Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

16 files changed, 102 insertions, 58 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index 51540cf50..28ab799a1 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,6,14};
+TangoVersion_t _gTangoVersion = {1,4,6,15};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c b/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c
index 9a1de790e..86c030dc0 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/idle_task.c
@@ -201,9 +201,6 @@ uint32_t unload_max_count=0;
 }
  void IdleTaskGetLoadTable (uint32_t *aBuffer)
  {
-     int i;
-     //for (i=0;i<100;i++)
-     //    aBuffer[i] = idle_load_table[i];
      memcpy (aBuffer,idle_load_table,sizeof(idle_load_table));
  }
  uint32_t MillisecCounter = 0;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.c
index 1c8a5ffef..4c653de78 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.c
@@ -52,7 +52,7 @@ void   thread_parameters__free_unpacked
   assert(message->base.descriptor == &thread_parameters__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor thread_parameters__field_descriptors[9] =
+static const ProtobufCFieldDescriptor thread_parameters__field_descriptors[10] =
 {
   {
     "FeederP",
@@ -162,8 +162,21 @@ static const ProtobufCFieldDescriptor thread_parameters__field_descriptors[9] =
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "BypassRockers",
+    10,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_BOOL,
+    offsetof(ThreadParameters, has_bypassrockers),
+    offsetof(ThreadParameters, bypassrockers),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned thread_parameters__field_indices_by_name[] = {
+  9,   /* field[9] = BypassRockers */
   2,   /* field[2] = FeederD */
   1,   /* field[1] = FeederI */
   0,   /* field[0] = FeederP */
@@ -177,7 +190,7 @@ static const unsigned thread_parameters__field_indices_by_name[] = {
 static const ProtobufCIntRange thread_parameters__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 9 }
+  { 0, 10 }
 };
 const ProtobufCMessageDescriptor thread_parameters__descriptor =
 {
@@ -187,7 +200,7 @@ const ProtobufCMessageDescriptor thread_parameters__descriptor =
   "ThreadParameters",
   "",
   sizeof(ThreadParameters),
-  9,
+  10,
   thread_parameters__field_descriptors,
   thread_parameters__field_indices_by_name,
   1,  thread_parameters__number_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.h
index 1acfd6686..a8ac6f78f 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/ThreadParameters.pb-c.h
@@ -44,10 +44,12 @@ struct  _ThreadParameters
   int32_t winderi;
   protobuf_c_boolean has_winderd;
   int32_t winderd;
+  protobuf_c_boolean has_bypassrockers;
+  protobuf_c_boolean bypassrockers;
 };
 #define THREAD_PARAMETERS__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&thread_parameters__descriptor) \
-    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+    , 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
 
 
 /* ThreadParameters methods */
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index bdfbab720..0ada1e7ec 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -374,7 +374,6 @@ typedef enum
     HEAD_TYPE_UNKNOWN_WITH_CARD,
     HEAD_TYPE_SYLKO,
     HEAD_TYPE_STAPLE_SPUN,
-
 }HEAD_TYPE;
 
 extern uint8_t Head_Type;
@@ -416,6 +415,13 @@ typedef enum
     MAX_HEAD_FAN,
 }HEAD_FAN_ENUM;
 
+typedef enum
+{
+    OPEN_MAGNET,
+    CLOSE_MAGNET,
+    DISABLE_MAGNET
+}MAGNET_COMMAND_ENUM;
+
 /*
 typedef union
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index 1684b1dcc..3cd60123a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -421,17 +421,17 @@ bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch)
         case GPI_LS_DH_CLEAN_DOWN:
             LM_Status = Ls_Dryer_Dh.bits.F1_LS_DH_CLEAN_DOWN;
                 break;
-        case HEADCARD_COVER_LS_FRONT:
+        case I2C_HEADCARD_COVER_LS_FRONT:
             if(Head_Type == HEAD_TYPE_SYLKO)
-                LM_Status = Head_I2C_EXP4_0x46.bits.INPUT_LS_FRONT;
+                LM_Status = !(Head_I2C_EXP4_0x46.bits.INPUT_LS_FRONT);
                 break;
-        case HEADCARD_COVER_LS_REAR:
+        case I2C_HEADCARD_COVER_LS_REAR:
             if(Head_Type == HEAD_TYPE_SYLKO)
-                LM_Status = Head_I2C_EXP4_0x46.bits.INPUT_LS_FRONT;
+                LM_Status = !(Head_I2C_EXP4_0x46.bits.INPUT_LS_REAR);
                 break;
-        case HEADCARD_COVER_LS_UPPER:
+        case I2C_HEADCARD_COVER_LS_UPPER:
             if(Head_Type == HEAD_TYPE_SYLKO)
-                LM_Status = Head_I2C_EXP4_0x46.bits.INPUT_LS_FRONT;
+                LM_Status = !(Head_I2C_EXP4_0x46.bits.INPUT_LS_UP);
                 break;
         default :
             LM_Status = NO_LIMIT;
@@ -514,7 +514,8 @@ uint32_t MagnetCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 {
 
     if(Head_Type == HEAD_TYPE_SYLKO)
-        HeadCard_HeadMagnet_Disable();
+        Trigger_Head_Magnet(DISABLE_MAGNET);
+        //HeadCard_HeadMagnet_Disable();
     else
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,Hard_Hiz );
 
