merge

15 files changed, 78 insertions, 33 deletions

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 1528473a1..f8e8d7b9e 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
@@ -11,7 +11,6 @@
 #include <DataDef.h>
 #include "modules/control/millisecTask.h"
 #include "modules/thread/thread.h"
-#include "delay.h"
 #include "FPGA_GPIO.h"
 #include "drivers/FPGA/FPGA.h"
 #include "StateMachines/Printing/PrintingSTM.h"
@@ -19,6 +18,7 @@
 
 #include "Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h"
 #include <Drivers/I2C_Communication/I2C_Task.h>
+#include <Utilities/delay.h>
 
 FPGA_GPI FPGA_Gpi;
 
@@ -434,6 +434,12 @@ bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch)
         case GPI_LS_LSPARE2:
             LM_Status = LS_Left.bits.F1_LS_LSPARE2;
                 break;
+        case GPI_LS_SPARE2_2:
+            LM_Status = LS_Spare.bits.F3_LS_SPARE2_2;
+            break;
+        case GPI_LS_SPARE1_2:
+            LM_Status = LS_Spare.bits.F3_LS_SPARE1_2;
+            break;
         case I2C_HEADCARD_COVER_LS_FRONT:
         case I2C_HEADCARD_ARC_LS_ACTUATOR:
                 LM_Status = !(Head_I2C_EXP4_0x46.bits.INPUT_LS_FRONT_ARC_ACT);
@@ -537,9 +543,10 @@ uint32_t MagnetCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     if(Head_Type == HEAD_TYPE_FLAT)
         Trigger_Head_Magnet(DISABLE_MAGNET);
         //HeadCard_HeadMagnet_Disable();
+#ifndef FOUR_WINDERS
     else
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,Hard_Hiz );
-
+#endif
     if (SafeRemoveControlCallback(MagnetControlId, MagnetCallBackFunction )==OK)
         MagnetControlId = 0xFF;
     else
@@ -563,6 +570,7 @@ uint32_t ActivateHeadMagnet()
         F2_CTRL = F2_CTRL_Reg.ushort;
 #endif
     }
+#ifndef FOUR_WINDERS
     if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
     {
         if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
@@ -570,6 +578,7 @@ uint32_t ActivateHeadMagnet()
         else
             MotorGoTo(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,DH_LID_CLOSE );
     }
+#endif
     MagnetControlId = AddControlCallback(NULL, MagnetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     return OK;
 }
@@ -597,6 +606,7 @@ uint32_t DeActivateHeadMagnet()
 #endif
     }
     Report("DeActivateHeadMagnet - open the lid magnet",__FILE__,__LINE__,(int)HARDWARE_MOTOR_TYPE__MOTO_RLOADARM,RpWarning,(int)DH_LID_CLOSE,0);
+#ifndef FOUR_WINDERS
     if (isMotorConfigured(HARDWARE_MOTOR_TYPE__MOTO_RLOADARM))
     {
         if (MotorDriverResponse[HARDWARE_MOTOR_TYPE__MOTO_RLOADARM].DriverType == CombinrdMotDriver)
@@ -605,6 +615,7 @@ uint32_t DeActivateHeadMagnet()
             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);
     }
+#endif
     //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 a7999ea2e..e707a9b39 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
@@ -158,6 +158,11 @@ typedef enum
     GPI_EXTWINDER_Direct_BIT13,  //125
     GPI_EXTWINDER_Direct_BIT14,  //126
     GPI_EXTWINDER_Direct_BIT15,  //127
+
+    //LS_Spare
+    GPI_LS_SPARE2_2,             //128
+    GPI_LS_SPARE1_2,             //129
+
     //-------------------------------
     I2C_HEADCARD_COVER_LS_FRONT,
     I2C_HEADCARD_COVER_LS_REAR,
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c
index 2e3b3c3ff..549a41477 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Full_Vme/ispvme/hardware.c
@@ -29,13 +29,12 @@
 #include <stdio.h>
 #include <stdint.h>
 #include <string.h>
+#include <Utilities/delay.h>
 #include "inc/hw_memmap.h"
 #include "inc/hw_types.h"
 #include "driverlib/gpio.h"
 #include "Drivers/FPGA/Full_Vme/FPGA_Programming_Up.h"
 
-#include "delay.h"
-
 #include "vmopcode.h"
 
