reduce motorconfig size. remove graphic lib. alarm handling does not stop the job

34 files changed, 352 insertions, 712 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 1d0d3a205..c859bd778 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -38,6 +38,7 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/FPGA/Moters_Driver/L6470.h"
+#include "drivers/Motors/Motor.h"
 #include "drivers/Heater/TemperatureSensor.h"
 
 
@@ -157,9 +158,36 @@ AlarmHandlingItem  AlarmItem[MAX_SYSTEM_ALARMS]={
 {100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6OverTemperature,NULL},
 {100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7OverTemperature,NULL},
 {100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8OverTemperature,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7UnderVoltage,NULL},
+//{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDryerStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorFeederStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorScrewStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorWinderStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorPoolerStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser1Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser2Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser3Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser4Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser5Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser6Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser7Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser8Stall,NULL},
 };
 char TestMessage[5]="Test";
 
+bool EventsNotificationRequestAccepted = false;
 //read dispensers limit switches. 25 - send warning. up - stop job and send alarm
 //Cone missing
 //Dyeing head over temperature
@@ -192,7 +220,7 @@ uint32_t AlarmHandlingConsequentActions(EventType EventId, DebugLogCategory Seve
         if (JobIsActive())
         {
             JobEndReason = JOB_OTHER_ALARM;
-            EndState(NULL,event_type__descriptor.name[EventId]);
+            //EndState(NULL,event_type__descriptor.name[EventId]);
         }
 //Stop Job
         break;
@@ -200,7 +228,7 @@ uint32_t AlarmHandlingConsequentActions(EventType EventId, DebugLogCategory Seve
         if (JobIsActive())
         {
             JobEndReason = JOB_OTHER_ALARM;
-            EndState(NULL,event_type__descriptor.name[EventId]);
+            //EndState(NULL,event_type__descriptor.name[EventId]);
         }
         watchdogCriticalAlarm = true;
         //stop job
@@ -255,9 +283,11 @@ uint32_t AlarmHandlingEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 uint32_t AlarmHandlingStart(void)
 {
 
+    if (EventsNotificationRequestAccepted == false)
+        return ERROR;
     if ( AlarmHandlingActive == false)
     {
-    //        AlarmHandlingActive = true;  Disabled in running version
+            AlarmHandlingActive = true;
             AlarmHandlingControlId = AddControlCallback(AlarmHandling_ControlTrigger,eTenMillisecond,AlarmHandlingEmptyCBFunction,0,0,0);
     }
     return OK;
@@ -499,8 +529,8 @@ uint32_t StartEventsNotificationRequestFunc(MessageContainer* requestContainer)
 
 //    ReportInitParams InitParams;
     //ControlStart();
-    //EventsNotificationRequestAccepted = true;
-    AlarmHandlingStart();
+    EventsNotificationRequestAccepted = true;
+    //AlarmHandlingStart();
 
     StartEventsNotificationRequest* request = start_events_notification_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (AlarmHandlingToken, requestContainer->token,36);
@@ -518,7 +548,7 @@ uint32_t StopEventsNotificationRequestFunc(MessageContainer* requestContainer)
 
     AlarmHandlingStop();
 
-    //EventsNotificationRequestAccepted = false;
+    EventsNotificationRequestAccepted = false;
 
     responseContainer = createContainer(MESSAGE_TYPE__StopEventsNotificationResponse,  requestContainer->token, false, &response, &stop_events_notification_response__pack, &stop_events_notification_response__get_packed_size);
     responseContainer.continuous = false;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 6aa8fd7a1..bb7bbaa92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -51,7 +51,7 @@
 #include <inc/hw_ints.h>
 
 #include "drivers/adc_sampling/adc.h"
-#include "Drivers/Peripheral_GPIO/GPIO.h"
+
 #include "control.h"
 #include "MillisecTask.h"
 /******************** Definitions  ********************************************/
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 222b47b57..bb8da0b2e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -21,24 +21,11 @@
 #include  <PMR/Diagnostics/DispenserAbortHomingRequest.pb-c.h>
 #include  <PMR/Diagnostics/DispenserAbortHomingResponse.pb-c.h>
 
-#include  <PMR/Diagnostics/DispenserJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/DispenserJoggingResponse.pb-c.h>
-#include  <PMR/Diagnostics/DispenserAbortJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/DispenserAbortJoggingResponse.pb-c.h>
-
 #include  <PMR/Diagnostics/MotorHomingRequest.pb-c.h>
 #include  <PMR/Diagnostics/MotorHomingResponse.pb-c.h>
 #include  <PMR/Diagnostics/MotorAbortHomingRequest.pb-c.h>
 #include  <PMR/Diagnostics/MotorAbortHomingResponse.pb-c.h>
 
-#include  <PMR/Diagnostics/MotorJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/MotorJoggingResponse.pb-c.h>
-#include  <PMR/Diagnostics/MotorAbortJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/MotorAbortJoggingResponse.pb-c.h>
-
-#include  <PMR/Diagnostics/SetComponentValueRequest.pb-c.h>
-#include  <PMR/Diagnostics/SetComponentValueResponse.pb-c.h>
-
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/Valves/Valve.h"
@@ -287,220 +274,4 @@ uint32_t DispenserAbortHomingRequestFunc(MessageContainer* requestContainer)
 
