
         return OK;
     //double calcsteps = (ScrewRunningTime/SYS_CLK_FREQ)*ScrewSpeed;
@@ -707,11 +719,13 @@ void ScrewTimerInterrupt(int ARG0)
         MotorSetDirection (SCREW_3_Motor, ScrewCurrentDirection);
         MotorSetDirection (SCREW_4_Motor, ScrewCurrentDirection);
 #endif
-        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
 #ifdef FOUR_WINDERS
-        MotorSetSpeedDirect (SCREW_2_Motor, ScrewSpeed);
-        MotorSetSpeedDirect (SCREW_3_Motor, ScrewSpeed);
-        MotorSetSpeedDirect (SCREW_4_Motor, ScrewSpeed);
+        MotorSetSpeedDirect(MotorOrder[0],ScrewSpeed);
+        MotorSetSpeedDirect (MotorOrder[1], ScrewSpeed);
+        MotorSetSpeedDirect (MotorOrder[2], ScrewSpeed);
+        MotorSetSpeedDirect (MotorOrder[3], ScrewSpeed);
+#else
+        MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
 #endif
 #ifdef READ_SCREW_ENCODER
         Read_Screw_Encoder();
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 4339c5312..c3f181b52 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -9,7 +9,7 @@
 #define WINDER_DANCER HARDWARE_DANCER_TYPE__LeftDancer
 #define POOLER_DANCER HARDWARE_DANCER_TYPE__MiddleDancer
 #define FEEDER_DANCER HARDWARE_DANCER_TYPE__RightDancer
-#define NUM_OF_DANCERS (HARDWARE_DANCER_TYPE__RightDancer+1)
+#define NUM_OF_DANCERS NUM_OF_ROTENC
 //} DANCER_ENUM;
 typedef enum threadMotorsEnum
 {
@@ -17,6 +17,11 @@ typedef enum threadMotorsEnum
     DRYER_MOTOR,
     POOLER_MOTOR,
     WINDER_MOTOR,
+#ifdef FOUR_WINDERS
+    WINDER_2_MOTOR,
+    WINDER_3_MOTOR,
+    WINDER_4_MOTOR,
+#endif
     SCREW_MOTOR,
     MAX_THREAD_MOTORS_NUM
 }threadMotorsEnum;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index bbb3e4040..1920db03a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -151,6 +151,39 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
         temp = temp*3/2;
     }
     DancerStopActivityLimit[Motor_i] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
+#ifdef FOUR_WINDERS
+    if (Motor_i == WINDER_MOTOR)
+    {
+        int j,winderMotorId;
+        for (j=0;j<3;j++)
+        {
+            winderMotorId = j+WINDER_2_MOTOR;
+            memcpy (&MotorsControl[winderMotorId],request,sizeof(HardwarePidControl));
+            if (MotorsControl[winderMotorId].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
+                MotorsControl[winderMotorId].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
+        #ifdef TEST_LONGER_PID_THREAD
+            MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
+        #endif
+            for (i = 0;i < (int)MotorsControl[winderMotorId].pvinputfilterfactormode; i++)
+            {
+                MotorSamples[winderMotorId][i] = 0;  //reset the samples value for control beginning
+                MotorSpeedSamples[winderMotorId][i] = 0;
+            }
+            NormalizedErrorCoEfficient[winderMotorId] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
+            temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
+            temp=(NORMAL_COEF_DIVIDER*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
+            NormalizedErrorCoEfficient[winderMotorId] = NormalizedErrorCoEfficient[winderMotorId] / temp;
+        //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
+            temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
+            temp = (temp*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);//*3/2);
+            if (Motor_i == WINDER_MOTOR)
+            {
+                temp = temp*3/2;
+            }
+            DancerStopActivityLimit[winderMotorId] = temp/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
+        }
+    }
+#endif
     return OK;
 }
 char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg";
@@ -159,31 +192,37 @@ uint32_t StoreDancerConfigMessage()
 {
     uint32_t status = OK;
   //  FRESULT Fresult = FR_OK;
-    HardwareConfiguration DancerConfig;
+    //HardwareConfiguration DancerConfig;
     HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
   //  uint8_t* response_buffer;
   //  size_t response_size = 0;
     int Dancer_i;
 
-    hardware_configuration__init(&DancerConfig);
-    DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS);
+    //hardware_configuration__init(&DancerConfig);
+    //DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS);
     for (Dancer_i = 0; Dancer_i < MAX_SYSTEM_DANCERS; Dancer_i++)
     {
         hardware_dancer__init(&Dancers[Dancer_i]);
-        DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i];
+        //DancerConfig.dancers[Dancer_i] = &Dancers[Dancer_i];
         Dancers[Dancer_i].has_zeropoint = true;
         Dancers[Dancer_i].hardwaredancertype = Dancer_i;
         Dancers[Dancer_i].has_hardwaredancertype = true;
-        DancerConfig.dancers[Dancer_i]->zeropoint=Control_Read_Dancer_Position(Dancer_i,0);
-        DancerConfig.n_dancers++;
-        DancersCfg[Dancer_i].zeropoint = DancerConfig.dancers[Dancer_i]->zeropoint;
+        Dancers[Dancer_i].zeropoint=Control_Read_Dancer_Position(Dancer_i,0);
+        //DancerConfig.n_dancers++;
+        DancersCfg[Dancer_i].zeropoint = Dancers[Dancer_i].zeropoint;
+        DancersCfg[Dancer_i].zeropoint = Control_Read_Dancer_Position(Dancer_i,0);
     }
 
     status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_0,DancersCfg[0].zeropoint);
     status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_1,DancersCfg[1].zeropoint);
     status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_2,DancersCfg[2].zeropoint);
     Report("~~~~~~Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0);
-/*
+#ifdef FOUR_WINDERS
+    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_3,DancersCfg[HARDWARE_DANCER_3].zeropoint);
+    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_4,DancersCfg[HARDWARE_DANCER_4].zeropoint);
+    Report("~~~~~~Store eeprom 1",__FILE__,__LINE__,(int)DancersCfg[HARDWARE_DANCER_3].zeropoint,RpWarning,(int)DancersCfg[HARDWARE_DANCER_4].zeropoint,0);
+#endif
+    /*
     response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig));
     if (response_buffer)
     {
@@ -208,11 +247,18 @@ uint32_t LoadDancerConfigMessage()
     MCU_E2PromRead(EEPROM_STORAGE_DANCER_0,&DancersCfg[0].zeropoint);
     MCU_E2PromRead(EEPROM_STORAGE_DANCER_1,&DancersCfg[1].zeropoint);
     MCU_E2PromRead(EEPROM_STORAGE_DANCER_2,&DancersCfg[2].zeropoint);
-
+#ifdef FOUR_WINDERS
+    MCU_E2PromRead(EEPROM_STORAGE_DANCER_3,&DancersCfg[3].zeropoint);
+    MCU_E2PromRead(EEPROM_STORAGE_DANCER_4,&DancersCfg[4].zeropoint);
+#endif
 
     status |= Report("Dancer 0 Store data eeprom ",__FILE__,__LINE__,0,RpWarning,(int)DancersCfg[0].zeropoint,0);
     status |= Report("Dancer 1 Store data eeprom ",__FILE__,__LINE__,1,RpWarning,(int)DancersCfg[1].zeropoint,0);
     status |= Report("Dancer 2 Store data eeprom ",__FILE__,__LINE__,2,RpWarning,(int)DancersCfg[2].zeropoint,0);
+#ifdef FOUR_WINDERS
+    status |= Report("Dancer 3 Store data eeprom ",__FILE__,__LINE__,3,RpWarning,(int)DancersCfg[3].zeropoint,0);
+    status |= Report("Dancer 4 Store data eeprom ",__FILE__,__LINE__,4,RpWarning,(int)DancersCfg[4].zeropoint,0);
+#endif
 
     return status;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 79832120b..7ec0ed5e5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -46,13 +46,15 @@
 
 double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0};
 
-TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
 #ifdef FOUR_WINDERS
-Dancers_4_Winders ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
+TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,Winder_2_Motor,Winder_3_Motor,Winder_4_Motor,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
+Dancers_4_Winders ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {NUM_OF_DANCERS,NUM_OF_DANCERS,HARDWARE_DANCER_1,HARDWARE_DANCER_0,HARDWARE_DANCER_4,HARDWARE_DANCER_3,HARDWARE_DANCER_2,NUM_OF_DANCERS};
+uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
 #else
+TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
 HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
-#endif
 uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF};
+#endif
 uint32_t    SpeedControlId=0xFF;
 uint32_t    PoolerSpeedControlId=0xFF;
 
@@ -432,7 +434,10 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
 uint16_t BreakSensorCounter = 0;
 uint16_t BreakSensorLatchCounter = 0;
 char TMessage[150];
-
+#ifdef FOUR_WINDERS
+char ATMessage[MAX_THREAD_MOTORS_NUM][150];
+int c = 0;
+#endif
 uint32_t checkBreakSensor(uint32_t index)
 {
     if (BreakSensorenabled == true)
@@ -550,7 +555,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 //#define MAX_CONTROL_SAMPLES 6
 //extern uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
 //extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM];
-
     //read value is the dancer angle
     int i,index=MAX_THREAD_MOTORS_NUM;
     int len;
@@ -621,6 +625,29 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 			//pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
         }
+#ifdef FOUR_WINDERS
+        if (index == WINDER_MOTOR)
+        {
+            c++;
+        }
+        if (index == WINDER_2_MOTOR)
+        {
+            c++;
+        }
+        if (index == WINDER_3_MOTOR)
+        {
+            c++;
+        }
+        if (index == WINDER_4_MOTOR)
+        {
+            c++;
+        }
+        if ((index == WINDER_2_MOTOR)||(index == WINDER_3_MOTOR))
+        {
+            //pooler dancer is right sided: data is opposite
+            TranslatedReadValue = (-1*TranslatedReadValue);
+        }
+#endif
         if (index == POOLER_MOTOR)
         {
             //pooler dancer is right sided: data is opposite
@@ -650,6 +677,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             ThreadControlActive = false;
             //MotorGetStatusFromFPGA(ThreadMotorIdToMotorId[index]);
             JobEndReason = JOB_WINDER_DANCER_FAIL+DancerId;
+#ifdef FOUR_WINDERS
+            if (DancerId>HARDWARE_DANCER_2)
+                JobEndReason = JOB_WINDER_DANCER_FAIL+HARDWARE_DANCER_0;
+#endif
             SendJobProgress(0.0,0,false, TMessage);
             //EndState(CurrentJob,TMessage );
             SendSegmentFail();
@@ -702,24 +733,26 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
             }*`/
         }*/
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
-        if (index != WINDER_MOTOR)
+        if (index < WINDER_MOTOR)
             calculated_speed = calculated_speed*InitialDryerSpeed/OriginalMotorSpd_2PPS[DRYER_MOTOR];
         //calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*CurrentControlledSpeed[index];
-        if (0)//(JobCounter % 1000 == 0)
-        //if (JobCounter < 100)//(FirstCalcInJob == true)
+        //if (0)//(JobCounter % 1000 == 0)
+#ifdef FOUR_WINDERS
+        if (JobCounter % 500 < 4)//(FirstCalcInJob == true)
         {
-            if (index == FEEDER_MOTOR)
+            if (index >= WINDER_MOTOR)
             {
            //     FirstCalcInJob = false;
-                len = usnprintf(TMessage, 150, "read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d %d",
+                len = usnprintf(ATMessage[index], 150, "index %d read %d avg %d error(6) %d integral(9) %d,delta(9) %d, calc(3) %d speed %d %d",index,
                                 TranslatedReadValue,avreageSampleValue,(int)(MotorControlConfig[index].m_mesuredParam*1000000),
                                 (int)(MotorControlConfig[index].m_integral*1000000000),(int)((MotorControlConfig[index].m_mesuredParam*MotorControlConfig[index].m_params.dt)*1000000000),
                                 (int)(MotorControlConfig[index].m_calculatedError*1000),(int)calculated_speed, (int)(InitialDryerSpeed*100/OriginalMotorSpd_2PPS[DRYER_MOTOR]));
-                ReportWithPackageFilter(ThreadFilter,TMessage,__FILE__,MotorSamplePointer[index],JobCounter,RpError,ReadValue,0);
+                ReportWithPackageFilter(ThreadFilter,ATMessage[index],__FILE__,MotorSamplePointer[index],JobCounter,RpError,ReadValue,0);
 