@@ -532,18 +533,19 @@ uint32_t ActivateHeadMagnet()
     //WHS_Start_Blower_Control_Closed_Loop(BlowerSetPoint);
     //Task_sleep(500);
     if(Head_Type == HEAD_TYPE_SYLKO)
-        HeadCard_ActivateHeadMagnet();
+        //HeadCard_ActivateHeadMagnet();
+        Trigger_Head_Magnet(CLOSE_MAGNET);
     else
     {
         F2_CTRL_Reg.ushort &= ~SPARE_SSR13_CTRL;
         F2_CTRL = F2_CTRL_Reg.ushort;
-        if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
-        {
-            if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
-                MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_OPEN );
-            else
-                MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_CLOSE );
-        }
+    }
+    if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
+    {
+        if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
+            MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_OPEN );
+        else
+            MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_CLOSE );
     }
     MagnetControlId = AddControlCallback(NULL, MagnetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     return OK;
@@ -561,23 +563,24 @@ uint32_t DeActivateHeadMagnet()
 
     if(Head_Type == HEAD_TYPE_SYLKO)
     {
-        HeadCard_DeActivateHeadMagnet();
-        MagnetControlId = AddControlCallback(NULL, MagnetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+        Trigger_Head_Magnet(OPEN_MAGNET);
+        //HeadCard_DeActivateHeadMagnet();
     }
     else
     {
-        Report("DeActivateHeadMagnet - open the lid magnet",__FILE__,__LINE__,(int)HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,RpWarning,(int)DH_LID_CLOSE,0);
-        if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
-        {
-            if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
-                MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_CLOSE );
-            else
-                MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_OPEN );
-            //MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM, DH_LID_OPEN, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM], NULL,1000);
-        }
         F2_CTRL_Reg.ushort |= SPARE_SSR13_CTRL;
         F2_CTRL = F2_CTRL_Reg.ushort;
     }
+    Report("DeActivateHeadMagnet - open the lid magnet",__FILE__,__LINE__,(int)HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,RpWarning,(int)DH_LID_CLOSE,0);
+    if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
+    {
+        if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
+            MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_CLOSE );
+        else
+            MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_OPEN );
+        //MotorGotoWithCallback(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM, DH_LID_OPEN, Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM], NULL,1000);
+    }
+    MagnetControlId = AddControlCallback(NULL, MagnetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     Task_sleep(500);
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
index 1c1c28603..f67cef349 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
@@ -159,9 +159,9 @@ typedef enum
     GPI_EXTWINDER_Direct_BIT14,  //126
     GPI_EXTWINDER_Direct_BIT15,  //127
     //-------------------------------
-    HEADCARD_COVER_LS_FRONT,
-    HEADCARD_COVER_LS_REAR,
-    HEADCARD_COVER_LS_UPPER,
+    I2C_HEADCARD_COVER_LS_FRONT,
+    I2C_HEADCARD_COVER_LS_REAR,
+    I2C_HEADCARD_COVER_LS_UPPER,
 
     //-----------------------
     MAX_GPI
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c
index d8c5e0d86..626c4ab7b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c
@@ -452,7 +452,7 @@ void HeadADCPT100_SensorInitConfig()
             for(Register=SENSOR_CONFIG_REG0;Register<=SENSOR_CONFIG_REG3;Register++)
                 HeadADCPT100_Config_callback( (TEMPERATURE_SENSOR_ID_ENUM)(Sensor), Register);
         }
-        for(Sensor=HEAD_PT100_ZONE_2_0X80_1;Sensor < HEAD_PT100_RESERVE_0X8E_1;Sensor++) //- no need every couple of even and odd use the same ADC
+        for(Sensor=HEAD_PT100_ZONE_2_0X80_1;Sensor <= HEAD_PT100_RESERVE_0X8E_1;Sensor++) //- no need every couple of even and odd use the same ADC
         {
             //for(Register=SENSOR_CONFIG_REG0;Register<=SENSOR_CONFIG_REG3;Register++)
             //    HeadADCPT100_Config_callback( (TEMPERATURE_SENSOR_ID_ENUM)(Sensor), Register);
@@ -838,8 +838,9 @@ float Test_ADS122X_Internal_Temperature_Sensor(TEMPERATURE_SENSOR_ID_ENUM Sensor
 