 return OK;
 }
-/********************************************************************************
- * Motor Jogging
- ********************************************************************************/
-
-uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
-{
-    uint32_t status = OK;
-
-    MessageContainer responseContainer;
-
-    MotorJoggingRequest* request = motor_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    MotorJoggingResponse response = MOTOR_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
-    bool direction;
-    int speed = request->speed;
-    if (speed == 0) speed = 150;
-
-    if (MotorId <= NUM_OF_MOTORS)
-    {
-        if (JobIsActive() == false)
-        {
-            {
-                switch (request->direction)
-                {
-                    case MOTOR_DIRECTION__Forward:
-                        direction = MotorsCfg[MotorId].directionthreadwize;
-                        break;
-                    case MOTOR_DIRECTION__Backward:
-                        direction = 1-MotorsCfg[MotorId].directionthreadwize;
-                        break;
-                }
-                MotorSetDirection(MotorId,direction);
-                MotorSetSpeed(MotorId, speed);
-            }
-        }
-        else
-        {
-            status = ERROR;
-        }
-    }
-    else
-    {
-        status = ERROR;
-    }
-
-    responseContainer = createContainer(MESSAGE_TYPE__MotorJoggingResponse,  requestContainer->token, false, &response, &motor_jogging_response__pack, &motor_jogging_response__get_packed_size);
-    if (status!= OK)
-    {
-        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
-        responseContainer.errormessage = "JOb Active or incorrect parameters";
-    }
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-
-uint32_t MotorAbortJoggingRequestFunc(MessageContainer* requestContainer)
-{
-
-    MessageContainer responseContainer;
-
-    MotorAbortJoggingRequest* request = motor_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    MotorAbortJoggingResponse response = MOTOR_ABORT_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
-
-    MotorStop(MotorId,Hard_Hiz);
-
-    responseContainer = createContainer(MESSAGE_TYPE__MotorAbortJoggingResponse,  requestContainer->token, false, &response, &motor_abort_jogging_response__pack, &motor_abort_jogging_response__get_packed_size);
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-
-/********************************************************************************
- * Dispenser Jogging
- ********************************************************************************/
-
-uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
-{
-    uint32_t status = OK;
-
-    MessageContainer responseContainer;
-
-    DispenserJoggingRequest* request = dispenser_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    DispenserJoggingResponse response = DISPENSER_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
-    int speed = request->speed;
-    if (speed == 0) speed = 150;
-
-    bool direction;
-
-    if (MotorId <= NUM_OF_MOTORS)
-    {
-        if (JobIsActive() == false)
-        {
-            switch (request->direction)
-            {
-                case MOTOR_DIRECTION__Forward:
-                    Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                    direction = MotorsCfg[MotorId].directionthreadwize;
-                    break;
-                case MOTOR_DIRECTION__Backward:
-                    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                    direction = 1-MotorsCfg[MotorId].directionthreadwize;
-                    break;
-            }
-            MotorSetDirection(MotorId,direction);
-            MotorSetSpeed(MotorId, speed);
-        }
-        else
-        {
-            status = ERROR;
-        }
-    }
-    else
-    {
-        status = ERROR;
-    }
-
-    responseContainer = createContainer(MESSAGE_TYPE__DispenserJoggingResponse,  requestContainer->token, false, &response, &dispenser_jogging_response__pack, &dispenser_jogging_response__get_packed_size);
-    if (status!= OK)
-    {
-        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
-        responseContainer.errormessage = "JOb Active or incorrect parameters";
-    }
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer)
-{
-
-    MessageContainer responseContainer;
-
-    DispenserAbortJoggingRequest* request = dispenser_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    DispenserAbortJoggingResponse response = DISPENSER_ABORT_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
-    MotorStop(MotorId,Hard_Hiz);
-    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-
-    responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortJoggingResponse,  requestContainer->token, false, &response, &dispenser_abort_jogging_response__pack, &dispenser_abort_jogging_response__get_packed_size);
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-
-/********************************************************************************
- *Blower Diagnostic
- ********************************************************************************/
-uint32_t SetComponentValueRequestRequestFunc(MessageContainer* requestContainer)
-{
-    MessageContainer responseContainer;
-    uint8_t* container_buffer;
-    uint32_t status = 0;
-    uint32_t intvoltage;
-    SetComponentValueRequest* request = set_component_value_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-
-
-    SetComponentValueResponse response = SET_COMPONENT_VALUE_RESPONSE__INIT;
-
-    responseContainer = createContainer(MESSAGE_TYPE__SetComponentValueResponse, requestContainer->token, true, &response, &set_component_value_response__pack, &set_component_value_response__get_packed_size);
-    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-
-
-    switch (request->component)
-    {
-        case VALUE_COMPONENT__BlowerVoltage:
-              blowervolatgedisplay = true;
-              voltage = request->value;
-              if (voltage == 0.0)
-                  Turn_the_Blower_Off();
-              else
-              {
-                  Turn_the_Blower_On();
-                  intvoltage = voltage;
-                  Control_Voltage_To_Blower(intvoltage);
-              }
-            break;
-        default:
-            break;
-    }
-
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-    //free(container_buffer);
-    //free(requestContainer);
-    set_component_value_request__free_unpacked(request,NULL);
-
-    return OK;
-}
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
new file mode 100644
index 000000000..cf341b9a9
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
@@ -0,0 +1,262 @@
+/*
+ * DiagnosticsJogging.c
+ *
+ *  Created on: 16 aug 2018
+ *      Author: shlomo
+ */
+/*
+ * DiagnosticsHoming.c
+
+ *
+ *  Created on: July 29 2018
+ *      Author: shlomo
+ */
+#include <DataDef.h>
+#include "include.h"
+
+#include <inc/hw_ints.h>
+#include <Container.h>
+
+#include "diagnostics.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/FPGA/FPGA.h"
+
+#include  <PMR/Diagnostics/DispenserJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/DispenserJoggingResponse.pb-c.h>
+#include  <PMR/Diagnostics/DispenserAbortJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/DispenserAbortJoggingResponse.pb-c.h>
+
+#include  <PMR/Diagnostics/MotorJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/MotorJoggingResponse.pb-c.h>
+#include  <PMR/Diagnostics/MotorAbortJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/MotorAbortJoggingResponse.pb-c.h>
+
+#include  <PMR/Diagnostics/SetComponentValueRequest.pb-c.h>
+#include  <PMR/Diagnostics/SetComponentValueResponse.pb-c.h>
+
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/Valves/Valve.h"
+#include "Drivers/I2C_Communication/DAC/blower.h"
+
+#include "StateMachines/Printing/PrintingSTM.h"
+
+/********************************************************************************
+ * Motor Jogging
+ ********************************************************************************/
+
+uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
+{
+    uint32_t status = OK;
+
+    MessageContainer responseContainer;
+
+    MotorJoggingRequest* request = motor_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    MotorJoggingResponse response = MOTOR_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
+    bool direction;
+    int speed = request->speed;
+    if (speed == 0) speed = 150;
+
+    if (MotorId <= NUM_OF_MOTORS)
+    {
+        if (JobIsActive() == false)
+        {
+            {
+                switch (request->direction)
+                {
+                    case MOTOR_DIRECTION__Forward:
+                        direction = MotorsCfg[MotorId].directionthreadwize;
+                        break;
+                    case MOTOR_DIRECTION__Backward:
+                        direction = 1-MotorsCfg[MotorId].directionthreadwize;
+                        break;
+                }
+                MotorSetDirection(MotorId,direction);
+                MotorSetSpeed(MotorId, speed);
+            }
+        }
+        else
+        {
+            status = ERROR;
+        }
+    }
+    else
+    {
+        status = ERROR;
+    }
+
+    responseContainer = createContainer(MESSAGE_TYPE__MotorJoggingResponse,  requestContainer->token, false, &response, &motor_jogging_response__pack, &motor_jogging_response__get_packed_size);
+    if (status!= OK)
+    {
+        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
+        responseContainer.errormessage = "JOb Active or incorrect parameters";
+    }
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+
+uint32_t MotorAbortJoggingRequestFunc(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    MotorAbortJoggingRequest* request = motor_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    MotorAbortJoggingResponse response = MOTOR_ABORT_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
+
+    MotorStop(MotorId,Hard_Hiz);
+
+    responseContainer = createContainer(MESSAGE_TYPE__MotorAbortJoggingResponse,  requestContainer->token, false, &response, &motor_abort_jogging_response__pack, &motor_abort_jogging_response__get_packed_size);
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+
+/********************************************************************************
+ * Dispenser Jogging
+ ********************************************************************************/
+
+uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
+{
+    uint32_t status = OK;
+
+    MessageContainer responseContainer;
+
+    DispenserJoggingRequest* request = dispenser_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    DispenserJoggingResponse response = DISPENSER_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+    int speed = request->speed;
+    if (speed == 0) speed = 150;
+
+    bool direction;
+
+    if (MotorId <= NUM_OF_MOTORS)
+    {
+        if (JobIsActive() == false)
+        {
+            switch (request->direction)
+            {
+                case MOTOR_DIRECTION__Forward:
+                    Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                    direction = MotorsCfg[MotorId].directionthreadwize;
+                    break;
+                case MOTOR_DIRECTION__Backward:
+                    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                    direction = 1-MotorsCfg[MotorId].directionthreadwize;
+                    break;
+            }
+            MotorSetDirection(MotorId,direction);
+            MotorSetSpeed(MotorId, speed);
+        }
+        else
+        {
+            status = ERROR;
+        }
+    }
+    else
+    {
+        status = ERROR;
+    }
+
+    responseContainer = createContainer(MESSAGE_TYPE__DispenserJoggingResponse,  requestContainer->token, false, &response, &dispenser_jogging_response__pack, &dispenser_jogging_response__get_packed_size);
+    if (status!= OK)
+    {
+        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
+        responseContainer.errormessage = "JOb Active or incorrect parameters";
+    }
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    DispenserAbortJoggingRequest* request = dispenser_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    DispenserAbortJoggingResponse response = DISPENSER_ABORT_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+    MotorStop(MotorId,Hard_Hiz);
+    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+
+    responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortJoggingResponse,  requestContainer->token, false, &response, &dispenser_abort_jogging_response__pack, &dispenser_abort_jogging_response__get_packed_size);
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+
+/********************************************************************************
+ *Blower Diagnostic
+ ********************************************************************************/
+uint32_t SetComponentValueRequestRequestFunc(MessageContainer* requestContainer)
+{
+    MessageContainer responseContainer;
+    uint8_t* container_buffer;
+    uint32_t status = 0;
+    uint32_t intvoltage;
+    SetComponentValueRequest* request = set_component_value_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+
+
+    SetComponentValueResponse response = SET_COMPONENT_VALUE_RESPONSE__INIT;
+
+    responseContainer = createContainer(MESSAGE_TYPE__SetComponentValueResponse, requestContainer->token, true, &response, &set_component_value_response__pack, &set_component_value_response__get_packed_size);
+    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+
+
+    switch (request->component)
+    {
+        case VALUE_COMPONENT__BlowerVoltage:
+              blowervolatgedisplay = true;
+              voltage = request->value;
+              if (voltage == 0.0)
+                  Turn_the_Blower_Off();
+              else
+              {
+                  Turn_the_Blower_On();
+                  intvoltage = voltage;
+                  Control_Voltage_To_Blower(intvoltage);
+              }
+            break;
+        default:
+            break;
+    }
+
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+    //free(container_buffer);
+    //free(requestContainer);
+    set_component_value_request__free_unpacked(request,NULL);
+
+    return OK;
+}
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index e8fe8783d..dc9d89766 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -107,7 +107,7 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     }
 