             }
+            JobCounter++;
         }
-
+#endif
 #ifndef TEST_PID_THREAD
         if (fabs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
 #else
@@ -735,14 +768,6 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                 }*/
                 CurrentControlledSpeed[index] = calculated_speed;
                 MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
-#ifdef FOUR_WINDERS
-                if (index == WINDER_MOTOR)
-                {
-                    MotorSetSpeed(Winder_2_Motor, calculated_speed);
-                    MotorSetSpeed(Winder_3_Motor, calculated_speed);
-                    MotorSetSpeed(Winder_4_Motor, calculated_speed);
-                }
-#endif
             }
             else
             {
@@ -832,11 +857,32 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
         MotorControlConfig[POOLER_MOTOR].m_params.Kd = ThreadParams->pullerd;
 
     if(ThreadParams->winderp)
+    {
         MotorControlConfig[WINDER_MOTOR].m_params.Kp = ThreadParams->winderp;
+#ifdef FOUR_WINDERS
+        MotorControlConfig[WINDER_2_MOTOR].m_params.Kp = ThreadParams->winderp;
+        MotorControlConfig[WINDER_3_MOTOR].m_params.Kp = ThreadParams->winderp;
+        MotorControlConfig[WINDER_4_MOTOR].m_params.Kp = ThreadParams->winderp;
+#endif
+    }
     if(ThreadParams->winderi)
+    {
         MotorControlConfig[WINDER_MOTOR].m_params.Ki = ThreadParams->winderi;
+#ifdef FOUR_WINDERS
+        MotorControlConfig[WINDER_2_MOTOR].m_params.Ki = ThreadParams->winderi;
+        MotorControlConfig[WINDER_3_MOTOR].m_params.Ki = ThreadParams->winderi;
+        MotorControlConfig[WINDER_4_MOTOR].m_params.Ki = ThreadParams->winderi;
+#endif
+    }
     if(ThreadParams->winderd)
+    {
         MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderd;
+#ifdef FOUR_WINDERS
+        MotorControlConfig[WINDER_2_MOTOR].m_params.Kd = ThreadParams->winderd;
+        MotorControlConfig[WINDER_3_MOTOR].m_params.Kd = ThreadParams->winderd;
+        MotorControlConfig[WINDER_4_MOTOR].m_params.Kd = ThreadParams->winderd;
+#endif
+    }
     ReportWithPackageFilter(ThreadFilter,"Rockers activity",__FILE__,__LINE__,(int)Thread_Rockers_Bypass,RpWarning,(int)ThreadParams->bypassrockers,0);
     if(ThreadParams->bypassrockers)
         Thread_Rockers_Bypass = true;
@@ -1032,13 +1078,14 @@ uint32_t ThreadPrepareState(void *JobDetails)
     IntersegmentLength = JobTicket->intersegmentlength;
 
     PrepareWaitCount = 0;
+#ifndef FOUR_WINDERS
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpWarning,(int)windertension,0);
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Puller",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,PrepareWaitCount,RpWarning,(int)pullertension,0);
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__RightDancer, feedertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Feeder",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,PrepareWaitCount,RpWarning,(int)feedertension,0);
-
+#endif
     FirstCalcInJob = true;
     if(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].speedmaster == false)
     {
@@ -1098,6 +1145,11 @@ uint32_t ThreadPrepareState(void *JobDetails)
     {
         HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];
         Pid_Id = Motor_i;/*ThreadMotorIdToControlId[Motor_i];*/
+#ifdef FOUR_WINDERS
+        if (Motor_i == WINDER_2_MOTOR) Pid_Id = WINDER_MOTOR;
+        if (Motor_i == WINDER_3_MOTOR) Pid_Id = WINDER_MOTOR;
+        if (Motor_i == WINDER_4_MOTOR) Pid_Id = WINDER_MOTOR;
+#endif
         MotorControlConfig[Motor_i].m_params.MAX = 1;
         MotorControlConfig[Motor_i].m_params.MIN = MotorsControl[Pid_Id].outputproportionalpowerlimit*-1;
         MotorControlConfig[Motor_i].m_params.Kd = MotorsControl[Pid_Id].derivativetime;
@@ -1116,7 +1168,6 @@ uint32_t ThreadPrepareState(void *JobDetails)
         MotorControlConfig[Motor_i].m_preError = 0;
         MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
 
-        HandleJobThreadControlParameters(JobTicket->threadparameters);  //OVERRIDES CONFIGURATION PARAMETERS!!!
 
         temp_dt = MotorControlConfig[Motor_i].m_params.dt/0.001;
         MotorTiming[Motor_i] = (int)temp_dt;
@@ -1210,7 +1261,24 @@ uint32_t ThreadPrepareState(void *JobDetails)
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
 #endif
             }
+#ifdef FOUR_WINDERS
+            if ((Motor_i == WINDER_2_MOTOR)||(Motor_i == WINDER_3_MOTOR)||(Motor_i == WINDER_4_MOTOR)) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
+            {
+                ReportWithPackageFilter(ThreadFilter,"Winder 2/3/4 Control",__FILE__,Motor_i,MotorControlConfig[WINDER_MOTOR].m_params.Kp,RpWarning,MotorControlConfig[WINDER_MOTOR].m_params.Ki,0);
+                if (ControlIdtoMotorId[Motor_i] != 0xFF)
+                {
+                    if(RemoveControlCallback(ControlIdtoMotorId[Motor_i],ThreadControlCBFunction)!=OK)
+                        ReportWithPackageFilter(ThreadFilter,"Remove Control Failed.",__FILE__,__LINE__,(int)Motor_i,RpError,(int)PoolerSpeedControlId,0);
+                    CurrentControlledSpeed[Motor_i] = 0;
+                    ControlIdtoMotorId[Motor_i] = 0xFF;
+                }
+#ifndef TEST_PID_THREAD
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+#endif
+#endif
+            }
     }
+    HandleJobThreadControlParameters(JobTicket->threadparameters);  //OVERRIDES CONFIGURATION PARAMETERS!!!
 
 #ifdef TEST_PID_THREAD
     testDancersControl();
@@ -1274,7 +1342,7 @@ uint32_t UpdatePidDuringRun(HardwarePidControl *request)
 void SetOriginMotorSpeed(float process_speed)
 {
     int Motor_i, HW_Motor_Id;
-    for (Motor_i = 0; Motor_i <= WINDER_MOTOR; Motor_i++)
+    for (Motor_i = 0; Motor_i < SCREW_MOTOR; Motor_i++)
     {
         HW_Motor_Id = ThreadMotorIdToMotorId[Motor_i];
         //(Speed*uStep*PPR)/((2*PI*motor_Radius)
@@ -1509,7 +1577,7 @@ char Endstr[150];
          PoolerSpeedControlId = 0xFF;
      }
 
-     for ( Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
+     for ( Motor_i = 0;Motor_i < SCREW_MOTOR;Motor_i++)
      {
          if (ControlIdtoMotorId[Motor_i] != 0xFF)
          {
@@ -1522,17 +1590,9 @@ char Endstr[150];
 
      }
 	 Task_sleep(100);
-     for ( Motor_i = 0;Motor_i <= WINDER_MOTOR;Motor_i++)
+     for ( Motor_i = 0;Motor_i < SCREW_MOTOR;Motor_i++)
      {
         MotorStop(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
-#ifdef FOUR_WINDERS
-        if (Motor_i == WINDER_MOTOR)
-        {
-            MotorStop(Winder_2_Motor, Hard_Hiz);
-            MotorStop(Winder_3_Motor, Hard_Hiz);
-            MotorStop(Winder_4_Motor, Hard_Hiz);
-        }
-#endif
 