 uint32_t Detect_Head_PT100_Faults(TEMPERATURE_SENSOR_ID_ENUM SensorId)
 {
-    static uint8_t counter = 0, ERR_Couner = 0;
-    uint8_t Max_counting = HEAD_PT100_AIR_HEATER_2_0X8C_1 - HEAD_PT100_ZONE_1_0X80_0 + 1;
+    static uint8_t counter = 0;
+    int ERR_Couner = 0;
+    uint8_t Max_counting = HEAD_PT100_RESERVE_0X8E_1 - HEAD_PT100_ZONE_1_0X80_0 + 1;
 
     counter++;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
index d1cc5f580..d8b2d1286 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
@@ -27,14 +27,6 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data
 uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf, uint32_t No_BytesToWrite );
 uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, uint32_t No_BytesToRead );
 
-void Trigger_Heater_Current_Read(void);
-void Trigger_MidTank_Pressure_Read(void);
-void Trigger_PT100_Read(void);
-void Trigger_HeaterWriting(void);
-void Trigger_Head_Init_PT100(void);
-void Trigger_Head_Actuators_Control(uint32_t Act_ID, bool Active_Low_Pwr, bool Direction);
-void Trigger_Head_Fan_Control(uint32_t Fan_ID, uint16_t PWM);
-void Trigger_InputsReading(void);
 uint32_t Block_Main_MUX_TCA9548A_0xE4(); ////unused I2C MUX
 
 extern uint8_t Main_Mux_Flag ;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
index 803b66b63..b81674d68 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
@@ -18,6 +18,8 @@
 #include "drivers/I2C_Communication/Head_Card/ADC/Head_ADC.h"
 #include "Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.h"
 #include "Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.h"
+#include "Drivers/I2C_Communication/Head_Card/Fan/Head_Fan.h"
+#include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
 #include <Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
@@ -26,7 +28,6 @@
 #include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h>
 #include "ADC_MUX/ADC_MUX.h"
 #include "modules/ids/ids_ex.h"
-#include "Drivers/I2C_Communication/Head_Card/Fan/Head_Fan.h"
 
 extern Semaphore_Handle I2C_Sem;
 Task_Handle I2C_Task_Handle;
@@ -42,6 +43,7 @@ typedef enum
     Head_Init_PT100,
     Actuators_Control,
     HeadFanControl,
+    HeadMagnetAction,
 
     /* enum for WHS :*/
     WHS_start,
@@ -159,7 +161,17 @@ void Trigger_Head_Fan_Control(uint32_t Fan_ID, uint16_t PWM)
         Mailbox_post(I2C_ReadingMsgQ , &I2C_ReadingMessage, BIOS_NO_WAIT);
     return;
 }
+void Trigger_Head_Magnet(int direction)
+{
+    I2C_ReadingMessageStruc I2C_ReadingMessage;
+    //uint8_t Midtank_i;
 
+    I2C_ReadingMessage.messageId = HeadMagnetAction;
+    I2C_ReadingMessage.parameter = direction;
+    if (I2C_ReadingMsgQ != NULL)
+        Mailbox_post(I2C_ReadingMsgQ , &I2C_ReadingMessage, BIOS_NO_WAIT);
+    return;
+}
 void Trigger_HeaterWriting(void)
 {
     I2C_ReadingMessageStruc I2C_ReadingMessage;
@@ -492,6 +504,14 @@ void I2C_ReadingTask(UArg arg0, UArg arg1)
         case HeadFanControl:
             Head_Fan_PWM_Control(I2C_ReadingMessage.parameter, I2C_ReadingMessage.parameter2);
             break;
+        case HeadMagnetAction:
+            if (I2C_ReadingMessage.parameter == OPEN_MAGNET)
+                HeadCard_ActivateHeadMagnet();
+            else if (I2C_ReadingMessage.parameter == CLOSE_MAGNET)
+                HeadCard_DeActivateHeadMagnet();
+            else //DISABLE_MAGNET
+                HeadCard_HeadMagnet_Disable();
+            break;
         case Head_Inputs_Reading:
             Head_Read_IO_Reg(0x44, LOW_AND_HIGH);//BREAK__ZN1-12 + BREAK_HTIN
             Head_Read_IO_Reg(0x46, LOW_AND_HIGH);//READ HEAD CARD LS + ACT status + BREAK_HTOT
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h
index 71a46bcec..e95ada01f 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.h
@@ -32,12 +32,19 @@ void Trigger_WHS_MAX11614_Read_allADC();
 void Trigger_WHS_Set_RDAC(uint16_t value);
 void Trigger_WHS_set_Rheostat_to_CLEAN_AIR(void);
 