     ControlStart();
-    //AlarmHandlingStart();
+    AlarmHandlingStart();
     //ThreadInitialTestStub(request);
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
index 6cb67542f..e386df88c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
@@ -7,7 +7,7 @@
 #include "driverlib/gpio.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 void Stub_CalculateRequest(MessageContainer* requestContainer)
 {
@@ -15,10 +15,6 @@ void Stub_CalculateRequest(MessageContainer* requestContainer)
 
     CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("Calculate Request: ");
-    writeFloat(request->a);
-    writeString(" + ");
-    writeFloat(request->b);
 
     CalculateResponse response = CALCULATE_RESPONSE__INIT;
     response.sum = request->a + request->b;
@@ -26,9 +22,6 @@ void Stub_CalculateRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__CalculateResponse, requestContainer->token, true, &response, &calculate_response__pack, &calculate_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-    writeFloat(response.sum);
-
 //    free(request);
 
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index e38abdab3..919e84582 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -29,8 +29,6 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
         size_t container_size = message_container__pack(&responseContainer, container_buffer);
         free(responseContainer.data.data);
-        //writeLine("Sending Progress: ");
-        //writeFloat(response.progress);
         SendChars((char*)container_buffer, container_size);
         //free(container_buffer);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index fbfb0ed85..997d67973 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -25,7 +25,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
index 49c7d0d3b..581a27f1f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -12,7 +12,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 
@@ -25,10 +25,6 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 
 	//request->cartridgeid
 