      }
      MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
index 222b618d2..7c29a909b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_maint.c
@@ -76,7 +76,7 @@ void cartCART_EXTRACTED(WasteCartridgeEnum CartId) //{called from polling functi
 }
 WasteCartridgeEnum cartSELECT_CART(void) //{ if there is no SELECTED cartridge select the first cartridge in IN state. If there is none, return -1}
 {
-    Report("Cartridges select cart", __FILE__, __LINE__, CartState[WasteCartridge_middle], RpMessage, CartState[WasteCartridge_lower], 0);
+    //Report("Cartridges select cart", __FILE__, __LINE__, CartState[WasteCartridge_middle], RpMessage, CartState[WasteCartridge_lower], 0);
     if ((CartState[WasteCartridge_middle] == CartridgeStateSELECTED)||(CartState[WasteCartridge_middle] == CartridgeStateACTIVE))
         return WasteCartridge_middle;
     if ((CartState[WasteCartridge_lower]  == CartridgeStateSELECTED)||(CartState[WasteCartridge_lower] == CartridgeStateACTIVE))
diff --git a/Software/Stubs Collection/Procedures/Mid tank calibration.pproj b/Software/Stubs Collection/Procedures/Mid tank calibration.pproj
index 0bb05e75b..655bbd099 100644
--- a/Software/Stubs Collection/Procedures/Mid tank calibration.pproj
+++ b/Software/Stubs Collection/Procedures/Mid tank calibration.pproj
@@ -1 +1,477 @@
-{"$id":"1","Inputs":{"$id":"2","$values":[{"$id":"3","Type":"Default","SelectionInputs":{"$id":"4","$values":[]},"DisplayName":"Check Tamper / Fan alarms","Description":"Check Tamper / Fan alarms","Key":"CheckTampers","Value":"1.0"},{"$id":"5","Type":"Default","SelectionInputs":{"$id":"6","$values":[]},"DisplayName":"Initial Heating on startup","Description":"Initial Heating on startup","Key":"InitialHeating","Value":"true"},{"$id":"7","Type":"Default","SelectionInputs":{"$id":"8","$values":[]},"DisplayName":"WCF Value","Description":"WCF Value","Key":"WCF_Value","Value":"40"},{"$id":"9","Type":"Default","SelectionInputs":{"$id":"10","$values":[]},"DisplayName":"AutoFill Mode","Description":"Controls the AutoFill Mode","Key":"AutoFillMode","Value":"3.0"}]},"Variables":{"$id":"11","$values":[]},"Resources":{"$id":"12","$values":[]},"Dialogs":{"$id":"13","$values":[]},"ID":"2bd29884-5eb9-4d27-be4e-6cfa31dc9f66","Name":"Mid tank calibration","Description":"This procedure lets the FSE to define values for cleaning, tamper alarms, initial heating, WCF value and automatic dispenser filling.","ApartmentState":"MTA","ReferenceAssemblies":{"$id":"14","$values":[{"$id":"15","File":"C:\\Windows\\Microsoft.NET\\Framework\\v4.0.30319\\mscorlib.dll","HintType":"System.String, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"16","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Core\\v4.0_4.0.0.0__b77a5c561934e089\\System.Core.dll","HintType":"System.Linq.Enumerable, System.Core, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"17","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Windows.Forms\\v4.0_4.0.0.0__b77a5c561934e089\\System.Windows.Forms.dll","HintType":"System.Windows.Forms.Form, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"},{"$id":"18","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Procedures.dll","HintType":"Tango.FSE.Procedures.ProcedureProject, Tango.FSE.Procedures, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"19","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.FSE.Common.dll","HintType":"Tango.FSE.Common.Diagnostics.IDiagnosticsProvider, Tango.FSE.Common, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"20","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.BL.dll","HintType":"Tango.BL.Enumerations.TechMonitors, Tango.BL, Version=2.0.36.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"21","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.PMR.dll","HintType":"Tango.PMR.Common.MessageType, Tango.PMR, Version=2.0.40.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"22","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Transport.dll","HintType":"Tango.Transport.ITransporter, Tango.Transport, Version=1.0.0.0, Culture=neutral, PublicKeyToken=null"},{"$id":"23","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Tango.Integration.dll","HintType":"Tango.Integration.Operation.IMachineOperator, Tango.Integration, Version=2.0.31.1608, Culture=neutral, PublicKeyToken=null"},{"$id":"24","File":"C:\\Program Files (x86)\\Twine Solutions LTD\\Tango FSE\\Google.Protobuf.dll","HintType":"Google.Protobuf.IMessage, Google.Protobuf, Version=3.4.1.0, Culture=neutral, PublicKeyToken=a7d26565bac4d604"},{"$id":"25","File":"C:\\WINDOWS\\Microsoft.Net\\assembly\\GAC_MSIL\\System.Drawing\\v4.0_4.0.0.0__b03f5f7f11d50a3a\\System.Drawing.dll","HintType":"System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a"}]},"Scripts":{"$id":"26","$values":[{"$id":"27","Name":"Program.csx","IsEntryPoint":true,"Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.IO;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing System.Drawing;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Entities;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.PMR.EmbeddedParameters;\r\nusing Tango.FSE.Common.Connection;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.FSE.Procedures;\r\n\r\n\r\npublic class Program\r\n{\r\n\r\nprivate IProcedureContext context;\r\n\r\n\t//----------------------\r\n\tconst double \tSlop=0.92;\r\n\tconst double\tMIN_SLOP=0.7;\r\n\tconst double\tMAX_SLOP=1.4;\r\n\tconst double\tERROR_SLOP=-1;\r\n\tconst double\tMIN_50cc_on_volt=2.3;\r\n\tconst double\tMAX_50cc_on_volt=3.2;\r\n\tconst double\tERROR_50cc_on_volt=-1;\r\n\tdouble CartSizeLiter = 1.0;\r\n\t\r\n\tint [] Convert_Midtank_No = new Int32 [8] {1,3,5,7,2,4,6,8};\r\n\tuint [,] ADC_Add_Chnl = new uint [8,2]\t{\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x44,0x20},\t\t\t\t\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x44,0x08},\t\t\t\t\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x46,0x80},\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x46,0x20},\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x44,0x10},\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x44,0x04},\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x46,0x40},\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t{0x46,0x10},\r\n\t\t\t\t\t\t\t\t\t\t\t};\r\n\t\r\n\t\r\n\tconst Int32\tF3_VALVE_OUT\t=\t0x600008E2\t;\r\n\tstring Machine_SN\t;\r\n\tprivate const string FILE_PATH = @\"C:\\MidTankLog\\\";\r\n\tstring File_name;\r\n\tdouble [,] voltage_array = new double[9,9];\r\n\tstring [] Parameter = new string[5] {\"\\t\",\"Empty [V]\",\"100cc  [V]\",\"800cc [V]\",\" b [L/V] \"};\r\n\t\tdouble Full_Cartridge=1;\t// 1 litter less 100 cc\r\n\t\r\n\t//----------------------\r\n\tconst Int32 I2C_ID =  2;\r\n\t//const Int32 I2C_Slave_Add = 0x46; //must be 0x40, 0x44 or 0x46\r\n\t//----------------------\r\n\t\r\n    public void OnExecute(IProcedureContext context)\r\n    {\r\n\tthis.context = context;\r\n\t\r\n\tInt32 midtankno = 0;\r\n\tdouble Full_Point=0;\t\t\t//on Voltage\r\n\tdouble resualt;\r\n\tdouble Sum=0 ;\r\n\tdouble Old_Sum=0 ;\r\n\t\r\n\r\n\tif (!Directory.Exists(FILE_PATH))\r\n\t\t{\r\n\t\t\tDirectory.CreateDirectory(FILE_PATH);\r\n\t\t}\t\t\t\r\n\r\n\r\n    \t//Machine_SN = context.GetInput<string>(\"Midtank_SN\");\r\n    var response = context.RequestUserInputFor<String>(\"Mid Tank Serial Number\", \"Enter Midtank S/N:\");\r\n\tcontext.Write(\"\\n\");\r\n\tMachine_SN = response;\r\n\tcontext.WriteLine(Machine_SN);\r\n\tFile_name= FILE_PATH +Machine_SN + DateTime.Now.ToString(\"MM_dd_yyyy_HH_mm_ss\")+\".csv\";\r\n\tcontext.Write(File_name);\r\n \tcontext.WriteToFile(File_name,\"MidTank S/N:,\" + Machine_SN);   \r\n\t\r\n\t\r\n\r\n\t//midtankno = context.GetInput<int>(\"MidTankId\");\r\n\tvar response1 = context.RequestUserInputFor<String>(\"Mid Tank Number\", \"Enter Midtank number to calibrate  (1-8):\");\r\n\tcontext.WriteLine(response1);\r\n\tmidtankno = Int32.Parse(response1);\r\n \tcontext.AppendToFile(File_name,\"MidTank Number:\\t\" + response1);\r\n\r\n\r\n\tvar response2 = context.RequestUserInputFor<int>(\"Cartridge size\", \"Enter enter cartridge size in ml (1000/700/500):\");\r\n\tcontext.WriteLine(response2);\r\n\tint Cart_size = response2;\r\n \tcontext.AppendToFile(File_name,\"Cartrideg size:\\t\" + response2);\r\n\r\n\r\n    string box_msg = \"Please Insert cartridge with\" +Cart_size+\"cc (Lubbricant add 500cc only) \";\r\n//       string box_title = \"Midatnk empty\";\r\n//        context.ShowInfo(box_msg, box_title);\r\n\tcontext.ShowInfo(box_msg);\r\n\r\n\t//int CartInserted = 0;\r\n\t//while (CartInserted == 0)\r\n\t//\tCartInserted = context.GetInput<int>(\"insertCartridge\");\r\n\t\r\n\tCartSizeLiter = Cart_size/1000;\r\n\t\r\n\topen_valve(midtankno,1,1)\t\t;\t//open Air valve\r\n\topen_valve(midtankno,0,1)\t\t;\t//open Ink valve\r\n\tInt32 i=0; \r\n\twhile (i<60*15)\t\t\t\t\t//check for 15 minitus \r\n\t{\r\n\t\tSum=0;\r\n\t\tfor (Int32 j=0;j<30;j++)\r\n\t\t{\r\n\t\t\tresualt=read_pressure_sensor(midtankno);\r\n\t\t\tcontext.AppendToFile(File_name,resualt+\",mV\");\r\n\t\t\tSum=Sum+resualt;\r\n\t\t\tThread.Sleep(1000);\r\n\t\t}\r\n\t\ti=i+1;\r\n\t\tif (Sum>Old_Sum)\r\n\t\t\tOld_Sum=Sum-Old_Sum;\r\n\t\telse\r\n\t\t\tOld_Sum=Old_Sum-Sum;\r\n\t\t\t\r\n\t\tif ( Old_Sum <0.02)\t\r\n\t\t\ti=60*15;\t\t//end \r\n\t\tOld_Sum=Sum;\r\n\t}\r\n\tFull_Point=Sum/30;\r\n\t\r\n\tbox_msg = \"Send file\" + File_name +\"to Mati\"; \r\n\tcontext.ShowInfo(box_msg);\r\n\t\r\n\t\r\n\t//\tcontext.Send<StubFpgaWriteRegResponse>(\"StubFpgaWriteRegRequest\" ,F3_VALVE_OUT, 0x000f);\t\t// open all valve air of midtank and close all ink of midtank\r\n\t//\tThread.Sleep(500);\r\n\t//\tcontext.Send<StubFpgaWriteRegResponse>(\"StubFpgaWriteRegRequest\" ,F3_VALVE_OUT, 0x00ff);\t\t// open all valve air of midtank and close all ink of midtank\r\n\t//\tThread.Sleep(500);\r\n\t//\tcontext.Send<StubFpgaWriteRegResponse>(\"StubFpgaWriteRegRequest\" ,F3_VALVE_OUT, 0x0fff);\t\t// open all valve air of midtank and close all ink of midtank\r\n\t//\tThread.Sleep(500);\r\n\t//\tcontext.Send<StubFpgaWriteRegResponse>(\"stubFpgaWriteRegRequest\" ,F3_VALVE_OUT, 0xffff);\t\t// open all valve air and ink of midtank\r\n\t//\r\n\t//\tThread.Sleep(2500);\r\n\r\n\t//\tThread.Sleep(1000);\t\r\n\t\t\r\n\t//\tread_pressure_sensor(1);\r\n \t\t\r\n\t//\tbox_msg =\"Insert 100cc of appropriate ink/lube to each midtank\\n\\t1.black ink\\n\\t2. Magenta ink\\n\\t3. Transparent ink\\n\\t4. Cleaner\\n\\t5. Cyan ink\\n\\t6. Yellow ink\\n\\t7. Spot color\\n\\t8. Lubricant/n\";\r\n    //    context.ShowInfo(box_msg);\r\n//\r\n\t//\tread_pressure_sensor(2);\r\n\r\n\t\t\t\t\t//\tvoltage_array[3,2]=2.5;\r\n\t\t\r\n//\t\tbox_msg = \"Add another 700cc for ink and TI \\nFor Lubbricant add 500cc only.