-
 //void Trigger_WHS_set_fan_speed( fan_num, uint16_t fan_speed);
 //void Trigger_WHS_Set_Volt_Blower_Control(uint16_t volt);
 //void Trigger_WHS_Set_Blower_Control_Closed_Loop (uint32_t setpoint_Q);
 //void Trigger_WHS_Set_Valve(uint8_t valve_number, bool status);
 //void Trigger_WHS_Set_Pump(bool status);
 
+void Trigger_Heater_Current_Read(void);
+void Trigger_MidTank_Pressure_Read(void);
+void Trigger_PT100_Read(void);
+void Trigger_HeaterWriting(void);
+void Trigger_Head_Init_PT100(void);
+void Trigger_Head_Actuators_Control(uint32_t Act_ID, bool Active_Low_Pwr, bool Direction);
+void Trigger_Head_Fan_Control(uint32_t Fan_ID, uint16_t PWM);
+void Trigger_InputsReading(void);
 
 #endif /* DRIVERS_I2C_COMMUNICATION_I2C_TASK_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index e4e53859a..d679cbb01 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -845,8 +845,8 @@ void MotorActionsInit(void)
     }
     if (Head_Type == HEAD_TYPE_SYLKO)//adjust the limit switches
     {
-        Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID] = HEADCARD_COVER_LS_REAR;
-        Motor_Id_to_LS_IdUp  [HARDWARE_MOTOR_TYPE__MOTO_DH_LID] = HEADCARD_COVER_LS_FRONT;
+        Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID] = I2C_HEADCARD_COVER_LS_REAR;
+        Motor_Id_to_LS_IdUp  [HARDWARE_MOTOR_TYPE__MOTO_DH_LID] = I2C_HEADCARD_COVER_LS_FRONT;
     }
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index da4f04f3b..1f69387a6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -59,6 +59,8 @@
 #include <Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.h>
 #include <Drivers/I2C_Communication/I2C_Task.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.h>
+#include "Modules/Heaters/Heaters_ex.h"
+#include <Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.h>
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
 
@@ -706,7 +708,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
     if (Onesecond_Tick)
     {
         char Lenstr[160];
-        static int Counter = 0;
+        //static int Counter = 0;
         MachineUpdateResponseFunc();
         //KeepAliveOneSecondCall();
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 0e52832ca..5a920bc25 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -726,7 +726,6 @@ uint32_t LoadConfigurationParamsFromFile(bool Initialize)
 }
 void HWConfigurationLoadFile(void)
 {
-    FRESULT Fresult = FR_OK;
     uint8_t* buffer = NULL;
     uint32_t Bytes = 0;
     buffer = HWConfigurationLoadFromFile(&Bytes); //load hardware config
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 9a6099215..57b596931 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -33,7 +33,7 @@
 #include "modules/heaters/heaters_ex.h"
 #include <Drivers/I2C_Communication/I2C.h>
 #include <Drivers/I2C_Communication/Head_Card/I2C_Head_Mux.h>
-#include <Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h>
+#include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
 #include "drivers/adc_sampling/adc.h"
 #include <Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan/WHS_Fan.h>
 #include <Drivers/I2C_Communication/WHS_Card/WHS_data.h>
@@ -43,7 +43,6 @@
 #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614_ADC/WHS_MAX11614_A2D.h>
 #include <Drivers/I2C_Communication/WHS_Card/IO_Extender_Ports_TCA9555/WHS_IO.h>
 
-#include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
 
 extern float NumberOfRotationPerPassage;  // how many rotations per spool passage
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 60cd994dd..8cd917a8d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -72,10 +72,12 @@ double TempTotalProcessedLength = 0.0;
 
 bool InitialProcess = false;
 bool PrepareState = false;
+
 // job parameters
 bool EnableLubrication = false;
 bool EnableIntersegment = false;
 double IntersegmentLength = 0;
+bool Thread_Rockers_Bypass = false;
 
 
 int CurrentSegmentId = 0;
@@ -781,6 +783,8 @@ uint32_t HandleJobThreadControlParameters(ThreadParameters* ThreadParams)
         MotorControlConfig[WINDER_MOTOR].m_params.Ki = ThreadParams->winderi;
     if(ThreadParams->winderd)
         MotorControlConfig[WINDER_MOTOR].m_params.Kd = ThreadParams->winderd;
+    if(ThreadParams->bypassrockers)
+        Thread_Rockers_Bypass = true;
 
 }
 //********************************************************************************************************************
@@ -1003,7 +1007,6 @@ uint32_t ThreadDryerRampUp(uint32_t IfIndex, uint32_t BusyFlag)
 
     return OK;
 }
-bool Thread_Rockers_Bypass = false;
 bool Set_Thread_Rockers_Bypass (int value)
 {
     if (value == 0)