-    writeLine("cartridge Request: ");
-
-    writeFloat(request->cartridgeid);
-
     StubCartridgeReadResponse response =   STUB_CARTRIDGE_READ_RESPONSE__INIT;
 	
 	response.cartridgeid = request->cartridgeid;
@@ -48,18 +44,6 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 	
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.cartridgeid);
-    writeString(", ");
-    writeFloat(response.cartridgecolor);
-    writeString(", ");
-    writeFloat(response.cartridgeversion);
-    writeString(", ");
-    writeFloat(response.cartridgedata);
-    writeString(", ");
-    writeFloat(response.cartridgeused);
-    writeString(", ");
 
     Write_status_response(status);
 
@@ -88,17 +72,6 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 	//request->cartridgedata
 	//request->cartridgeused
 
-    writeLine("Cartridge Request: ");
-
-    writeFloat(request->cartridgeid);
-    writeString(", ");
-    writeFloat(request->cartridgecolor);
-    writeString(", ");
-    writeFloat(request->cartridgeversion);
-    writeString(", ");
-    writeFloat(request->cartridgedata);
-    writeString(", ");
-    writeFloat(request->cartridgeused);
 	
     StubCartridgeWriteResponse response =   STUB_CARTRIDGE_WRITE_RESPONSE__INIT;
 	
@@ -111,12 +84,6 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 //    response.has_statusword = true;
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.cartridgeid);
-    writeString(", ");
-//    writeFloat(response.statusword);
-//    WRITELINESTATUS;
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeWriteResponse, requestContainer->token, true, &response, &stub_cartridge_write_response__pack, &stub_cartridge_write_response__get_packed_size);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
index 499f227a9..b7f6a387f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
@@ -22,7 +22,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
index 2d121faa7..0bcc9f7c9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -10,7 +10,7 @@
 #include "Drivers/USB_Communication/USBCDCD.h"
 #include "drivers/adc_sampling/adc.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 #include <math.h>
@@ -40,17 +40,6 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
 	//request->setmicrostepdivision
 	//request->setspeed
 
-    writeLine("Dispenser Request: ");
-
-    writeFloat(request->dispenserid);
-    writeString(", ");
-    writeFloat(request->start);
-    writeString(", ");
-    writeFloat(request->setdirection);
-    writeString(", ");
-    writeFloat(request->setmicrostepdivision);
-    writeString(", ");
-    writeFloat(request->setspeed);
 
     StubDispenserResponse response =   STUB_DISPENSER_RESPONSE__INIT;
 
@@ -68,14 +57,6 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.dispenserid);
-    writeString(", ");
-    writeFloat(response.dispenserposition);
-    writeString(", ");
-    writeFloat(response.inkworninglevel);
-    writeString(", ");
 
     Write_status_response(status);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
index d75ce8663..f478e9428 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
@@ -23,7 +23,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 
@@ -48,16 +48,6 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
     WriteBuf[3] = request->wordtowrite4;
     WriteBuf[4] = request->wordtowrite5;
     
-    writeLine("ExtFlash Request: ");
-    writeFloat(request->wordtowrite1);
-    writeString(", ");
-    writeFloat(request->wordtowrite2);
-    writeString(", ");
-    writeFloat(request->wordtowrite3);
-    writeString(", ");
-    writeFloat(request->wordtowrite4);
-    writeString(", ");
-    writeFloat(request->wordtowrite5);
 
     Ext_Flash_Operation(0X00,TX, Max_words, WriteBuf, NULL );
 
@@ -67,7 +57,6 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashWriteResponse, requestContainer->token, true, &response, &stub_ext_flash_write_response__pack, &stub_ext_flash_write_response__get_packed_size);
 
-    writeLine("Sending Response: ");
 
     Write_status_response(status);
 
@@ -105,9 +94,6 @@ void Stub_ExtFlashReadRequest(MessageContainer* requestContainer)
 
     Ext_Flash_Operation(0X00,RX, No_Words, NULL, ReadBuf );
 
-    writeLine("ExtFlash Request: ");
-    writeFloat(request->number_of_words);
-    
 
     StubExtFlashReadResponse response =   STUB_EXT_FLASH_READ_RESPONSE__INIT;
 
@@ -143,20 +129,6 @@ void Stub_ExtFlashReadRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashReadResponse, requestContainer->token, true, &response, &stub_ext_flash_read_response__pack, &stub_ext_flash_read_response__get_packed_size);
     //clear();
-    writeLine("Sending Response: ");
-
-    Write_status_response(status);
-    writeString(", ");
-    writeFloat(response.readword_1);
-    writeString(", ");
-    writeFloat(response.readword_2);
-    writeString(", ");
-    writeFloat(response.readword_3);
-    writeString(", ");
-    writeFloat(response.readword_4);
-    writeString(", ");
-    writeFloat(response.readword_5);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
@@ -337,9 +309,6 @@ void Stub_ExtFlashWriteWordsRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashWriteWordsResponse, requestContainer->token, true, &response, &stub_ext_flash_write_words_response__pack, &stub_ext_flash_write_words_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    Write_status_response(status);
 
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
index bd8f38db5..2fd85db09 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
@@ -16,7 +16,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
index eef70ee37..7fad9ffce 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
@@ -13,7 +13,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
@@ -30,11 +30,6 @@ void Stub_FPGAReadBackRegRequest(MessageContainer* requestContainer)
 
     StubFPGAReadBackRegRequest* request = stub_fpgaread_back_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
-    writeFloat(request->fpgaid);
-    writeString(", ");
-    writeFloat(request->value);
 
     status = FPGA_Test_ReadBack((unsigned char) request->fpgaid, (unsigned short) request->value, &ReadBack_Value);
 
@@ -49,14 +44,6 @@ void Stub_FPGAReadBackRegRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubFPGAReadBackRegResponse, requestContainer->token, true, &response, &stub_fpgaread_back_reg_response__pack, &stub_fpgaread_back_reg_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.fpgaid);
-    writeString(", ");
-    writeFloat(response.readbackvalue);
-    writeString(", ");
-
-    Write_status_response(status);
 