\"; \r\n//\t\tcontext.ShowInfo(box_msg);\r\n//\t\tread_pressure_sensor(3);\r\n//\t\t\t\tcontext.Send<StubFpgaWriteRegResponse>(\"stubFpgaWriteRegRequest\" ,F3_VALVE_OUT, 0x0000);\t\t// close all valve air and ink of midtank\r\n\t\t\t\t\t\t\t\t\t//\t\t\tvoltage_array[3,3]=4.5;\r\n\tclose_valve(midtankno,1,1)\t\t;\t//close Air valve\r\n\tclose_valve(midtankno,0,1)\t\t;\t//close Ink valve\r\n\r\n//\t\tcalc_slop();\r\n//\t\tprint_table();\r\n\t\t\r\n//\t\tinsert_slop_t_eeprom(Full_Point, midtankno);\r\n\t\tinsert_slop_t_eeprom(Full_Point, midtankno);\r\n\t\tbox_msg =\"Turn Power Off and On to finish the calibration.\";\r\n        context.ShowInfo(box_msg);\r\n\t\r\n\t}\r\n\r\nint calc_slop()\r\n\t{\r\n\tcontext.Write(\"\\n \");\r\n\t\t\r\n\tdouble delta;\r\n\tfor (uint i=1;i<9;i++)\r\n\t\t{\r\n\t\t\tdelta=voltage_array[i,3]-voltage_array[i,2];\r\n\t\t\r\n\t\t\tcontext.Write(\"\\nMidtank No:\"+i +\"=\"+delta);\r\n//\t\t\tif (i==8)\r\n\t\t\t\tdelta=CartSizeLiter/delta;\t\t\t\t\t\t\t\t\t\t\t\t//0.5 litter on lubricant\t\t\t\r\n//\t\t\telse \r\n//\t\t\t\tdelta=CartSizeLiter/delta;\t\t\t\t\t\t\t\t\t\t\t\t//0.7 litter\r\n\t\t\t\t\r\n\t\t\tif ((delta<MIN_SLOP) || (delta >MAX_SLOP)) \r\n\t\t\t{\r\n\t\t\t\tvoltage_array[i,4]=ERROR_SLOP;\r\n\t\t//\t\tcontext.Write(\"123\");\r\n\t\t\t}\r\n\t\telse if\t((voltage_array[i,2]<MIN_50cc_on_volt) || (voltage_array[i,2]>MAX_50cc_on_volt ))\r\n\t\t\t\t\tvoltage_array[i,4]=ERROR_SLOP;\r\n\t\telse\r\n\t\tvoltage_array[i,4]=delta;\r\n\t\t}\r\n\treturn 1;\r\n\t}\r\n\r\n\r\n\tint\tinsert_slop_t_eeprom( double FullPoint,Int32 midtankno)\r\n{\r\n//\tcontext.Write(\"\\n \");\r\n\r\n\tMidTankDataSetupRequest midTankDataSetupRequest = new MidTankDataSetupRequest();\r\n\r\n\r\n//\tfor (uint i=1;i<9;i++)\r\n//\t{\r\n//\t\tif (voltage_array[i,4]!= ERROR_SLOP)\r\n//\t\t{\r\n\t\tMidTankData midTankData = new MidTankData();\r\n\t\tmidTankData.MidTankId = Convert.ToUInt32 (midtankno-1);\r\n\t\tmidTankData.InitialOffsetA =FullPoint - (Full_Cartridge-0.1)/Slop;\r\n\t\tmidTankData.SlopeB = Slop;\r\n\t\t\r\n\t\tcontext.Write(\"\\nMidtank No:\" + midtankno + \"=\\tVoltage Zero is  =\"+(FullPoint - (Full_Cartridge-0.1)/Slop)+\"\\tSlop=\"+ Slop);\r\n\t\tcontext.AppendToFile(File_name,\"\\nMidtank No:\" + midtankno + \"=\\tVoltage Zero is  =\"+(FullPoint - (Full_Cartridge-0.1)/Slop)+\"\\tSlop=\"+ Slop);\r\n\r\n\t\t\r\n\t\tmidTankDataSetupRequest.MidTankInfo.Add(midTankData);\r\n\t\r\n\t//\t}\r\nvar response = context.Send<MidTankDataSetupResponse>(midTankDataSetupRequest);\r\n\t\t\r\n\t\t\r\n\t\t\r\n\t//}\r\n\r\n\r\nreturn\t1;\r\n}\r\n\r\n//\r\n//\r\n//int\t\tprint_table()\r\n//\t\t{\r\n//\r\n//\t\tfor (uint i=0;i<5;i++)\r\n//\t\t\t{\r\n//\t\t\t\tcontext.AppendToFile(File_name,Parameter[i]+\"\\t\"+voltage_array[1,i]+\"\\t\"+voltage_array[2,i]+\"\\t\"+voltage_array[3,i]+\"\\t\"+voltage_array[4,i]+\"\\t\"+voltage_array[5,i]+\"\\t\"+voltage_array[6,i]+\"\\t\"+voltage_array[7,i]+\"\\t\"+voltage_array[8,i]) ;\r\n//             }                                                                                                                                                                                                               \r\n//                                                                                                                                                                                                                              \r\n//\t\r\n//\t\t\treturn 1;\r\n//\r\n//\t\t}\r\n\r\n//start mat\r\n\r\nint adc_configuration(uint I2C_Slave_Add,uint channel ) \r\n\t{\r\n\tStubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();\r\n\tstubI2CWriteBytesRequest.I2CId = I2C_ID;\r\n\tstubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;\r\n\t\r\n\tUInt32 uInt32 = new UInt32();\r\n\tstubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write\r\n\tstubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels\r\n\tstubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write\r\n\t\r\n\tvar response = context.Send<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);\r\n\t\r\n\treturn 1;\r\n\t}\r\n\r\n\r\nint adc_set_for_read_ch(uint I2C_Slave_Add) \r\n\t{\r\n\tStubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();\r\n\tstubI2CWriteBytesRequest.I2CId = I2C_ID;\r\n\tstubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;\r\n\t\r\n\tUInt32 uInt32 = new UInt32();\r\n\tstubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write\r\n\r\n\tvar response = context.Send<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);\r\n\t\r\n\treturn 1;\r\n\t}\r\n\r\n\r\n\r\n\r\ndouble adc_read_ch(uint I2C_Slave_Add) \r\n\t{\r\n\tStubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();\r\n\tstubI2CReadBytesRequest.I2CId = I2C_ID;\r\n\tstubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;\r\n\tstubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read\r\n\r\n\tvar response1 = context.Send<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);\r\n\tuint temph=0;\r\n\tuint templ=0;\r\n\tuint temp;\r\n\tdouble calc;\r\n\tdouble calc1;\r\n\tdouble calc2;\r\n\t\t\ttemph=response1.ReadBytes[0];\r\n\t\t\ttempl=response1.ReadBytes[1];\r\n\t\t\ttemp = (temph << 8) | templ;\r\n\t\t\ttemp=temp & 0x0fff;\r\n\t\t\t\t\r\n\t\t\tcalc = (double)temp *2.5 / 4096.0;\r\n//\t\t\tcontext.Write(\"ADC [volts]:\\t\");\r\n//\t\t\tcontext.Write(calc+\"\\t\");\r\n\t\t\r\n\t\t\tcalc1 = (1.96- calc) * 4.64 + 1.96;\r\n\t\t\tcontext.Write(\"Vsensor [volts]:\\t\");\r\n\t\t\tcontext.Write(calc1 + \"\\n\");\r\n\r\n\t//\t\tvoltage_array[table_index_x,table_index_y]=calc1;\r\n\t\r\n\treturn calc1;\r\n\t}\r\n\r\ndouble\t\tread_pressure_sensor(Int32 i )\r\n\t{\r\ndouble resualt =0 ;\r\n\t\t   switch (i)\r\n      {\r\n        case 1:\r\n\t\t\tadc_configuration(0x44,0x20);\t\t//a2d_address 0x44 channel channel 2\r\n\t\t\tadc_set_for_read_ch(0x44);\r\n\t\t\tresualt=adc_read_ch(0x44);\r\n\t\tbreak;\r\n\t\t\r\n\t\tcase 2:\r\n\t\t\tadc_configuration(0x44,0x08);\t\t//a2d_address 0x44 channel channel 4\r\n\t\t\tadc_set_for_read_ch(0x44);\r\n\t\t\tresualt=adc_read_ch(0x44);\r\n\t\tbreak;\r\n\t\t\r\n\t\tcase 3:\r\n\t\t\tadc_configuration(0x46,0x80);\t\t//a2d_address 0x46 channel channel 0\r\n\t\t\tadc_set_for_read_ch(0x46);\r\n\t\t\tresualt=adc_read_ch(0x46);\r\n\t\tbreak;\r\n\t\t\r\n\t\tcase 4:\r\n\t\t\tadc_configuration(0x46,0x20);\t\t//a2d_address 0x46 channel channel 2\r\n\t\t\tadc_set_for_read_ch(0x46);\r\n\t\t\tresualt=adc_read_ch(0x46);\r\n\t\tbreak;\r\n\t\t\r\n\t\tcase 5:\r\n\t\t\tadc_configuration(0x44,0x10);\t\t//a2d_address 0x44 channel channel 3\r\n\t\t\tadc_set_for_read_ch(0x44);\r\n\t\t\tresualt=adc_read_ch(0x44);\r\n\t\tbreak;\r\n\t\t\r\n\t\tcase 6:\r\n\t\t\tadc_configuration(0x44,0x04);\t\t//a2d_address 0x44 channel channel 5\r\n\t\t\tadc_set_for_read_ch(0x44);\r\n\t\t\tresualt=adc_read_ch(0x44);\r\n\t\tbreak;\r\n\t\t\r\n\t\tcase 7:\r\n\t\t\tadc_configuration(0x46,0x40);\t\t//a2d_address 0x46 channel channel 1\r\n\t\t\tadc_set_for_read_ch(0x46);\r\n\t\t\tresualt=adc_read_ch(0x46);\r\n\t\tbreak;\r\n\t\t\r\n\t\tcase 8:\r\n\t\t\tadc_configuration(0x46,0x10);\t\t//a2d_address 0x46 channel channel 3\r\n\t\t\tadc_set_for_read_ch(0x46);\r\n\t\t\tresualt=adc_read_ch(0x46);\r\n\t\tbreak;\r\n\t\t\r\n        default:\r\n         context.Write(\"Error\");\r\n\r\n        break;\r\n\t  }\t\r\n\t\t\r\n\t\treturn resualt;\r\n\t}\t\r\n\r\n\r\n//--------------------------------\r\nint open_valve (int valve_nm,int valve_type,int check_valve)\t\t//valve_type=0 is Air ,1 is Ink ; check_valve=1 send feedbak\r\n{\r\n\tint temp1=Convert_Midtank_No[valve_nm-1]\t;\r\n\r\n\tstring temp;\r\n\tSetBit (F3_VALVE_OUT,(((valve_type+1)*8)- temp1), 1);\t\r\n\t\r\n\t\tif (check_valve!=0)\r\n\t\t{\r\n\t\t\ttemp=\"Air\";\r\n\t\t\tif (valve_type==1)\r\n\t\t\ttemp=\"Ink\";\r\n\t\t\t\t\r\n\t\t\tif(!context.ShowWarningQuestion(\"Did \" + temp + \"Valve of Midtank \" + valve_nm +\" open?\"))\r\n\t\t\t\t{\r\n//\t\t\t\t\tUnits_status[(valve_nm-1)*3+valve_type,1]=\"Fail\";\r\n\t\t\t\t\tcontext.Write(temp +\"Valve\\tFail\\n\");\t\r\n\t\t\t\t\treturn 0;\r\n\t\t\t\t}\r\n\t\t\telse \r\n\t\t\t\t{\r\n//\t\t\t\t\tUnits_status[(valve_nm-1)*3+valve_type,1]=\"Pass\";\r\n\t\t\t\t\tcontext.Write(temp +\"Valve\\tOpen\\n\");\t\r\n\t\t\t\t\treturn 1;\r\n\t\t\t\t}\r\n\t\t\t\r\n\t\t}\r\n\t\treturn 1;\r\n\r\n}\r\n//--------------------------------\t\r\nint close_valve (int valve_nm,int valve_type,int check_valve)\r\n{\r\n\tint temp1=Convert_Midtank_No[valve_nm-1];\t\r\n\r\n\tstring temp;\r\n\tSetBit (F3_VALVE_OUT,(((valve_type+1)*8)- temp1), 0);\r\n\tif (check_valve!=0)\r\n\t\t{\r\n\t\t\ttemp=\"Air\";\r\n\t\t\tif (valve_type==1)\r\n\t\t\ttemp=\"Ink\";\r\n\t\t\t\t\r\n\t\t\tif(!context.ShowWarningQuestion(\"Did \" + temp +\" Valve of Midtank \" + valve_nm +\" close?\"))\r\n\t\t\t\t{\r\n//\t\t\t\t\tUnits_status[(valve_nm-1)*3+valve_type,1]=\"Fail\";\r\n\t\t\t\t\tcontext.Write(temp +\"Valve\\tFail\\n\");\t\r\n\t\t\t\t\treturn 0;\r\n\t\t\t\t}\r\n\t\t\telse \r\n\t\t\t\t{\r\n//\t\t\t\t\tUnits_status[(valve_nm-1)*3+valve_type,1]=\"Pass\";\r\n\t\t\t\t\tcontext.Write(temp +\"Valve\\tclose\\n\");\t\r\n\t\t\t\t\treturn 1;\r\n\t\t\t\t}\t\t\t\r\n\t\t}\r\n\treturn 1;\r\n\r\n}\r\n\r\npublic Int32 SetBit(Int32 Adr, Int32 BitNo, Int32 Bit)\r\n{\r\n\tInt32 BitMask;\r\n\tvar RetVal = Fpga_Read_Reg(Adr);\r\n\tInt32 RV = (Int32) RetVal.Value;\r\n\t\r\n\tif (Bit == 0x1) \r\n\t{\r\n\t\tBitMask = 0x1 << BitNo;\r\n\t\tRV = RV | BitMask;\r\n\t\tFpga_Write_Reg( Adr, RV );\r\n\t}\r\n\telse if (Bit == 0x0)\r\n\t{\r\n\t\tBitMask = ~(0x1 << BitNo);\r\n\t\tRV = RV & BitMask;\r\n\t\tFpga_Write_Reg(Adr, RV );\t\r\n\t}\r\n\treturn 1;\r\n}\r\n\r\nint Fpga_Write_Reg(Int32 Addr, Int32 Data)\r\n{\r\n\tvar response = context.Send<StubFpgaWriteRegResponse>(\"StubFpgaWriteRegRequest\" ,Addr, Data);\r\n\t\r\n\treturn 1;\r\n}\r\n\r\n\r\n\r\nStubFpgaReadRegResponse Fpga_Read_Reg(Int32 Addr)\r\n{\r\n    var response = context.Send<StubFpgaReadRegResponse>(\"StubFpgaReadRegRequest\" ,Addr);\r\n\tresponse.Value = response.Value & 0xffff;\r\n\t\r\n\treturn response;\r\n}\r\n}"},{"$id":"28","Name":"Service.csx","IsEntryPoint":false,"Code":"using System;\r\nusing System.Collections.Generic;\r\nusing System.Collections.ObjectModel;\r\nusing System.ComponentModel;\r\nusing System.Linq;\r\nusing System.Text;\r\nusing System.Threading;\r\nusing System.Threading.Tasks;\r\nusing Google.Protobuf;\r\nusing Tango.BL.Enumerations;\r\nusing Tango.PMR.Stubs;\r\nusing Tango.PMR.Diagnostics;\r\nusing Tango.FSE.Common.Diagnostics;\r\nusing Tango.FSE.Procedures;\r\n\r\npublic class Service\r\n{\r\n    public double Calc(double a, double b)\r\n    {\r\n        return a + b;\r\n    }\r\n}"}]}}