 #include "Drivers/FPGA/Full_vme/FPGA_Programming_Up.h"
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
index 2d2de930b..5bac56231 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
@@ -291,7 +291,7 @@ double  Calc_Calibration_MidTank_Liquid(uint32_t VsampleInBits, MidTank_t MidTan
         }
         //LOG_ERROR (MidTank_ID,"Wrong MidTank Calibration parameters");
 #ifndef DISPESER_TEST
-        Report("Wrong MidTank Calibration parameters",__FILE__,MidTank_ID,(int)(Initial_Offset_A[MidTank_ID]*100),RpMessage,(int)(Slope_B[MidTank_ID]*100),0);
+        //Report("Wrong MidTank Calibration parameters",__FILE__,MidTank_ID,(int)(Initial_Offset_A[MidTank_ID]*100),RpMessage,(int)(Slope_B[MidTank_ID]*100),0);
 #endif
     }
     else
@@ -483,7 +483,7 @@ uint32_t Read_Head_MixChip_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-5
 
     if (Heater_ID>=NUM_OF_CURRENT_HEATERS)
         return ERROR;
-    #warning need to change the hardware://there is overflow in Dyer Head zone 4 with resistor 0.05
+    //#warning need to change the hardware://there is overflow in Dyer Head zone 4 with resistor 0.05
     const double Resistor[NUM_OF_CURRENT_HEATERS] = {0.025, 0.025, 0.025, 0.025, 0.020, 0.025};
 
     if (Heaters_Current_Read_Enable[Heater_ID] == false)
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c
index d9f5385f6..9023f8250 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.c
@@ -106,8 +106,8 @@ uint32_t Dispenser_EEPROM_Read_Data(uint8_t Dispenser_ID)//0..7
 uint32_t test_disp_eeprom(uint8_t Dispenser_ID , uint8_t EEprom_Add)//0..7
 {
     uint32_t status= OK;
-    uint32_t i;
-/*
+/*    uint32_t i;
+
     Dispenser_struct[Dispenser_ID].Write_Disp_EEPROM.bytes.Dispebser_Data.SN = 0x12345678;
     Dispenser_struct[Dispenser_ID].Write_Disp_EEPROM.bytes.Nl_Pulse_Value = 0xAB;
     Dispenser_struct[Dispenser_ID].Write_Disp_EEPROM.bytes.Flow_Pass_Fail = 0xCD;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
index 45da809af..445d835c5 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
@@ -9,11 +9,11 @@
 
 #include <stdbool.h>
 #include <stdint.h>
-#include <delay.h>
 #include <DataDef.h>
 #include <Drivers/I2C_Communication/Dispenser_Card/I2C_Dispenser_Card_Mux.h>
 #include <Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h>
 #include <Drivers/I2C_Communication/I2C.h>
+#include <Utilities/delay.h>
 
 //TCA9534Regs* Disp_IO_Reg;
 TCA9534Regs Regs;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
index 6d34f391d..33d888b14 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.c
@@ -770,7 +770,7 @@ bool isActuatorOnLowestLocation(void) // Give indication if the actuator stopped
 uint32_t HeadCard_Actuators_Relocate_callback(uint32_t IfIndex, uint32_t BusyFlag) // use IfIndex for Act_ID
 {
     count_time++;
-    ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0);
+    //ReportWithPackageFilter(ThreadFilter,"actuators relocation",__FILE__,msec_millisecondCounter,ActuatorLocating,RpMessage,count_time,0);
     switch (ActuatorLocating)
     {
         case ActuatorIdle:
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c
index 9be6a90b9..4057b4912 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c
@@ -10,12 +10,12 @@
 #include <stdbool.h>
 #include <string.h> //memset
 #include <DataDef.h>
-#include "delay.h"
 #include "driverlib/sysctl.h"
 #include "driverlib/i2c.h"
 #include <Drivers/I2C_Communication/I2C.h>
 #include "drivers/FPGA/FPGA_Comm.h"
 #include <Drivers/I2C_Communication/RFID_NFC/PN7150/PN7150.h>
+#include <Utilities/delay.h>
 #include "I2C_IFS_Mux.h"
 #include "NFC_MainBaord.h"
 #include "Modules/Control/Control.h"
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c
index 8da522961..a1139591d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC.c
@@ -10,12 +10,12 @@
 #include <string.h> //memset
 #include <DataDef.h>
 #include "datadef.h"
-#include "delay.h"
 #include "drivers/I2C_Communication/I2C.h"
 #include "drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h"
 #include "drivers/I2C_Communication/RFID_NFC/logi-tag/LT_RFID.h"
 #include <Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.h>
 #include <Drivers/I2C_Communication/RFID_NFC/NFC.h>
+#include <Utilities/delay.h>
 