     //free(request);
     stub_fpgaread_back_reg_request__free_unpacked(request,NULL);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
index bf287325b..935b3d476 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
@@ -13,7 +13,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
@@ -32,9 +32,6 @@ void Stub_FPGAReadVersionRequest(MessageContainer* requestContainer)
 
     StubFPGAReadVersionRequest* request = stub_fpgaread_version_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
-    writeFloat(request->fpgaid);
 
     status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
 
@@ -55,21 +52,6 @@ void Stub_FPGAReadVersionRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubFPGAReadVersionResponse, requestContainer->token, true, &response, &stub_fpgaread_version_response__pack, &stub_fpgaread_version_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.fpgaid);
-    writeString(", ");
-    writeFloat(response.day);
-    writeString(", ");
-    writeFloat(response.month);
-    writeString(", ");
-    writeFloat(response.year);
-    writeString(", ");
-    writeFloat(response.ver_num);
-    writeString(", ");
-
-    Write_status_response(status);
-
     //free(request);
     stub_fpgaread_version_request__free_unpacked(request,NULL);
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
index ed3fd6512..a05c04f6e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
@@ -25,8 +25,6 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include <Modules/Stubs_Handler/User_Leds.h>
 
 #include "Stub_Status.h"
@@ -38,14 +36,6 @@ void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer)
 
     StubGPIOWriteBitRequest* request =  stub_gpiowrite_bit_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->pinid);
-    writeString(", ");
-    writeFloat(request->bittowrite);
-
 
               uint8_t PinId = 0;
               uint32_t PortId = 0;
@@ -169,8 +159,7 @@ void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer)
                       break;
 
                   default:
-                      writeLine("Unsupported Port ID: ");
-                      writeString(request->portid);
+                      LOG_ERROR (request->portid," Unsupported Port ID ");
                       break;
               }
 
@@ -205,16 +194,6 @@ void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer)
 
 			  status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-			  writeLine("Sending Response: ");
-
-			  writeString(response.portid);
-			  writeString(", ");
-			  writeFloat(response.pinid);
-			  writeString(", ");
-
-			  Write_status_response(status);
-
-
               responseContainer = createContainer(MESSAGE_TYPE__StubGPIOWriteBitResponse, requestContainer->token, true, &response, &stub_gpiowrite_bit_response__pack, &stub_gpiowrite_bit_response__get_packed_size);
 
               //-------------------------------------------------------------------------------------------
@@ -237,10 +216,6 @@ void Stub_GPIOReadByteRequest(MessageContainer* requestContainer)
 
     StubGPIOReadByteRequest* request =  stub_gpioread_byte_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-
     char Port = request->portid[0];
     uint32_t PortId = 0;
 
@@ -332,8 +307,7 @@ void Stub_GPIOReadByteRequest(MessageContainer* requestContainer)
             break;
 
         default:
-            writeLine("Unsupported Port ID: ");
-            writeString(request->portid);
+            LOG_ERROR (request->portid," Unsupported Port ID ");
             break;
     }
 
@@ -347,15 +321,6 @@ void Stub_GPIOReadByteRequest(MessageContainer* requestContainer)
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeString(response.portid);
-    writeString(", ");
-    writeFloat(response.bytevalue);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadByteResponse, requestContainer->token, true, &response, &stub_gpioread_byte_response__pack, &stub_gpioread_byte_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -376,12 +341,6 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
 
     StubGPIOReadBitRequest* request = stub_gpioread_bit_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->pinid);
-
     uint8_t PinId = 0;
     uint32_t PortId = 0;
 
@@ -504,8 +463,7 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
             break;
 
         default:
-            writeLine("Unsupported Port ID: ");
-            writeString(request->portid);
+            LOG_ERROR (request->portid," Unsupported Port ID ");
             break;
     }
 
@@ -545,17 +503,6 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
 
         status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-        writeLine("Sending Response: ");
-
-        writeString(response.portid);
-        writeString(", ");
-        writeFloat(response.pinid);
-        writeString(", ");
-        writeFloat(response.bitvalue);
-        writeString(", ");
-
-        Write_status_response(status);
-
         responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadBitResponse, requestContainer->token, true, &response, &stub_gpioread_bit_response__pack, &stub_gpioread_bit_response__get_packed_size);
 
 ///////////////////////////////////////////-----------------------------------------------------------------------------
@@ -592,17 +539,6 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
     response.status = OK;
     response.has_status = true;
 
-    writeLine("Sending Response: ");
-
-    writeString(response.portid);
-    writeString(", ");
-    writeFloat(response.pinid);
-    writeString(", ");
-    writeFloat(response.bitvalue);
-    writeString(", ");
-    writeFloat(response.status);
-    WRITELINESTATUS;
-
     responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadBitResponse, requestContainer->token, true, &response, &stub_gpioread_bit_response__pack, &stub_gpioread_bit_response__get_packed_size);
 */
     //-------------------------------------------------------------------------------------------
@@ -624,12 +560,6 @@ void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer)
 
     StubGPIOWriteByteRequest* request = stub_gpiowrite_byte_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->datatowrite);
-
     uint32_t PortId = 0;
 
     char Port = request->portid[0];
@@ -721,8 +651,7 @@ void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer)
             break;
 
         default:
-            writeLine("Unsupported Port ID: ");
-            writeString(request->portid);
+            LOG_ERROR (request->portid," Unsupported Port ID ");
             break;
     }
 
@@ -742,13 +671,6 @@ void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer)
     }
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeString(response.portid);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubGPIOWriteByteResponse, requestContainer->token, true, &response, &stub_gpiowrite_byte_response__pack, &stub_gpiowrite_byte_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -770,16 +692,6 @@ void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer)
 