\ No newline at end of file
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Drawing;
+using Google.Protobuf;
+using Tango.BL.Entities;
+using Tango.BL.Enumerations;
+using Tango.PMR.Stubs;
+using Tango.PMR.Diagnostics;
+using Tango.FSE.Common.Connection;
+using Tango.FSE.Common.Diagnostics;
+using Tango.FSE.Procedures;
+using System.IO;
+using System.Windows.Forms;
+using Tango.PMR.EmbeddedParameters;
+
+public class Program
+{
+const double	MIN_SLOP=0.7;
+const double	MAX_SLOP=1.4;
+const double	ERROR_SLOP=-1;
+const double	MIN_50cc_on_volt=2.3;
+const double	MAX_50cc_on_volt=3.2;
+const double	ERROR_50cc_on_volt=-1;
+
+int [] Convert_Midtank_No = new Int32 [8] {1,3,5,7,2,4,6,8};
+uint [,] ADC_Add_Chnl = new uint [8,2]	{
+												{0x44,0x20},				
+												{0x44,0x08},				
+												{0x46,0x80},
+												{0x46,0x20},
+												{0x44,0x10},
+												{0x44,0x04},
+												{0x46,0x40},
+												{0x46,0x10},
+										};
+
+
+const Int32	F3_VALVE_OUT	=	0x600008E2	;
+string Machine_SN	;
+private const string FILE_PATH = @"C:\MidTankLog\";
+string File_name;
+double Full_Cartridge=1000;	// on CC 
+double 	Slop=0.92;
+//----------------------
+const Int32 I2C_ID =  2;
+//const Int32 I2C_Slave_Add = 0x46; //must be 0x40, 0x44 or 0x46
+//----------------------
+
+
+private IProcedureContext context;
+
+
+
+
+    public void OnExecute(IProcedureContext context)
+    {
+      
+
+	Int32 Timout ;
+	Int32 Interval;
+	Int32 midtankno = 0;
+	double Full_Point=0;			//on Voltage
+	double resualt;
+	double Sum=0 ;
+	double Old_Sum=0 ;
+	double Start_Point=0;
+	
+
+	if (!Directory.Exists(FILE_PATH))
+		{
+			Directory.CreateDirectory(FILE_PATH);
+		}			
+
+
+
+    var response =context.RequestUserInputFor<String>("Enter Midtank S/N: ", "");
+	context.Write("\n");
+	Machine_SN = response;
+	context.WriteLine(Machine_SN);
+	File_name= FILE_PATH +Machine_SN + DateTime.Now.ToString("MM_dd_yyyy_HH_mm_ss")+".csv";
+	context.Write(File_name);
+ 	context.WriteToFile(File_name,"MidTank S/N:," + Machine_SN);
+	
+
+    var response1 =context.RequestUserInputFor<String>("Enter Midtank number to calibrate  (1-8):", "");
+   context.WriteLine(response1);
+	midtankno = Int32.Parse(response1);
+ 	context.AppendToFile(File_name,"MidTank Number:\t" + response1);
+	if (midtankno==8)
+	{
+		Slop=1;
+		Timout=60;		//60 minutes
+		Interval=60;	//60 second
+	}
+	else
+	{
+		Slop=0.92;
+		Timout=10*2;		//10 minutes
+		Interval=30;	//30 second
+
+	}
+    var response10 =context.RequestUserInputFor<String>("Enter Cartridge Valume on CC  (500-1500):", "");
+   context.WriteLine(response10);
+	Full_Cartridge = double.Parse(response10);
+ 	context.AppendToFile(File_name,"Cartridge Valume:\t" + response10);
+ 	context.AppendToFile(File_name,"Slop value:\t" + Slop);
+
+
+	DialogResult result = MessageBox.Show("Are you sure to calibrate Midtank No: "+ midtankno + " with "+ Full_Cartridge +" CC" , "Warning",MessageBoxButtons.YesNo);
+	if(result == DialogResult.Yes)
+	{
+
+
+
+		string box_msg = "Please Insert cartridge ";
+
+		MessageBox.Show(box_msg);
+		
+		open_valve(midtankno,1,1)		;	//open Air valve
+		open_valve(midtankno,0,1)		;	//open Ink valve
+		Int32 i=0; 
+		while (i<Timout)					//check for 15 minitus 
+		{
+			Sum=0;
+			for (Int32 j=0;j<Interval;j++)
+			{
+				resualt=read_pressure_sensor(midtankno);
+				context.AppendToFile(File_name,resualt+",V");
+				Sum=Sum+resualt;
+				Thread.Sleep(1000);
+			}
+			
+			
+			if (i==0) 
+				Start_Point=Sum/Interval;
+			
+			if (Sum>Old_Sum)
+				Old_Sum=Sum-Old_Sum;
+			else
+				Old_Sum=Old_Sum-Sum;
+		
+   
+			if ((check_valve(midtankno,1) != 0) && (check_valve(midtankno,0) != 0))
+			{
+				i++;
+				if ( Old_Sum <0.02)	
+					i=Timout+1;		//end 
+				Old_Sum=Sum;
+			}
+			else
+			{
+			open_valve(midtankno,1,0)		;	//open Air valve
+			open_valve(midtankno,0,0)		;	//open Ink valve
+			Old_Sum=0;
+			
+			}	
+		}
+		Full_Point=Sum/Interval;
+		
+
+		close_valve(midtankno,1,1)		;	//close Air valve
+		close_valve(midtankno,0,1)		;	//close Ink valve
+
+			
+		if (insert_slop_t_eeprom(Full_Point, midtankno,Start_Point)==0)
+		{
+				box_msg ="Turn Power Off and On to finish the calibration.";
+				MessageBox.Show(box_msg);
+
+
+    	context.AddResult(ResultType.Passed, "Test passed", "Test passed.");
+				
+		}
+		else
+		{
+				box_msg ="Calibration error";
+				MessageBox.Show(box_msg);
+
+
+    	context.AddResult(ResultType.Failed, "Test Fail", "Test Fail.");
+				
+		}
+	}
+
+}
+
+
+	int	insert_slop_t_eeprom( double FullPoint,Int32 midtankno, double StartPoint)
+{
+//	context.Write("\n ");
+
+		StartPoint=FullPoint-StartPoint;
+		StartPoint=StartPoint/Full_Cartridge;
+		if ((StartPoint>0.7 ) && (StartPoint>1.3 ))
+		{
+			MidTankDataSetupRequest midTankDataSetupRequest = new MidTankDataSetupRequest();
+
+			MidTankData midTankData = new MidTankData();
+			midTankData.MidTankId = Convert.ToUInt32 (midtankno-1);
+			midTankData.InitialOffsetA =FullPoint - (Full_Cartridge/1000-0.1)/Slop;
+			midTankData.SlopeB = Slop;
+			
+			context.Write("\nMidtank No:" + midtankno + "=\tVoltage Zero is  ="+(FullPoint - (Full_Cartridge/1000-0.1)/Slop)+"\tSlop="+ Slop);
+			context.AppendToFile(File_name,"\nMidtank No:" + midtankno + "=\tVoltage Zero is  ="+(FullPoint - (Full_Cartridge/1000-0.1)/Slop)+"\tSlop="+ Slop);
+
+			
+			midTankDataSetupRequest.MidTankInfo.Add(midTankData);
+		
+
+			var response =context.Send<MidTankDataSetupResponse>(midTankDataSetupRequest);
+
+			return	0;
+		}
+		else
+			context.Write("\nError");
+			context.AppendToFile(File_name,"\n Slop Error");
+			return	1;
+	
+
+    }
+
+
+
+int adc_configuration(uint I2C_Slave_Add,uint channel ) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x00);//Byte 0 to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(channel);//Byte 1 to Write, must be 0x80, 0x40, 0x20, 0x10, 0x08, 0x04, 0x02 or 0x01 for different channels
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x80);//Byte 2 to Write
+	
+	var response =context.Send<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+int adc_set_for_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Slave_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(0x01);//Byte 0 to write
+
+	var response =context.Send<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+	}
+
+
+
+
+double adc_read_ch(uint I2C_Slave_Add) 
+	{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = I2C_Slave_Add;
+	stubI2CReadBytesRequest.NumberOfBytesToRead = 2; // Number of bytes to read
+
+	var response1 =context.Send<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+	uint temph=0;
+	uint templ=0;
+	uint temp;
+	double calc;
+	double calc1;
+	double calc2;
+			temph=response1.ReadBytes[0];
+			templ=response1.ReadBytes[1];
+			temp = (temph << 8) | templ;
+			temp=temp & 0x0fff;
+				
+			calc = (double)temp *2.5 / 4096.0;
+		
+			calc1 = (1.96- calc) * 4.64 + 1.96;
+			context.Write("Vsensor [volts]:\t");
+			context.Write(calc1 + "\n");
+
+	
+	return calc1;
+	}
+
+double		read_pressure_sensor(Int32 i )
+	{
+double resualt =0 ;
+		   switch (i)
+      {
+        case 1:
+			adc_configuration(0x44,0x20);		//a2d_address 0x44 channel channel 2
+			adc_set_for_read_ch(0x44);
+			resualt=adc_read_ch(0x44);
+		break;
+		
+		case 2:
+			adc_configuration(0x44,0x08);		//a2d_address 0x44 channel channel 4
+			adc_set_for_read_ch(0x44);
+			resualt=adc_read_ch(0x44);
+		break;
+		
+		case 3:
+			adc_configuration(0x46,0x80);		//a2d_address 0x46 channel channel 0
+			adc_set_for_read_ch(0x46);
+			resualt=adc_read_ch(0x46);
+		break;
+		
+		case 4:
+			adc_configuration(0x46,0x20);		//a2d_address 0x46 channel channel 2
+			adc_set_for_read_ch(0x46);
+			resualt=adc_read_ch(0x46);
+		break;
+		
+		case 5:
+			adc_configuration(0x44,0x10);		//a2d_address 0x44 channel channel 3
+			adc_set_for_read_ch(0x44);
+			resualt=adc_read_ch(0x44);
+		break;
+		
+		case 6:
+			adc_configuration(0x44,0x04);		//a2d_address 0x44 channel channel 5
+			adc_set_for_read_ch(0x44);
+			resualt=adc_read_ch(0x44);
+		break;
+		
+		case 7:
+			adc_configuration(0x46,0x40);		//a2d_address 0x46 channel channel 1
+			adc_set_for_read_ch(0x46);
+			resualt=adc_read_ch(0x46);
+		break;
+		
+		case 8:
+			adc_configuration(0x46,0x10);		//a2d_address 0x46 channel channel 3
+			adc_set_for_read_ch(0x46);
+			resualt=adc_read_ch(0x46);
+		break;
+		
+        default:
+        context.Write("Error");
+
+        break;
+	  }	
+		
+		return resualt;
+	}	
+
+
+//--------------------------------
+int open_valve (int valve_nm,int valve_type,int check_valve)		//valve_type=0 is Air ,1 is Ink ; check_valve=1 send feedbak
+{
+	int temp1=Convert_Midtank_No[valve_nm-1]	;
+
+	string temp;
+	SetBit (F3_VALVE_OUT,(((valve_type+1)*8)- temp1), 1);	
+	
+		if (check_valve!=0)
+		{
+			temp="Air";
+			if (valve_type==1)
+			temp="Ink";
+				
+			DialogResult result = MessageBox.Show("Did " + temp + "Valve of Midtank " + valve_nm +" open?", "Warning",MessageBoxButtons.YesNo);
+			if(result == DialogResult.No)
+				{
+//					Units_status[(valve_nm-1)*3+valve_type,1]="Fail";
+					context.Write(temp +"Valve\tFail\n");	
+					return 0;
+				}
+			else 
+				{
+//					Units_status[(valve_nm-1)*3+valve_type,1]="Pass";
+					context.Write(temp +"Valve\tOpen\n");	
+					return 1;
+				}
+			
+		}
+		return 1;
+
+}
+//--------------------------------	
+int close_valve (int valve_nm,int valve_type,int check_valve)
+{
+	int temp1=Convert_Midtank_No[valve_nm-1];	
+
+	string temp;
+	SetBit (F3_VALVE_OUT,(((valve_type+1)*8)- temp1), 0);
+	if (check_valve!=0)
+		{
+			temp="Air";
+			if (valve_type==1)
+			temp="Ink";
+				
+			DialogResult result = MessageBox.Show("Did " + temp +" Valve of Midtank " + valve_nm +" close?", "Warning",MessageBoxButtons.YesNo);
+			if(result == DialogResult.No)
+				{
+//					Units_status[(valve_nm-1)*3+valve_type,1]="Fail";
+					context.Write(temp +"Valve\tFail\n");	
+					return 0;
+				}
+			else 
+				{
+//					Units_status[(valve_nm-1)*3+valve_type,1]="Pass";
+					context.Write(temp +"Valve\tclose\n");	
+					return 1;
+				}			
+		}
+	return 1;
+
+}
+
+public Int32 SetBit(Int32 Adr, Int32 BitNo, Int32 Bit)
+{
+	Int32 BitMask;
+	Int32 RetVal;
+	RetVal = Fpga_Read_Reg(Adr);
+	Int32 RV = RetVal  ;
+	
+	if (Bit == 0x1) 
+	{
+		BitMask = 0x1 << BitNo;
+		RV = RV | BitMask;
+		Fpga_Write_Reg( Adr, RV );