 RFID_TAG_State_Machine    TagStage = Tag_Idle;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.c
index bc8ef08e0..74b00f4ad 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/NFC_MainBaord.c
@@ -14,7 +14,6 @@
 #include "driverlib/sysctl.h"
 #include <Drivers/I2C_Communication/I2C.h>
 #include "drivers/FPGA/FPGA_Comm.h"
-#include "delay.h"
 #include <Drivers/I2C_Communication/RFID_NFC/PN7150/PN7150.h>
 #include <Drivers/I2C_Communication/RFID_NFC/Test_RFID.h>
 #include "drivers/I2C_Communication/RFID_NFC/logi-tag/LT_RFID.h"
@@ -22,6 +21,7 @@
 #include "Drivers/I2C_Communication/RFID_NFC/NFC.h"
 #include "driverlib/i2c.h"
 #include <Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_NFC.h>
+#include <Utilities/delay.h>
 //#include <Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_NFC.h>
 //#include <Drivers/I2C_Communication/RFID_NFC/logi-tag/LT_NFC_Settings.h>
 //#include <Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.h>
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.c
index 3e5ed6ab5..6c2d54111 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_ADS122_PT100/WHS_PT100_ADC.c
@@ -267,8 +267,6 @@ bool  WHS_PT100_Read(TEMPERATURE_SENSOR_ID_ENUM SensorId)
                break;
        }
 
-    #warning what to do with the data   ??????? //- see TempSensorResponse[SensorId].Temperature_C_mult_by_100
-
     return Status;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
index b974e4c5b..764ef0d44 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC_Blower/WHS_Blower.c
@@ -465,7 +465,7 @@ bool WHS_Set_Blower_Control_Closed_Loop(double Q_value)
         close_loop_time = 15;
         if (midtank_cleared < NUM_OF_MIDTANKS)
         {
-#warning open waiting midtank both valves for 15 seconds
+//#warning open waiting midtank both valves for 15 seconds
             Valve_Set(IDS_Id_to_AirValve[midtank_cleared], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
             Valve_Set(IDS_Id_to_CartrideValve[midtank_cleared], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
         }
@@ -475,7 +475,7 @@ bool WHS_Set_Blower_Control_Closed_Loop(double Q_value)
     {
         if (midtank_cleared < NUM_OF_MIDTANKS)
         {
-#warning close waiting midtank both valves for 15 seconds
+//#warning close waiting midtank both valves for 15 seconds
             Valve_Set(IDS_Id_to_AirValve[midtank_cleared], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
             Valve_Set(IDS_Id_to_CartrideValve[midtank_cleared], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
             midtank_cleared = NUM_OF_MIDTANKS;
@@ -613,7 +613,7 @@ char whs_str[150];
 uint32_t WHS_Pid_Testing_Func(double setParam,double measuredParam)
 {
     float calculated_speed;
-    float avreageSampleValue = 0;
+    //float avreageSampleValue = 0;
     int i;
 