     StubGPIOInputSetupRequest* request =  stub_gpioinput_setup_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->pinid);
-    writeString(", ");
-    writeFloat(request->setinput);
-    writeString(", ");
-    writeFloat(request->setpullup);
-
 
               uint8_t PinId = 0;
               uint32_t PortId = 0;
@@ -903,8 +815,7 @@ void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer)
                       break;
 
                   default:
-                      writeLine("Unsupported Port ID: ");
-                      writeString(request->portid);
+                      LOG_ERROR (request->portid," Unsupported Port ID ");
                       break;
               }
 
@@ -937,15 +848,6 @@ void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer)
 
               status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-              writeLine("Sending Response: ");
-
-              writeString(response.portid);
-              writeString(", ");
-              writeFloat(response.pinid);
-              writeString(", ");
-
-              Write_status_response(status);
-
               responseContainer = createContainer(MESSAGE_TYPE__StubGPIOInputSetupResponse, requestContainer->token, true, &response, &stub_gpioinput_setup_response__pack, &stub_gpioinput_setup_response__get_packed_size);
 
               //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
index fee7782fc..09244364a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
@@ -13,7 +13,6 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
index 317a8c540..47e1bda34 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
@@ -16,7 +16,7 @@
 #include "driverlib/gpio.h"
 
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 #include "Drivers/Heater/Heater.h"
@@ -35,12 +35,6 @@ void Stub_HeaterRequest(MessageContainer* requestContainer)
 	request->heatergroupon
     */
 
-    writeLine("Heater Request: ");
-
-    writeFloat(request->heatergroupid);
-    writeString(", ");
-    writeFloat(request->heatergroupon);
-
     if (request->heatergroupon )
         status = ActivateHeater(request->heatergroupid);
     else
@@ -55,15 +49,6 @@ void Stub_HeaterRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 	
-    writeLine("Sending Response: ");
-
-    writeFloat(response.heatergroupid);
-    writeString(", ");
-    writeFloat(response.heatertemperaturesensor);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubHeaterResponse, requestContainer->token, true, &response, &stub_heater_response__pack, &stub_heater_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
index 9539be0f9..e749b41ec 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
@@ -23,7 +23,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 #include "drivers/I2C_Communication/I2C.h"
@@ -63,11 +63,6 @@ void Stub_I2CRequest(MessageContainer* requestContainer)
 */
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-//
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubI2CResponse, requestContainer->token, true, &response, &stub_i2_cresponse__pack, &stub_i2_cresponse__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -126,11 +121,6 @@ void Stub_I2CWriteBytesRequest(MessageContainer* requestContainer)
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-//
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubI2CWriteBytesResponse, requestContainer->token, true, &response, &stub_i2_cwrite_bytes_response__pack, &stub_i2_cwrite_bytes_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -184,11 +174,6 @@ void Stub_I2CReadBytesRequest(MessageContainer* requestContainer)
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-//
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubI2CReadBytesResponse, requestContainer->token, true, &response, &stub_i2_cread_bytes_response__pack, &stub_i2_cread_bytes_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
index 85d7468bc..d9d35f363 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
@@ -20,8 +20,6 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include "MessageContainer.pb-c.h"
 
 #include "Stub_Status.h"
@@ -38,10 +36,6 @@ void Stub_IntADCReadRequest(MessageContainer* requestContainer)
 
     StubIntADCReadRequest* request = stub_int_adcread_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
-    writeFloat(request->adc_device);
-
     ADCAcquireInit();
     SysCtlDelay(10000);
     ADCAcquireStart(0,1);
@@ -76,17 +70,6 @@ void Stub_IntADCReadRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubIntADCReadResponse, requestContainer->token, true, &response, &stub_int_adcread_response__pack, &stub_int_adcread_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.adc_device);
-    writeString(", ");
-    writeFloat(response.sampling_in_bits);
-    writeString(", ");
-    writeFloat(response.voltage_sampling_mv);
-    writeString(", ");
-
-    Write_status_response(status);
-
     stub_int_adcread_request__free_unpacked(request,NULL);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
index 9381515f1..b85b45a21 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
@@ -12,8 +12,6 @@
 #include "inc/hw_types.h"
 #include "inc/hw_uart.h"
 
-#include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.h"
 
@@ -76,10 +74,6 @@ void Stub_L6470DriverRequest(MessageContainer* requestContainer)
     TestUint32_5 = request->testuint32_5;
     TestUint32_6 = request->testuint32_6;
 
-    writeLine("L6470 Request: ");
-
-    writeFloat(request->run_value);
-
     //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
     SPI_Control(INIT);
 
@@ -104,22 +98,6 @@ void Stub_L6470DriverRequest(MessageContainer* requestContainer)
 */
     responseContainer = createContainer(MESSAGE_TYPE__StubL6470DriverResponse, requestContainer->token, true, &response, &stub_l6470_driver_response__pack, &stub_l6470_driver_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.run_value);
-    /*
-    writeString(", ");
-    writeFloat(response.day);
-    writeString(", ");
-    writeFloat(response.month);
-    writeString(", ");
-    writeFloat(response.year);
-    writeString(", ");
-    writeFloat(response.ver_num);
-    writeString(", ");
-*/
-    Write_status_response(status);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index 47048196b..c0f0954ed 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -30,7 +30,6 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.h"
 
@@ -87,19 +86,14 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
     MotorDriverConfig.maxchangeslope = request->acc;
     MotorDriverConfig.maxchangeslope = request->dec;
     MotorDriverConfig.maxfrequency = request->max_speed;
-    MotorDriverConfig.has_setmicrostep = request->has_micro_steps;
 
-    if ( MotorDriverConfig.has_setmicrostep)
-        MotorDriverConfig.microstep = request->micro_steps;
+    MotorDriverConfig.microstep = request->micro_steps;
 //    else
 //        MotorDriverConfig.Microstep = 2;
     //MotorDriverConfig.HasConfigWord = false;
 
 
-    MotorDriverConfig.has_configword =  request->has_config;
     MotorDriverConfig.configword =  request->config;
-    MotorDriverConfig.has_lowspeedoptimization =  request->has_min_speed_lspd_opt;
-    MotorDriverConfig.lowspeedoptimization =  request->has_min_speed_lspd_opt;
     MotorDriverConfig.kvalhold =  request->kval_hold;
     MotorDriverConfig.kvalrun =   request->kval_run;
     MotorDriverConfig.kvalacc =    request->kval_acc;
@@ -167,15 +161,6 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorInitResponse, requestContainer->token, true, &response, &stub_motor_init_response__pack, &stub_motor_init_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-    writeString(", ");
-	writeFloat(response.status);
-  
-    //writeString(", ");
-    //
-    //Write_status_response(status);
 