+	}
+	else if (Bit == 0x0)
+	{
+		BitMask = ~(0x1 << BitNo);
+		RV = RV & BitMask;
+		Fpga_Write_Reg(Adr, RV );	
+	}
+	return 1;
+}
+
+int Fpga_Write_Reg(Int32 Addr, Int32 Data)
+{
+	var response =context.Send<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,Addr, Data);
+	
+	return 1;
+}
+
+
+Int32 check_valve (Int32 valve_nm,int valve_type)
+{
+	Int32 temp1=Convert_Midtank_No[valve_nm-1];	
+	
+    var response =context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F3_VALVE_OUT);
+	Int32 RV =(Int32) response.Value & 0xffff ;
+	RV = RV & ( 0x1 << (((valve_type+1)*8)- temp1));
+	return RV;
+
+}
+
+
+Int32 Fpga_Read_Reg(Int32 Addr)
+{
+    
+context.Write("123");
+
+	var response =context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,Addr);
+	context.Write("456");
+
+	Int32 RV= (Int32) response.Value & 0xffff;
+	context.Write("789");
+
+	return RV;
+}    
+    
+    
+    
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/Procedures/Priming1.pproj b/Software/Stubs Collection/Procedures/Priming1.pproj
new file mode 100644
index 000000000..adfed3f3e
--- /dev/null
+++ b/Software/Stubs Collection/Procedures/Priming1.pproj
@@ -0,0 +1,1015 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Drawing;
+using Google.Protobuf;
+using Tango.BL.Entities;
+using Tango.BL.Enumerations;
+using Tango.PMR.Stubs;
+using Tango.PMR.Diagnostics;
+using Tango.FSE.Common.Connection;
+using Tango.FSE.Common.Diagnostics;
+using Tango.FSE.Procedures;
+using System.IO;
+using System.Diagnostics;
+using System.Windows.Forms;
+
+
+public class Program
+{
+
+
+private IProcedureContext context;
+
+//---------------------Start Command ----------------
+const Int32	CMD_RUN	=	0;		//Run on Pulse Per Secound .positive run Up and negative run Down b
+const Int32	CMD_STOP=	1;		//0;Hard stop(Defualt);1-Soft stop;2-Hard Hiz;3-Soft Hiz
+const Int32	CMD_VALVE=	2;		//0-to Midtank ,1-to head 
+const Int32	CMD_DLY	=	3;		//delay in Seconds .
+const Int32	CMD_TIME=	4;		//Print Time .
+const Int32	CMD_PRESS=	5;		//return from Delay loop when pressure is high (on mBAR) .
+const Int32 CMD_LOOP_NM=6;		//NUMBER OF counter
+const Int32 CMD_LOOP=	7;		//jump up(+) or down(-) command  u
+const Int32 CMD_MTV_OPEN =	8;		//0 Air ; 1 Ink
+const Int32 CMD_MTV_CLOSE=	9;		//0 Air ; 1 Ink
+const Int32 CMD_LBL=	10;	//label for user 
+const Int32 CMD_SMP=	11; //sample rate ,defualt 100msec  (1); for 1 second is 10.
+const Int32 CMD_PRESL=	12; //return from Delay loop when pressure is low (on mBAR) .
+
+const Int32	CMD_END	=	13;	//end loop .
+   
+
+Int32[] BuildUp_Table = new int []
+{
+	CMD_VALVE,1,
+	CMD_PRESL,200,
+	CMD_DLY,200, 
+
+	CMD_LOOP_NM,3,
+
+	CMD_VALVE,0,
+	CMD_DLY,1, 
+	CMD_VALVE,1,
+	CMD_DLY,1, 
+	CMD_LOOP,-4,
+
+	CMD_VALVE,0,
+	CMD_RUN,1068,
+	CMD_PRESS,1000,	//mbar --> 1000 = 100% work, 4000 = 200% work, 350 = 20% work
+	CMD_DLY,150, 		
+	CMD_LBL,1,
+	CMD_PRESS,2000,	//mbar --> 2000 = 100% work, 4000 = 200% work, 350 = 20% work
+	CMD_DLY,60, 		
+	CMD_LBL,2,
+	CMD_PRESS,3000,
+	CMD_DLY,60, // to limit
+	CMD_STOP,0,
+	CMD_VALVE,1,
+	CMD_END,3,
+};
+	
+
+Int32[] Up_Table = new int []
+{
+	CMD_VALVE,1,
+	CMD_PRESL,200,
+	CMD_DLY,200, 
+	
+	CMD_PRESS,3000,	//mbar --> 1000 = 100% work, 4000 = 200% work, 350 = 20% work
+	CMD_RUN,534, // 100%
+	CMD_DLY,120,
+	CMD_STOP,0,
+	CMD_END,3,
+};
+Int32  Dispenser_sample_rate= 1; 
+
+	string path = @"C:\Dispenser_setup\Log\"; 	
+//----------------------
+const UInt32 I2C_ID 			=  	4;					//MCU_I2C4 
+const UInt32 TCA9548A_address 	=	0xE2;	 	
+const UInt32 I2C_Slave_Low_Add 	= 	0xA0;				//eeprom address - 64k low 
+const UInt32 I2C_Slave_High_Add = 	0xA2;				//eeprom address - 64k High
+//----------------------
+byte [] EEPROM_Data = new byte [128];
+
+
+//---------------------End Command ----------------
+
+const Int32	Dispenser_Motor1	=	6;		 
+const Int32	Dispenser_Motor2	=	7;		 
+const Int32	Dispenser_Motor3	=	8;		 
+const Int32	Dispenser_Motor4	=	9;		 
+const Int32	Dispenser_Motor5	=	10;		 
+const Int32	Dispenser_Motor6	=	11;		 
+const Int32	Dispenser_Motor7	=	12;		 
+const Int32	Dispenser_Motor8	=	13;		 
+
+const Int32 AN_IDS_PRESSENS_1	=	2;
+const Int32 AN_IDS_PRESSENS_2	=	3;
+const Int32 AN_IDS_PRESSENS_3	=	4;
+const Int32 AN_IDS_PRESSENS_4	=	5;
+const Int32 AN_IDS_PRESSENS_5	=	6;
+const Int32 AN_IDS_PRESSENS_6	=	7;
+const Int32 AN_IDS_PRESSENS_7	=	8;
+const Int32 AN_IDS_PRESSENS_8	=	9;
+
+const Int32	F2_LS_01_Direct	=	0x60000420	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_2	F2_LS_DISPENSER_25_2	F2_LS_DISPENSER_75_2	F2_LS_DISPENSER_DOWN_2 	F2_LS_DISPENSER_50_2	F2_LS_DISPENSER_SPARE_2	F2_LS_DISPENSER_UP_1	F2_LS_DISPENSER_25_1 	F2_LS_DISPENSER_75_1	F2_LS_DISPENSER_DOWN_1	F2_LS_DISPENSER_50_1	F2_LS_DISPENSER_SPARE_1			
+const Int32	F2_LS_02_Direct	=	0x60000430	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_4	F2_LS_DISPENSER_25_4	F2_LS_DISPENSER_75_4	F2_LS_DISPENSER_DOWN_4	F2_LS_DISPENSER_50_4	F2_LS_DISPENSER_SPARE_4	F2_LS_DISPENSER_UP_3	F2_LS_DISPENSER_25_3 	F2_LS_DISPENSER_75_3	F2_LS_DISPENSER_DOWN_3	F2_LS_DISPENSER_50_3	F2_LS_DISPENSER_SPARE_3			
+const Int32	F2_LS_03_Direct	=	0x60000440	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_6  	F2_LS_DISPENSER_25_6  	F2_LS_DISPENSER_75_6  	F2_LS_DISPENSER_DOWN_6	F2_LS_DISPENSER_50_6	F2_LS_DISPENSER_SPARE_6	F2_LS_DISPENSER_UP_5	F2_LS_DISPENSER_25_5 	F2_LS_DISPENSER_75_5	F2_LS_DISPENSER_DOWN_5	F2_LS_DISPENSER_50_5	F2_LS_DISPENSER_SPARE_5			
+const Int32	F2_LS_04_Direct =	0x60000480	;	//	Reads the direct values that are currently being sent to the fpga.	rsv		rsv		rsv						rsv						F2_LS_DISPENSER_UP_8	F2_LS_DISPENSER_25_8	F2_LS_DISPENSER_75_8	F2_LS_DISPENSER_DOWN_8	F2_LS_DISPENSER_50_8	F2_LS_DISPENSER_SPARE_8	F2_LS_DISPENSER_UP_7	F2_LS_DISPENSER_25_7 	F2_LS_DISPENSER_75_7	F2_LS_DISPENSER_DOWN_7	F2_LS_DISPENSER_50_7	F2_LS_DISPENSER_SPARE_7			
+
+const Int32 Dispenser_Valve1	=	0;
+const Int32 Dispenser_Valve2	=	1;
+const Int32 Dispenser_Valve3	=	2;
+const Int32 Dispenser_Valve4	=	3;
+const Int32 Dispenser_Valve5	=	4;
+const Int32 Dispenser_Valve6	=	5;
+const Int32 Dispenser_Valve7	=	6;
+const Int32 Dispenser_Valve8	=	7;
+
+const ushort MinPress_Mbar_Add =0x5c ;
+const ushort MaxPress_Mbar_Add =0x60 ;
+
+const  Int32 F3_VALVE_OUT	= 0x600000e2;		
+
+//string path = "C:\\Dispenser_setup\\Log\\"; 
+
+
+//Int32[] Start_Table;
+
+Int32[] Start_Table = new Int32 [10000];
+
+UInt32 [] Motor_Dir=new UInt32 [8] {0,0,0,0,0,0,0,0};
+
+string Dispenser_Fname ;
+
+Int32  Dispenser_ptr =-1;
+
+Int32 [] Dispenser_press= new Int32[8]{0,0,0,0,0,0,0,0};
+Int32 max_pressure_level = 20000;
+Int32 min_pressure_level = -20000;
+	
+Int32 [] A2D_Dispenser= new Int32[8]{0,0,0,0,0,0,0,0};
+Int32  Loop_cnt= 1;
+Int32  Loop_length=1;
+
+Int32  PressureSensorType= 1;		//1- new -1up +10 . 0-old 0 to +10
+Int32	Temp_Delay=0;
+
+
+UInt32 RD_LS_01_Direct;
+UInt32 RD_LS_02_Direct;
+UInt32 RD_LS_03_Direct;
+UInt32 RD_LS_04_Direct;
+
+long Lebel1_time;
+long Lebel2_time;
+
+long time_Table;
+
+Int32 msec_index=0;
+
+Int32 MaxPress_Mbar;
+Int32 MinPress_Mbar;
+string state;
+
+	public Int32  OnExecute(IProcedureContext context)
+    {
+		long Max_PBU;
+		Int32 Index=0;
+		Int32 speed=0;
+		Int32 Dispenser_Nm;
+		this.context = context;
+	
+		string box_msg = "Make sure Mixer Hot ";
+		MessageBox.Show(box_msg);
+		
+		var response1 = context.RequestUserInputFor<String>("Dispenser Number", "Enter Dispenser number to make priming  (1-8):");
+		context.WriteLine(response1);
+		Dispenser_Nm = Int32.Parse(response1);
+		
+		check_Min_Max_Mbar(Dispenser_Nm);
+	
+		if (Dispenser_Nm==8)
+			Max_PBU=6000;
+		else
+			Max_PBU=4000;
+			
+	
+	if (!Directory.Exists(path))
+		{
+			Directory.CreateDirectory(path);
+		}	
+			context.WriteLine(path);
+			
+	context.Send<ProgressResponse>("ProgressRequest" ,0xe0, 1);
+
+	Dispenser_Fname=path + "Dispenser_Nm_" + Dispenser_Nm+"_" + DateTime.Now.ToString("MM-dd-yy hh-mm")+ ".csv" ;
+
+	context.WriteLine(Dispenser_Fname);
+
+	context.WriteToFile(Dispenser_Fname,"Dispenser Nm,"   + Dispenser_Nm + "\n" );
+	context.AppendToFile(Dispenser_Fname,"Pressure,Command,Value,DateTime,Remark\n" ); 
+		for(int j=0; j<2;j++)
+		{
+			for(int i=0; i<4;i++)
+			{
+				state="PBU No. "+ (4*j+i+1 );
+				Start_Table=BuildUp_Table;
+				Table_Run(Dispenser_Nm );
+				if (time_Table>300000)
+				{
+					context.AddResult(ResultType.Failed,"PBU", "PBU No."+ (4*j+i+1 ) + "  Fail");
+					return 0;
+				}
+				   context.AddResult(ResultType.Passed,"PBU","PBU No."+ (4*j+i+1 ) + "  Pass");
+					
+			}
+			state="Flow No."+ (j+1 ) ;
+			Start_Table=Up_Table;
+			Table_Run(Dispenser_Nm );
+			if (time_Table<115000)
+				{
+					context.WriteLine("time_Table= " +time_Table);
+					context.AddResult(ResultType.Failed,"Flow", "Flow No."+ (j+1) + "  Fail");
+					return 0;
+				}
+				   context.AddResult(ResultType.Passed,"Flow","Flow No."+ (j+1 ) + "  Pass");
+						
+		}
+				   state="Last PBU " ;
+				Start_Table=BuildUp_Table; 
+				Table_Run(Dispenser_Nm );
+				long Time=Lebel2_time-Lebel1_time;
+				if (Time>Max_PBU)
+				   {    
+				   context.AddResult(ResultType.Failed,"PBU", "PBU = " +Time  + "msec ");
+				   state="PBU = " +Time  + "msec \tFail";
+				   }
+				else
+				{
+				   context.AddResult(ResultType.Passed,"PBU", "PBU = " +Time  + "msec ");
+				   state="PBU = " +Time  + "msec \tPass";
+				}	
+		return 0;
+		
+    }
+
+/////////////////////////////////////////////
+void 		check_Min_Max_Mbar(Int32 i )
+{
+	int k;
+	string s ;
+	i--;
+
+					context.WriteLine("-------------- write Enable Channel ------------");	//debug
+		enable_channel(i); // Chanel 0-7 => Disp0enser 0-7 
+					context.WriteLine("-------------- Read_header ------------");	//debug
+
+					context.WriteLine("-------------- write_address_eeprom ------------");	//debug
+		write_address_eeprom (I2C_Slave_Low_Add,MinPress_Mbar_Add);
+					context.WriteLine("-------------- read_data_from_eeprom ------------");	//debug
+		read_data_from_eeprom (I2C_Slave_Low_Add,1);
+		if 	(EEPROM_Data[0]==0	)
+		{	PressureSensorType=0;
+			context.WriteLine("PressureSensorType=0" );	//debug
+		}
+		else	
+		{	
+			PressureSensorType=1;					
+			context.WriteLine("PressureSensorType=1" );	//debug
+		}
+	
+}	
+//----------------write address eeprom -------------------------
+public void write_address_eeprom (UInt32 I2C_Add, UInt32 Eeprom_Add)
+{	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = I2C_Add;
+	
+	UInt32 uInt32 = new UInt32();
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Convert.ToByte( (Eeprom_Add & 0xff00) >>8));	//Byte High add to write