     /*WhsBlowerSamples[WhsBlowerSamplesPointer] = measuredParam;//(-1 * TranslatedReadValue);
@@ -634,9 +634,9 @@ uint32_t WHS_Pid_Testing_Func(double setParam,double measuredParam)
         calculated_speed = volt + 100;
     if (calculated_speed < (volt - 100))
         calculated_speed = volt - 100;*/
-    usnprintf(whs_str, 150, "WHS_Pid_Testing_Func meas %d avg %d set %d error %d integral %d blower %d",
+/*    usnprintf(whs_str, 150, "WHS_Pid_Testing_Func meas %d avg %d set %d error %d integral %d blower %d",
               (int)(measuredParam*100),(int)(avreageSampleValue*100),(int)(setParam*100),(int)(WHS_ControlData.m_calculatedError*100),(int)(WHS_ControlData.m_integral*100),(int)(calculated_speed));
-    Report(whs_str, __FILE__,__LINE__, (int)(calculated_speed), RpMessage, (int)(volt), 0);
+    Report(whs_str, __FILE__,__LINE__, (int)(calculated_speed), RpMessage, (int)(volt), 0);*/
     /*if (fabs(WHS_ControlData.m_calculatedError)>(WHS_ControlData.m_params.MAX/2))
     {
         close_loop_time = 1;
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 419c34985..f500104f4 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -52,6 +52,39 @@ uint32_t MotorTimeLag[NUM_OF_MOTORS];
 uint32_t MotorTimeLimit[NUM_OF_MOTORS];
 uint32_t MotorControlId[NUM_OF_MOTORS];
 uint32_t StoredMotorPosition[NUM_OF_MOTORS];
+#ifdef FOUR_WINDERS
+FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for normal homing into working mode
+      GPI_LS_DH_CLEAN_LEFT    , //MOTO_DH_CLEANHEAD = 0, Shlomo Correct setting for machine 7 25/3
+      GPI_LS_DH_CLEAN_RIGHT, //MOTO_DH_CLEANMECH = 1, Shlomo Correct setting for machine 7 25/3
+      GPI_LS_DH_LID_CLOSED, //MOTO_DH_LID = 2,
+      MAX_GPI, //MOTO_DRYER_DRIVING = 3,
+      GPI_LS_DRYER_LID_CLOSED, //MOTO_DRYER_LID = 4,
+      MAX_GPI, //MOTO_DRYER_LOADARM = 5,
+      GPI_LS_DISPENSER_DOWN_1, //MOTO_DISPENSER_1 = 6,
+      GPI_LS_DISPENSER_DOWN_2, //MOTO_DISPENSER_2 = 7,
+      GPI_LS_DISPENSER_DOWN_3, //MOTO_DISPENSER_3 = 8,
+      GPI_LS_DISPENSER_DOWN_4, //MOTO_DISPENSER_4 = 9,
+      GPI_LS_DISPENSER_DOWN_5, //MOTO_DISPENSER_5 = 10,
+      GPI_LS_DISPENSER_DOWN_6, //MOTO_DISPENSER_6 = 11,
+      GPI_LS_DISPENSER_DOWN_7, //MOTO_DISPENSER_7 = 12,
+      GPI_LS_DISPENSER_DOWN_8, //MOTO_DISPENSER_8 = 13,
+      GPI_LS_SCREW_RIGHT, //MOTO_SCREW = 14,
+      MAX_GPI, //MOTO_WINDER = 15,
+      GPI_LS_LDANCER1_DOWN, //MOTO_LDANCER1 = 16,
+      GPI_LS_LSPARE1, //MOTO_LDANCER2 = 17,
+      MAX_GPI, //MOTO_LDRIVING = 18,
+      GPI_LS_LLOADMOTOR_DOWN, //MOTO_LLOADING = 19,
+      GPI_LS_LPIVOT_DOWN, //MOTO_LPIVOT1 = 20,
+      GPI_LS_RDANCER_UP, //MOTO_RDANCER = 21,
+      MAX_GPI, //MOTO_RDRIVING = 22,
+      GPI_LS_RDANCER_LONG, //MOTO_RLOADARM = 23,
+      GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
+      GPI_LS_SPARE1_2, //HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1 = 25,
+      MAX_GPI, //HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2 = 26,
+      GPI_LS_SPARE2_2, //HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1 = 27,
+      MAX_GPI, //HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2 = 28,
+};
+#else
 FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for normal homing into working mode
       GPI_LS_DH_CLEAN_LEFT    , //MOTO_DH_CLEANHEAD = 0, Shlomo Correct setting for machine 7 25/3
       GPI_LS_DH_CLEAN_RIGHT, //MOTO_DH_CLEANMECH = 1, Shlomo Correct setting for machine 7 25/3
@@ -79,6 +112,7 @@ FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for n
       GPI_LS_RDANCER_LONG, //MOTO_RLOADARM = 23,
       GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
 };
+#endif
 FPGA_GPI_ENUM     Motor_Id_to_LS_IdUp[NUM_OF_MOTORS] = { // limit switch for normal homing out of working mode
       GPI_LS_DH_CLEAN_LEFT    , //MOTO_DH_CLEANHEAD = 0, Shlomo Correct setting for machine 7 25/3
       GPI_LS_DH_CLEAN_RIGHT, //MOTO_DH_CLEANMECH = 1, Shlomo Correct setting for machine 7 25/3
@@ -190,7 +224,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S
 