     //free(request);
     //-------------------------------------------------------------------------------------------
@@ -257,15 +242,6 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorRunResponse, requestContainer->token, true, &response, &stub_motor_run_response__pack, &stub_motor_run_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-  
-    //writeString(", ");
-    //writeFloat(response.day);
-    
-    //Write_status_response(status);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
@@ -299,14 +275,6 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     MotorStop(Motor_Id, Stop_Command);
 #endif
 	
-
-
-
-
-    //writeLine("L6470 Request: ");
-
-    //writeFloat(request->run_value);
-
     //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
 
 
@@ -332,14 +300,6 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
 #endif
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorStopResponse, requestContainer->token, true, &response, &stub_motor_stop_response__pack, &stub_motor_stop_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-  
-    //writeString(", ");
-    //writeFloat(response.day);
-    
-    //Write_status_response(status);
 
     //free(request);
     //-------------------------------------------------------------------------------------------
@@ -454,10 +414,6 @@ void Stub_MotorStatusRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorStatusResponse, requestContainer->token, true, &response, &stub_motor_status_response__pack, &stub_motor_status_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
- 
 
     //free(request);
     //-------------------------------------------------------------------------------------------
@@ -687,11 +643,6 @@ void Stub_MotorRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorResponse, requestContainer->token, true, &response, &stub_motor_response__pack, &stub_motor_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
index 6e763a825..ad463c38f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
@@ -17,7 +17,6 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Stub_Status.h"
 
@@ -34,12 +33,6 @@ void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer)
 	request->limitswitchrdisable
     */
 
-    writeLine("OptLimit Switch Request: ");
-
-    writeFloat(request->limitswitchrid);
-    writeString(", ");
-    writeFloat(request->limitswitchrdisable);
-              
     StubOptLimitSwitchResponse response =   STUB_OPT_LIMIT_SWITCH_RESPONSE__INIT;
 	
 	response.limitswitchrid = request->limitswitchrid;
@@ -50,15 +43,6 @@ void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.limitswitchrid);
-    writeString(", ");
-    writeFloat(response.limitswitchditection);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubOptLimitSwitchResponse, requestContainer->token, true, &response, &stub_opt_limit_switch_response__pack, &stub_opt_limit_switch_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
index c10afb070..b21e6a9ce 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
@@ -21,7 +21,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
@@ -40,8 +40,6 @@ void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer)
 
     StubReadEmbeddedVersionRequest* request = stub_read_embedded_version_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
     StubReadEmbeddedVersionResponse response =   STUB_READ_EMBEDDED_VERSION_RESPONSE__INIT;
 
     GetTangoVersion(&buffer);
@@ -58,9 +56,6 @@ void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer)
     response.verpatch = buffer[2];
     response.verbuild = buffer[3];
 
-    writeLine("Sending Response: ");
-
-
     responseContainer = createContainer(MESSAGE_TYPE__StubReadEmbeddedVersionResponse, requestContainer->token, true, &response, &stub_read_embedded_version_response__pack, &stub_read_embedded_version_response__get_packed_size);
 
     //free(request);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
index a71ce8d98..a433be2ce 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
@@ -22,9 +22,6 @@
 #include "inc/hw_types.h"
 #include "inc/hw_uart.h"
 
-#include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include "MessageContainer.pb-c.h"
 
 #include "Stub_Status.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c
index 00299c74c..b657b6274 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c
@@ -1,11 +1,6 @@
 
 #include "include.h"
-/*#include <graphics_adapter.h>
-#include <stdbool.h>
-#include <stdint.h>
-#include "Stub_Status.h"
-#include <Stubs_Handler/DataDef.h>*/
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 int status_response(uint32_t Rstatus,char *status[20],uint32_t *statusword ,protobuf_c_boolean *has_statusword)
 {
@@ -36,23 +31,5 @@ int status_response(uint32_t Rstatus,char *status[20],uint32_t *statusword ,prot
 
 int Write_status_response(uint32_t Rstatus)
 {
-    writeFloat(Rstatus);
-
-    if(Rstatus==PASSED)
-    {
-        writeLine("PASSED");
-    }
-    else if(Rstatus==VERIFIED)
-    {
-        writeLine("PASSED (VERIFIED)");
-    }
-    else if(Rstatus==NOT_SUPPORTED)
-    {
-        writeLine("NOT_SUPPORTED");
-    }
-    else
-    {
-        writeLine("FAILED");
-    }
     return 0;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
index d628e5d4a..dcb61dcde 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
@@ -17,7 +17,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 
@@ -29,17 +29,6 @@ void Stub_SteperMotorRequest(MessageContainer* requestContainer)
     StubSteperMotorRequest* request = stub_steper_motor_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
 
-	writeLine("Steper Motor Request: ");
-
-    writeFloat(request->motorid);
-    writeString(", ");
-    writeFloat(request->start);
-    writeString(", ");
-    writeFloat(request->setdirection);
-    writeString(", ");
-    writeFloat(request->setmicrostepdivision);
-    writeString(", ");
-    writeFloat(request->setspeed);
     /*
 	request->motorid
 	request->start
@@ -58,16 +47,6 @@ void Stub_SteperMotorRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motorid);
-    writeString(", ");
-    writeFloat(response.motorversion);
-    writeString(", ");
-
-    Write_status_response(status);
-
-
     responseContainer = createContainer(MESSAGE_TYPE__StubSteperMotorResponse, requestContainer->token, true, &response, &stub_steper_motor_response__pack, &stub_steper_motor_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
index cf8f79a02..8c17787fc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
@@ -21,7 +21,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
index ee4aca19d..35aca3c7d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
@@ -22,7 +22,6 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
index af46e4193..759d76a43 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -17,7 +17,6 @@
 #include "Drivers/USB_Communication/USBCDCD.h"
 #include "drivers/Valves/Valve.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Stub_Status.h"
 