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Convert.ToByte(Eeprom_Add & 0xff));			//Byte Low  add to write
+					context.WriteLine( (Eeprom_Add & 0xff00) >>8) ;	//debug
+					context.WriteLine( Eeprom_Add & 0xff);	//debug
+
+	context.Send<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);	
+}
+//------------------- read Data from EEprom--------------------------
+
+public void read_data_from_eeprom ( UInt32 I2C_Add, UInt32 cnt )
+{
+	StubI2CReadBytesRequest stubI2CReadBytesRequest = new StubI2CReadBytesRequest();
+	stubI2CReadBytesRequest.I2CId = I2C_ID;
+	stubI2CReadBytesRequest.SlaveAddress = (I2C_Add + 1);
+	stubI2CReadBytesRequest.NumberOfBytesToRead = cnt; // Number of bytes to read
+
+	var response1 = context.Send<StubI2CReadBytesResponse>(stubI2CReadBytesRequest);
+
+	for(int i=0; i<cnt;i++)
+		{
+			EEPROM_Data[i]=Convert.ToByte(response1.ReadBytes[i]);
+			context.WriteLine(EEPROM_Data[i] );	//debug
+
+		}		
+}	
+
+
+///////////////////////////////////////////////
+//----------- enable I2c channel --------------
+public int enable_channel(Int32 Channel_ID) 
+{
+	uint Const_temp = 0x01;	
+	
+	StubI2CWriteBytesRequest stubI2CWriteBytesRequest = new StubI2CWriteBytesRequest();
+	stubI2CWriteBytesRequest.I2CId = I2C_ID;
+	stubI2CWriteBytesRequest.SlaveAddress = TCA9548A_address;
+	
+	Const_temp = Const_temp << Channel_ID;
+	stubI2CWriteBytesRequest.BytesTWrite.Add(Const_temp);//enable i2c channel 0 Dispenser 1
+
+	var response = context.Send<StubI2CWriteBytesResponse>(stubI2CWriteBytesRequest);
+	
+	return 1;
+}
+
+
+//////////////////////////////////////////////////////////////    
+Int32 Table_Run(Int32 Dispenser )
+
+{
+	Int32 COMMAND=0;
+	Int32 Data=0;
+	Int32 count=0;
+	
+	Dispenser--;		//check from 0-7
+	
+	int j=0;
+	var stopwatch = new Stopwatch();
+		stopwatch.Start();
+	
+		long elapsed_time = stopwatch.ElapsedMilliseconds;
+		context.WriteLine(elapsed_time);
+		
+	while (count!=-1)   
+	{
+	msec_index=msec_index+1;
+		
+		if (Dispenser<2) 
+			{
+				var response1 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_01_Direct);
+				RD_LS_01_Direct=response1.Value	 ;
+			}
+		else if ( (Dispenser<4) )
+			{
+				var response1 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_02_Direct);
+				RD_LS_02_Direct=response1.Value	 ;
+			}
+		else if ( (Dispenser<6) )
+			{
+				var response1 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_03_Direct);
+				RD_LS_03_Direct=response1.Value	 ;
+			}
+		else
+			{
+				var response1 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_04_Direct);
+				RD_LS_04_Direct=response1.Value	 ;
+			}
+		if (Dispenser<4) 
+			{
+			var response2 = context.Send<StubIntADCReadResponse>("StubIntADCReadRequest" ,0x8000 + AN_IDS_PRESSENS_1);
+				A2D_Dispenser[0]=(response2.SamplingInBits)>>16;
+				A2D_Dispenser[1] =(response2.SamplingInBits) & 0x0000ffff;
+				A2D_Dispenser[2] =(response2.VoltageSamplingMv)>>16;
+				A2D_Dispenser[3] =(response2.VoltageSamplingMv) & 0x0000ffff;
+			}
+		else
+			{
+			var	response3 = context.Send<StubIntADCReadResponse>("StubIntADCReadRequest" ,0x8000 + AN_IDS_PRESSENS_5);
+				A2D_Dispenser[4] =(response3.SamplingInBits)>>16;
+				A2D_Dispenser[5] =(response3.SamplingInBits)& 0x0000ffff;
+				A2D_Dispenser[6] =(response3.VoltageSamplingMv)>>16;
+				A2D_Dispenser[7] =(response3.VoltageSamplingMv)& 0x0000ffff;
+			}
+				
+			COMMAND=Start_Table[count];
+			Data=Start_Table[(count+1)];
+																		//Index=Index+2;
+			switch (COMMAND)
+				{
+				case CMD_RUN:
+					Motor_Run(Data,Dispenser);
+					count = count+2;
+					break;
+					
+				case CMD_VALVE:
+					Valve_3W(Data,Dispenser);
+					count = count+2;
+					break;
+					
+				case CMD_STOP:
+					Motor_Stop(Data,Dispenser);
+					count = count+2;
+					break;
+					
+				case CMD_DLY:
+					Delay_on_second(Data,Dispenser);
+					if (Temp_Delay ==0)
+					{
+						max_pressure_level=20000;	
+						min_pressure_level=-20000;	
+						count = count+2;
+					}
+					break;
+					
+				case CMD_TIME:
+					Print_Time();
+					count = count+2;
+					break;
+					
+				case CMD_PRESS:
+					max_pressure_level=Data;
+					context.AppendToFile(Dispenser_Fname,",Max_pressure_level is, " + Data +","+DateTime.Now+"\n");
+					count = count+2;
+					break;
+					
+				case CMD_PRESL:
+					min_pressure_level=Data;
+					context.AppendToFile(Dispenser_Fname,",Min_pressure_level is, " + Data +","+DateTime.Now+"\n");
+					count = count+2;
+					break;
+					
+				case CMD_LBL:														
+					context.AppendToFile(Dispenser_Fname,",Label," + Data+","+DateTime.Now+"\n");
+					if(Data==1)
+						Lebel1_time=stopwatch.ElapsedMilliseconds;
+					if(Data==2)
+						Lebel2_time=stopwatch.ElapsedMilliseconds;
+					count = count+2;
+					break;
+					
+					
+				case CMD_SMP:														
+					context.AppendToFile(Dispenser_Fname,",SampleRate," + Data+","+DateTime.Now+"\n");
+					Dispenser_sample_rate =Data;
+					count = count+2;
+					break;
+					
+				case  CMD_END:
+					count=-1;
+					context.AppendToFile(Dispenser_Fname,",End testing,,"+DateTime.Now+"\n");
+					break;
+				
+				case  CMD_MTV_OPEN:
+					open_midtank_valve(Data,Dispenser);
+					context.AppendToFile(Dispenser_Fname,",OPEN MIDTANK, " + Dispenser+","+DateTime.Now+"\n");
+					count = count+2;
+					break;
+
+				case  CMD_MTV_CLOSE:
+					close_midtank_valve(Data,Dispenser);
+					context.AppendToFile(Dispenser_Fname,",CLOSE MIDTANK, " + Dispenser+","+DateTime.Now+"\n");
+					count = count+2;
+					break;
+				
+				case  CMD_LOOP_NM:
+				
+					Loop_cnt=Data-1;
+					context.AppendToFile(Dispenser_Fname,",Counter Loop,"+ Data+","+DateTime.Now +"\n");
+					count = count+2;						
+					break;
+
+				case  CMD_LOOP:
+				
+					if (Loop_cnt!=0)
+						{
+						context.AppendToFile(Dispenser_Fname,"Counter Loop,"+ Loop_cnt+","+DateTime.Now+"\n" );
+						count = count+2*Data;
+						Loop_cnt--;
+						
+						}
+					else
+						{
+						context.AppendToFile(Dispenser_Fname,",End loop,,"+DateTime.Now +"\n");
+						count = count+2;	
+						}
+					break;
+
+				default:
+					break;
+
+			}	
+			
+			long elapsed_time1 = stopwatch.ElapsedMilliseconds;
+			long elapsed_time2= elapsed_time1-elapsed_time;
+			if (elapsed_time2>95)
+			elapsed_time2=95;		//minimum time
+				Thread.Sleep(100-(int )(elapsed_time2));
+
+			elapsed_time = stopwatch.ElapsedMilliseconds;		
+
+
+			j++;
+				if (j==10)
+				{
+					j=0;
+					context.WriteLine(Dispenser_press[Dispenser]+ " mBar\t"+state + "\tTime-" + (elapsed_time/1000));
+				}
+	}
+	time_Table=elapsed_time;
+	return 0;
+}
+
+///////////////////////////////////////////////////////////////////	
+Int32 Motor_Run(Int32 speed,Int32 Dispenser)
+
+{
+
+	switch (Dispenser)
+		{
+		case 0:
+				if ( speed<0)
+				{
+					Motor_Dir[0]=2;
+					if ((RD_LS_01_Direct & 0x04)!=0x04)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor1, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[0]=1;
+					if ((RD_LS_01_Direct & 0x20)!=0x20)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor1, true, (speed));
+				}
+			break;
+
+		case 1:
+				if ( speed<0)
+				{
+					Motor_Dir[1]=2;
+					if ((RD_LS_01_Direct & 0x100)!=0x100)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor2, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[1]=1;
+					if ((RD_LS_01_Direct & 0x800)!=0x800)
+					{						
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor2, true, (speed));
+				}
+			break;
+
+		case 2:
+				if ( speed<0)
+				{
+					Motor_Dir[2]=2;
+					if ((RD_LS_02_Direct & 0x04)!=0x04)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor3, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[2]=1;
+					if ((RD_LS_02_Direct & 0x20)!=0x20)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now+ ",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor3, true, (speed));
+				}
+			break;
+
+		case 3:
+				if ( speed<0)
+				{
+					Motor_Dir[3]=2;
+
+					if ((RD_LS_02_Direct & 0x100)!=0x100)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now+ ",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor4, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[3]=1;
+
+					if ((RD_LS_02_Direct & 0x800)!=0x800)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor4, true, (speed));
+				}
+			break;
+		
+		case 4:
+				if ( speed<0)
+				{
+					Motor_Dir[4]=2;
+					if ((RD_LS_03_Direct & 0x04)!=0x04)
+					{  
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now+ ",Warning Motor on Limit\n");
+						return 0;
+					}
+					
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor5, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[4]=1;
+					if ((RD_LS_03_Direct & 0x20)!=0x20)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now+ ",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor5, true, (speed));
+				}
+			break;
+
+		case 5:
+				if ( speed<0)
+				{
+					Motor_Dir[5]=2;
+					if ((RD_LS_03_Direct & 0x100)!=0x100)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor6, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[5]=1;
+					if ((RD_LS_03_Direct & 0x800)!=0x800)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now+ ",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor6, true, (speed));
+				}
+			break;
+
+		case 6:
+				if ( speed<0)
+				{
+					Motor_Dir[6]=2;
+					if ((RD_LS_04_Direct & 0x04)!=0x04)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor7, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[6]=1;
+					if ((RD_LS_04_Direct & 0x20)!=0x20)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor7, true, (speed));
+				}
+			break;
+
+		case 7:
+				if ( speed<0)
+				{
+					Motor_Dir[7]=2;
+
+					if ((RD_LS_04_Direct & 0x100)!=0x100)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor8, false, (-speed));
+				}
+				else
+				{	
+					Motor_Dir[7]=1;
+
+					if ((RD_LS_04_Direct & 0x800)!=0x800)
+					{
+						context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Motor on Limit\n");
+						return 0;
+					}
+					context.Send<StubMotorRunResponse>("StubMotorRunRequest" ,Dispenser_Motor8, true, (speed));
+				}
+			break;
+			
+		default:
+			break;
+
+		}
+  	context.AppendToFile(Dispenser_Fname,",Run," +speed+","+DateTime.Now +"\n" );                                                                                                           
+
+	return 1;
+}    
+    
+ 	
+ Int32 Valve_3W(Int32 Valve_Value,Int32 Dispenser)
+{
+	if ( Valve_Value==1)
+		context.Send<StubValveResponse>("StubValveRequest" ,Dispenser_Valve1+Dispenser, 3, true);	//3 3Way
+	else	
+		context.Send<StubValveResponse>("StubValveRequest" ,Dispenser_Valve1+Dispenser, 3, false);  //3 3Way