     //MotorStop(MotorId,Hard_Hiz );
     MotorMove(MotorId,direction,Steps );
-    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,MotorId, MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveCallBackFunction;
     return MotorControlId[MotorId];
 }
@@ -437,15 +471,15 @@ uint32_t MotorSetSpeedWithCallback (TimerMotors_t MotorId, uint32_t _freq, callb
 }
 uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
 {
-    uint32_t MotorId;
+    uint32_t MotorId,encoder;
     uint32_t Busy = BusyFlag;
-    /*if (IfIndex>>8 != IfTypeMotors)
+    if (IfIndex>>8 != IfTypeMotors)
     {
         LOG_ERROR (IfIndex, "Wrong  Interface type");
         return 0xFFFFFFFF;
-    }*/
+    }
+    MotorId = IfIndex&0xFF;
 
-    MotorId = IfIndex;
     CallbackCalls++;
     if (MotorId ==HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM)
     {
@@ -455,7 +489,7 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
         }
         if (CallbackCalls%200 == 1)
         {
-            MotorId = Read_Dryer_ENC_Position(0,0);
+            encoder = Read_Dryer_ENC_Position(0,0);
             Report("MotorMoveCallBackFunction",__FILE__,__LINE__,DrierZeroPosition,RpWarning,MotorId,0);
         }
     }
@@ -475,7 +509,7 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
             printBusy = false;
         }*/
            //stop this control loop
-        Report("MotorControlGetnBusyState stop",__FILE__,__LINE__,BusyFlag,RpMessage,MotorTimeout[MotorId],0);
+        Report("MotorControlGetnBusyState stop",__FILE__,MotorId,BusyFlag,RpMessage,MotorTimeout[MotorId],0);
            SafeRemoveControlCallback(MotorControlId[MotorId], MotorMoveCallBackFunction );
            MotorControlCallback[MotorId] = 0;
            MotorControlId[MotorId] = 0xFF;
@@ -688,8 +722,7 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t MotorId,bool direction, uint32_t
             /*if (Head_Type == HEAD_TYPE_FLAT)
             {
                 Report("Close_actuators",__FILE__,__LINE__,LOW,RpMessage,true,0);
-                Trigger_Head_Actuators_Control(ACTOT, LOW,false);
-                //Trigger_Head_Actuators_Control(ACTIN, LOW,false);
+                Trigger_Head_Actuators_Stub(ACTOT, ENABLE, DOWN);
                 HeadCard_Actuators_Relocate();
             }*/
         }
@@ -901,7 +934,7 @@ void MotorActionsInit(void)
         MotorDriverResponse[i].Status = 0xFFFFFFFF;
         StoredMotorPosition[i] = 0;
     }
-    if (Head_Type == HEAD_TYPE_FLAT)//adjust the limit switches
+    if ((Head_Type == HEAD_TYPE_FLAT)||(Head_Type == HEAD_TYPE_ARC))//adjust the limit switches
     {
         Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID] = I2C_HEADCARD_COVER_LS_FRONT;
         Motor_Id_to_LS_IdUp  [HARDWARE_MOTOR_TYPE__MOTO_DH_LID] = I2C_HEADCARD_COVER_LS_REAR ;
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
index 6598b88c2..4f864eaca 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
@@ -17,8 +17,8 @@ uint32_t Read_Dryer_Status(HardwareDancerType DancerId);
 
 void Loop_SSI();
 
-void test_dancer_responce_RTFU(bool motor_direction);
-void test_dancer_responce_RTFU();
+//void test_dancer_responce_RTFU(bool motor_direction);
+void test_dancer_responce_RTFU(void);
 
 
 extern bool test_dancer_direction, test_dancer_flag;
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
index e2d0443b4..3389d941c 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
@@ -245,7 +245,6 @@ void MainCardEEpromReadRequestFunc(MessageContainer* requestContainer)
 
     uint32_t status = PASSED;
     MessageContainer responseContainer;
-    int32_t EEdata = 0;
 
     StubMainCardEEpromReadRequest* request = stub_main_card_eeprom_read_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);