@@ -33,13 +32,6 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
 	request->inkflow
 	request->valveon
     */
-    writeLine("Valve Request: ");
-    writeFloat(request->valveid);
-    writeString(", ");
-    writeFloat(request->inkflow);
-    writeString(", ");
-    writeFloat(request->valveon);
-
     Control3WayValvesWithCallback (request->valveid, request->valveon, NULL);
     //test_valve_3_way(request->valveid, request->valveon);
 
@@ -49,10 +41,6 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubValveResponse, requestContainer->token, true, &response, &stub_valve_response__pack, &stub_valve_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    Write_status_response(status);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c
index 994f6d84f..33db0d045 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c
@@ -76,8 +76,6 @@
 #include "utils/uartstdio.c"
 #include <string.h>
 
-#include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 //*****************************************************************************
 //
@@ -146,18 +144,12 @@ int temperature_main(){
         //
         // Display the setup on the console.
         //
-        UARTprintf("ADC ->\n");
+        /*UARTprintf("ADC ->\n");
         UARTprintf("  Type: Internal Temperature Sensor\n");
         UARTprintf("  Samples: One\n");
         UARTprintf("  Update Rate: 250ms\n");
         UARTprintf("  Input Pin: Internal temperature sensor\n\n");
-
-        writeLine("ADC ->\n");
-        writeLine("  Type: Internal Temperature Sensor\n");
-        writeLine("  Samples: One\n");
-        writeLine("  Update Rate: 250ms\n");
-        writeLine("  Input Pin: Internal temperature sensor\n\n");
-
+*/
         //
         // The ADC0 peripheral must be enabled for use.
         //
@@ -246,9 +238,6 @@ int temperature_main(){
             UARTprintf("Temperature = %3d*C or %3d*F\r", TempValueC,
                     TempValueF);
 
-            writeLine("Temperature(Celsius): ");
-            writeFloat(TempValueC);
-
             //
             // This function provides a means of generating a constant length
             // delay.  The function delay (in cycles) = 3 * parameter.  Delay
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 2aa0b220a..a725468e9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -13,7 +13,6 @@
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/SSI_Comm/ssi_comm.h"
 
 #include "thread_ex.h"
 
@@ -39,7 +38,7 @@ extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];
 extern bool BreakSensorenabled;
 extern int32_t BreakSensordebouncetimemilli;
 
-extern HardwareMotor                MotorsCfg[NUM_OF_MOTORS];
+//extern MotorDriverConfigStruc                MotorsCfg[NUM_OF_MOTORS];
 extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
 //extern InternalWinderConfigStruc    InternalWinderCfg;
 extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index f4242be2b..92fd9549e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -6,7 +6,7 @@
  */
 #include"include.h"
 #include "thread.h"
-#include "Drivers/Peripheral_GPIO/GPIO.h"
+
 #include "drivers/Motors/Motor.h"
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "Modules/Control/Control.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index e4a5b362c..41daa4002 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -12,7 +12,7 @@
 #include "PMR/common/MessageContainer.pb-c.h"
 
 #include "thread.h"
-HardwareMotor  MotorsCfg[NUM_OF_MOTORS]={0};
+MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS]={0};
 HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
 
 int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
@@ -32,22 +32,32 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
     uint32_t status = PASSED;
     TimerMotors_t Motor_i;
     Motor_i = request->hardwaremotortype;
-    /*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
-    {
-        if (ThreadMotorIdToControlId[i] == request->hardwarepidcontroltype)
-        {
-            Motor_i = i;
-            break;
-        }
-    }
-    if (Motor_i == 0)
-    {
-        LOG_ERROR(request->hardwarepidcontroltype,"ERROR Control Id");
-        return ERROR;
-    }*/
-    //if (Motor_i< MAX_THREAD_MOTORS_NUM)
-    //{
-        memcpy (&MotorsCfg[Motor_i],request,sizeof(HardwareMotor));
+        MotorsCfg[Motor_i].configword = request->configword;
+        MotorsCfg[Motor_i].hardwaremotortype = request->hardwaremotortype;
+        MotorsCfg[Motor_i].minfrequency = request->minfrequency;
+        MotorsCfg[Motor_i].maxfrequency = request->maxfrequency;
+        MotorsCfg[Motor_i].setmicrostep = request->setmicrostep;
+        MotorsCfg[Motor_i].microstep = request->microstep;
+        MotorsCfg[Motor_i].maxchangeslope = request->maxchangeslope;
+        MotorsCfg[Motor_i].highlengthmicrosecond = request->highlengthmicrosecond;
+        MotorsCfg[Motor_i].speedmaster = request->speedmaster;
+        MotorsCfg[Motor_i].pulseperround = request->pulseperround;
+        MotorsCfg[Motor_i].pulleyradius = request->pulleyradius;
+        MotorsCfg[Motor_i].configword = request->configword;
+        MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;
+        MotorsCfg[Motor_i].kvalhold = request->kvalhold;
+        MotorsCfg[Motor_i].kvalrun = request->kvalrun;
+        MotorsCfg[Motor_i].kvalacc = request->kvalacc;
+        MotorsCfg[Motor_i].kvaldec = request->kvaldec;
+        MotorsCfg[Motor_i].overcurrentthreshold = request->overcurrentthreshold;
+        MotorsCfg[Motor_i].stallthreshold = request->stallthreshold;
+        MotorsCfg[Motor_i].thermalcompensationfactor = request->thermalcompensationfactor;
+        MotorsCfg[Motor_i].lowspeedoptimization = request->lowspeedoptimization;
+        MotorsCfg[Motor_i].stslp = request->stslp;
+        MotorsCfg[Motor_i].intspd = request->intspd;
+        MotorsCfg[Motor_i].fnslpacc = request->fnslpacc;
+        MotorsCfg[Motor_i].fnslpdec = request->fnslpdec;
+        MotorsCfg[Motor_i].fsspd = request->fsspd;
 
         status = MotorConfig( Motor_i,  &MotorsCfg[Motor_i]);
 //        if (Motor_i == MOTOR_RDRIVING)