+ 
+	context.AppendToFile(Dispenser_Fname,",Dispenser Valve position is, " + Valve_Value+","+DateTime.Now +"\n" );
+
+	return 1;	
+}	
+//---------------------------------------    
+
+ Int32 Motor_Stop(Int32 Stop_Value,Int32 Dispenser )
+{
+	context.Send<StubMotorStopResponse>("StubMotorStopRequest" ,Dispenser_Motor1+Dispenser, Stop_Value);
+	
+	context.AppendToFile(Dispenser_Fname,",Motor Stop," + Stop_Value+","+DateTime.Now +"\n");
+	Motor_Dir[Dispenser]=0;
+	return 1;	
+}
+
+//---------------------------------------    
+
+ Int32 Delay_on_second(Int32 Delay,Int32 Dispenser )
+{
+//Int32 temp1;
+Int32 pressure_om_mBAR=0;
+	if 	(Temp_Delay ==0)
+	{
+		context.AppendToFile(Dispenser_Fname,",DLY, " + Delay +","+DateTime.Now+"\n");
+		Temp_Delay = Delay *10 -1;
+//														context.Write("A");		//debug
+	}
+	else	
+			Temp_Delay--;
+			
+	if ( LimitSW_Dispenser(Dispenser)==0)
+ 	    {	
+ 	    	context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now+",Warning Motor on Limit\n");
+			MotorStop(Dispenser);
+			Temp_Delay =0;	//end delay
+//																	context.Write("C");		//debug
+
+			return 0 ;
+ 	    }
+					
+	pressure_om_mBAR=Calc_mBAR(Dispenser,true);
+  	if (pressure_om_mBAR > max_pressure_level)
+ 	 	{
+		//	MotorStop(Dispenser);
+			context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Pressure too high\n");
+			Temp_Delay =0;	//end delay
+//																	context.Write("D");		//debug
+			
+			return 0;
+		}
+  	if (pressure_om_mBAR < min_pressure_level)
+ 	 	{
+		//	MotorStop(Dispenser);
+			context.AppendToFile(Dispenser_Fname,",,,"+DateTime.Now +",Warning Pressure too low\n");
+			Temp_Delay =0;	//end delay
+//																	context.Write("D");		//debug
+			
+			return 0;
+		}
+		
+		
+  	return 1;
+}	
+    	   	
+Int32 LimitSW_Dispenser(Int32 Dispenser) 
+{
+
+	if (Dispenser==0)
+		
+		{
+			
+//		var response1 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_01_Direct);
+
+				if (((RD_LS_01_Direct & 0x04)!=0x04) && (Motor_Dir[0]==2))
+						return 0;
+					else
+				if (((RD_LS_01_Direct & 0x20)!=0x20) && (Motor_Dir[0]==1))
+						return 0;
+					else
+				return 1;		
+		}
+		
+	if (Dispenser==1)
+		
+		{
+//		var response2 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_01_Direct);
+				if (((RD_LS_01_Direct & 0x100)!=0x100) && (Motor_Dir[1]==2))
+						return 0;
+					else
+				if (((RD_LS_01_Direct & 0x800)!=0x800) && (Motor_Dir[1]==1))
+						return 0;
+					else
+				return 1;		
+		}
+		
+
+	if (Dispenser==2)
+		
+		{
+				
+		//var response3 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_02_Direct);
+				if (((RD_LS_02_Direct & 0x04)!=0x04) && (Motor_Dir[2]==2))
+						return 0;
+					else
+				if (((RD_LS_02_Direct & 0x20)!=0x20) && (Motor_Dir[2]==1))
+						return 0;
+					else
+				return 1;		
+			
+		}
+		
+	if (Dispenser==3)
+		
+		{
+				var response4 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_02_Direct);
+				if (((RD_LS_02_Direct & 0x100)!=0x100) && (Motor_Dir[3]==2))
+						return 0;
+					else
+				if (((RD_LS_02_Direct & 0x800)!=0x800) && (Motor_Dir[3]==1))
+						return 0;
+					else
+				return 1;		
+		}
+		
+		
+		
+
+	if (Dispenser==4)
+		
+		{
+			
+//		var response1 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_01_Direct);
+				if (((RD_LS_03_Direct & 0x04)!=0x04) && (Motor_Dir[4]==2))
+						return 0;
+					else
+				if (((RD_LS_03_Direct & 0x20)!=0x20) && (Motor_Dir[4]==1))
+						return 0;
+					else
+				return 1;		
+		}
+		
+	if (Dispenser==5)
+		
+		{
+//		var response2 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_01_Direct);
+				if (((RD_LS_03_Direct & 0x100)!=0x100) && (Motor_Dir[5]==2))
+						return 0;
+					else
+				if (((RD_LS_03_Direct & 0x800)!=0x800) && (Motor_Dir[5]==1))
+						return 0;
+					else
+				return 1;		
+		}
+		
+
+	if (Dispenser==6)
+		
+		{
+				
+		//var response3 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_02_Direct);
+				if (((RD_LS_04_Direct & 0x04)!=0x04) && (Motor_Dir[6]==2))
+						return 0;
+					else
+				if (((RD_LS_04_Direct & 0x20)!=0x20) && (Motor_Dir[6]==1))
+						return 0;
+					else
+				return 1;		
+			
+		}
+		
+	if (Dispenser==7)
+		
+		{
+//		var response4 = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F2_LS_02_Direct);
+				if (((RD_LS_04_Direct & 0x100)!=0x100) && (Motor_Dir[7]==2))
+						return 0;
+					else
+				if (((RD_LS_04_Direct & 0x800)!=0x800) && (Motor_Dir[7]==1))
+						return 0;
+					else
+				return 1;		
+		}
+		
+		
+		return 0;
+}		
+		
+	    	
+Int32 Print_Time() 
+{	
+		context.AppendToFile(Dispenser_Fname,",Time is\t,,"+ DateTime.Now +"\n" );                                                                                           
+
+		return 1;
+}	
+
+
+
+Int32 Calc_mBAR(Int32 Dispenser, bool save_press)
+{		
+Int32 Data;
+Int32 Sense1;
+Int32 temp=0;
+
+		Data =A2D_Dispenser[Dispenser];
+		if (Data<100)
+			temp=-1;
+		Data=Data-710;
+		if (Data<0)
+		Data=0;
+
+		Data=Data*(10000+PressureSensorType*1000)/2840;	//	for -1 to 10 bar Press_Sensor_Type=1 else 0
+		Data=Data-1000*PressureSensorType;   			//  for -1 to 10 bar
+
+		if (temp==-1)						//if SamplingInBits <100 then No pressure sensor exist
+		Sense1=-9999	;
+		else	
+		Sense1=Data	;
+		if (	((msec_index) % (Dispenser_sample_rate)) == 0)
+		{
+			context.AppendToFile(Dispenser_Fname,"" + Sense1+"\n");
+		}
+		Dispenser_press[Dispenser]=Sense1;
+	return Sense1;
+			
+ }   	
+
+   
+//--------------------------------
+int open_midtank_valve (Int32 valve_type,Int32 valve_nm)		//valve_type=0 is Air ,1 is Ink ; valve_nm 0-7
+{
+	SetBit (F3_VALVE_OUT,((valve_type+1)*8)- valve_nm-1, 1);
+	return 1;
+
+}
+//--------------------------------	
+int close_midtank_valve (Int32 valve_type,Int32 valve_nm)		//valve_type=0 is Air ,1 is Ink ; valve_nm 0-7
+{
+	SetBit (F3_VALVE_OUT,((valve_type+1)*8)- valve_nm-1, 0);
+	return 1;
+}
+//--------------------------------
+Int32 SetBit(Int32 Adr, Int32 BitNo, Int32 Bit)
+{
+	Int32 BitMask;
+
+    var response = context.Send<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" , F3_VALVE_OUT);
+	Int32 RV = (Int32) response.Value & 0xffff;
+	
+	
+	if (Bit == 0x1) 
+	{
+		BitMask = 0x1 << BitNo;
+		RV = RV | BitMask;
+		context.Send<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT , RV);
+	}
+	else if (Bit == 0x0)
+	{
+		BitMask = ~(0x1 << BitNo);
+		RV = RV & BitMask;
+		context.Send<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F3_VALVE_OUT , RV);
+	}
+	return 1;
+}
+//----------------------------------    
+ void MotorStop(Int32 i)
+{
+ 
+context.Send<StubMotorStopResponse>("StubMotorStopRequest" ,Dispenser_Motor1+i, 2);
+Motor_Dir[i]=0;	//0 stop 1- up 2-dn
+
+}
+    
+}
\ No newline at end of file
diff --git a/Software/Stubs Collection/Procedures/WHS_waste_Tank_Calibration_Save_V0.pproj b/Software/Stubs Collection/Procedures/WHS_waste_Tank_Calibration_Save_V0.pproj
new file mode 100644
index 000000000..3bd4b1f84
--- /dev/null
+++ b/Software/Stubs Collection/Procedures/WHS_waste_Tank_Calibration_Save_V0.pproj
@@ -0,0 +1,107 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Drawing;
+using Google.Protobuf;
+using Tango.BL.Entities;
+using Tango.BL.Enumerations;
+using Tango.PMR.Stubs;
+using Tango.PMR.Diagnostics;
+using Tango.FSE.Common.Connection;
+using Tango.FSE.Common.Diagnostics;
+using Tango.FSE.Procedures;
+
+
+public class Program
+{
+	double V0_default_ml = 8.7433;
+
+    public void OnExecute(IProcedureContext context)
+    {
+        
+	var response1 = context.RequestUserInputFor<String>("Warning - you are going to change the value of Vo in the eeprom !!!\nPlease Enter Password to confirme:","");
+	if (response1=="Aa123456")
+	{
+		context.WriteLine(response1);
+		
+		//Write_0_Vo_in_ml_to_eeprom
+		context.WriteLine("\nWrite_0_Vo_in_ml_to_eeprom");	
+		StubWhsEEpromRequest stubWhsEEpromRequest = new StubWhsEEpromRequest();
+		stubWhsEEpromRequest.BurnRequest = true; //write
+		StubWhsEEpromData stubWhsEEpromData = new StubWhsEEpromData();
+		stubWhsEEpromData.Orifice1Flow = 0;
+		stubWhsEEpromRequest.WhsEEprom = stubWhsEEpromData;
+		var response = context.Send<StubWhsEEpromResponse>(stubWhsEEpromRequest);
+				
+		//wait_10mSec
+		context.WriteLine("\nwait_10mSec");	
+		Thread.Sleep(100); //Sleep for 10 milli.
+		
+		//Read_Vo_in_ml_from_eeprom	& verify it is 0
+		context.WriteLine("\nRead_Vo_in_ml_from_eeprom	& verify it is 0");
+		stubWhsEEpromRequest.BurnRequest = false; //write
+		stubWhsEEpromRequest.WhsEEprom = stubWhsEEpromData;
+		var response2 = context.Send<StubWhsEEpromResponse>(stubWhsEEpromRequest);
+		
+		//Read_Vo_in_mV
+		context.WriteLine("\nRead_Vo_in_mV");
+		var response3 = context.Send<ProgressResponse>("ProgressRequest" ,0x3EC, 0x01);
+		//Print_Vo_in_mV
+		context.WriteLine(response3.Progress);
+		
+		//check validity
+		context.WriteLine("\ncheck validity");
+		 if((response3.Progress <= 800) || (response3.Progress >=1200))
+		 {
+		 	response3.Progress = 1076; //default
+		 	context.Write("\nERROR  ------ Vreading value outside the defined range !!! ------");
+		 	 context.AddResult(ResultType.Failed , "Error", "ERROR  ------ Vreading value outside the defined range !!! ------");
+		 }
+		else
+		{			
+			//calculate_V0_in_ml
+			context.WriteLine("\ncalculate_V0_in_ml");
+			V0_default_ml = V0_default_ml * response3.Progress;
+			
+			//print_Vo_in_ml
+			context.WriteLine("\nprint_Vo_in_ml");
+			context.WriteLine(V0_default_ml);
+			context.WriteLine("");
+			
+			//Write_Vo_in_ml_to_eeprom
+			context.WriteLine("\nWrite_Vo_in_ml_to_eeprom");
+			stubWhsEEpromRequest.BurnRequest = true; //write
+	
+			stubWhsEEpromData.Orifice1Flow = V0_default_ml;
+			stubWhsEEpromRequest.WhsEEprom = stubWhsEEpromData;
+			var response4 = context.Send<StubWhsEEpromResponse>(stubWhsEEpromRequest);
+				
+			//wait_10mSec
+			context.WriteLine("\nwait_10mSec");	
+			 Thread.Sleep(100); //Sleep for 10 milli.
+			 		
+			 //Read_Vo_in_ml_from_eeprom
+			context.WriteLine("\nRead_Vo_in_ml_from_eeprom");
+			stubWhsEEpromRequest.BurnRequest = false; //write
+			stubWhsEEpromRequest.WhsEEprom = stubWhsEEpromData;
+			var response5 = context.Send<StubWhsEEpromResponse>(stubWhsEEpromRequest);
+			
+			//Check if we read the correct value
+			context.WriteLine("\nVerify that we read the correct value of Orifice1Flow!!");
+			 context.AddResult(ResultType.Passed , "Pass", "Calibration Pass.");
+
+			}
+	}
+		else
+    	{
+			context.AddResult(ResultType.Failed , "Error", "Password Fail.");
+		}
+		context.WriteLine("\n -- END OF SCRIPT -- ");
+  }
+}
+