update I2C

13 files changed, 208 insertions, 135 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 5ec7c6b16..9dc03601c 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -26,6 +26,7 @@
 
 Task_Handle AlarmHandling_Task_Handle;
 Mailbox_Handle          AlarmHandlingMsgQ = NULL;
+static GateMutex_Handle gateAlarmHandlingDB;
 
 /******************** Functions  ********************************************/
 //uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);
@@ -56,6 +57,13 @@ void AlarmHandlingInit(void)
 
     //memset(AlarmHandlingDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES);
 
+    /*gateAlarmHandlingDB = GateMutex_create(NULL, &eb);
+    if (gateAlarmHandlingDB == NULL)
+    {
+        System_abort("Could not create USB Wait gate");
+    }*/
+
+
     return;
 }
 void AlarmHandlingIterate(UArg arg0)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index a1de29b08..847b777fa 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -31,6 +31,7 @@
 #include "drivers/FPGA/FPGA.h"
 
 #include "modules/thread/thread_ex.h"
+#include "Drivers/Peripheral_GPIO/GPIO.h"
 
 Task_Handle Millisecond_Task_Handle;
 /******************** Definitions  ********************************************/
@@ -236,7 +237,6 @@ uint32_t MillisecLoop(uint32_t tick)
         FPGA_Read_limit_Switches_Registers();
         //Read_FPGA_GPI_Rgisters();//FPGA_Read_limit_Switches();
 #endif
-
         temp += MotorActivity;
    if (MotorActivity)
    {
@@ -340,6 +340,7 @@ uint32_t MillisecLoop(uint32_t tick)
     {
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
             MillisecReadFromTempSensor(Sensor_i, NULL);
+        ACTIVITY_RED_LED_CHANGE_MODE;
     }
 
     if (Onesecond_Tick)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 69ff06880..ff9acdb94 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -486,7 +486,7 @@ uint32_t HeatersControlLoop(uint32_t tick)
 {
     //char str[100];
     //uint8_t len = 0;
-    int DcHeaterId;
+    int DcHeaterId,HeaterSliceCounter;
     /*len = usnprintf(str, 100, "\r\n EightMilliSecondHeatersInterrupt SliceCounter %d Owner %d H1000 %d  H2000 %d"
                     ,SliceCounter,TimeSliceAllocation[SliceCounter],HeatersRestart,NumberOFSlicesInUse);
     Report(str, __FILE__,__LINE__,0, RpMessage, SliceCounter, TimeSliceAllocation[SliceCounter]);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index abd9794b8..6739619a7 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -35,7 +35,6 @@ double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
 
 HardwarePidControlType ThreadDispenserIdToControlId[MAX_SYSTEM_DISPENSERS] = {  HARDWARE_PID_CONTROL_TYPE__Dispenser1,HARDWARE_PID_CONTROL_TYPE__Dispenser2,HARDWARE_PID_CONTROL_TYPE__Dispenser3,HARDWARE_PID_CONTROL_TYPE__Dispenser4,HARDWARE_PID_CONTROL_TYPE__Dispenser5,HARDWARE_PID_CONTROL_TYPE__Dispenser6,HARDWARE_PID_CONTROL_TYPE__Dispenser7,HARDWARE_PID_CONTROL_TYPE__Dispenser8};
 
-bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
 
 /******************** STRUCTURES AND ENUMs  ********************************************/
 /******************** GLOBAL PARAMETERS  ********************************************/
@@ -84,7 +83,7 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 //callback - calls printing stm with the result
 
 // registration - 10 msec, dispenser pressure sensor
-//    AddControlCallback(DeviceId2Dispenser[DispenserId], DispenserControlCBFunction, eHundredMillisecond);
+//    AddControlCallback(DeviceId2Heater[HeaterId], HeaterControlCBFunction, eHundredMillisecond);
 // start the dispenser pressure building - move up in a TBD speed, valve closed
 //Dispenser Speed control
 //callback - handles speed
@@ -95,7 +94,7 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 //********************************************************************************************************************
  uint32_t IDSPrepareState(void *JobDetails)
 {
-    int Motor_i, HW_Motor_Id, Pid_Id,i;
+    int Motor_i, HW_Motor_Id, Pid_Id;
     //start IDS control for all motors
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
@@ -118,11 +117,6 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
 
             MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize); //set the dispenser to the
 #warning activate valve
-            /*Start the dispensers to build initial pressure
-             * check different handling for dispensers that participate in the first segment and idle dispensers
-             * start control for initial pressure
-             *
-             */
             //ValveCommand (Enable,MixerDirection);
     #ifdef DEBUG_TEST_FUNCTIONS
 // add control here
@@ -130,33 +124,16 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
     #endif
     }
     //set 3 dancers to the profile positions
-    for (i = 0; i < MAX_SYSTEM_DISPENSERS; i++)
-    {
-        DispenserReady[i] = true;
-    }
 
     return OK;
 }
- void DispenserPrepareReady(void)
- {
-     int i;
-     for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
-     {
-         if (DispenserReady[i] == false)
-         {
-             return; //not all configured Dispensers are ready
-         }
-     }
-     PrepareReady(Module_IDS,ModuleDone);
- }
 
 //********************************************************************************************************************
 uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 {
 //set the speed only before the first segment, speed is constant accros job
     JobTicket* JobTicket = JobDetails;
-    int Dispenser_i;
-    TimerMotors_t HW_Motor_Id;
+    int Dispenser_i, HW_Motor_Id;
     int segmentfirst_speed;
 int CurrentSegment = 0;
     JobBrushStopId = 0;
@@ -171,12 +148,12 @@ int CurrentSegment = 0;
         OriginalDispenserSpd_2PPS[Dispenser_i] = (int)Dispenser_speed;
     }
     //ControlStart();
+    // set the new speed in the dryer Dispenser to the speed of the new segment
     MotorSetSpeed(HW_Motor_Id, OriginalDispenserSpd_2PPS[HW_Motor_Id]);
 
     // activate control fr all motors
-    /* wait for all dispensers  to get to the required pressure
-     * move the presegment ready when all dispensers are ready.
-     */
+    //set speed for both rocker motors
+    //wait for all motors to get to the required speed (set the target speed for the control to check)
     //call the job state machine when the thread system is ready
     PreSegmentReady(Module_IDS,ModuleDone);
 
@@ -193,10 +170,12 @@ int CurrentSegment = 0;
  uint32_t IDSEndState(void *JobDetails)
 {
      int Motor_i;
-     for ( Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
+     for ( Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
      {
-        StopMotor(DispenserIdToMotorId[Motor_i],Hard_Hiz);
+        StopMotor(ThreadMotorIdToMotorId[Motor_i],Hard_Hiz);
      }
+     StopMotor(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
+     StopMotor(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz);
 
     return OK;
 }
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..669df84a5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -16,6 +16,8 @@
 
 #include "Stub_Status.h"
 
+#include "drivers/Motors/Motor.h"
+
 void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 {
     uint32_t status = NOT_SUPPORTED;
@@ -23,7 +25,12 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 
     StubCartridgeReadRequest* request = stub_cartridge_read_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-	//request->cartridgeid
+    MillisecStart();
+    ControlStart();
+
+    //MotorMovetoLimitSwitch (14,1, 1000, 32, MotorSetSpeedCallBackFunction);
+    MotorSetSpeed( 15,  1000);
+    //request->cartridgeid
 
     writeLine("cartridge Request: ");
 
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 11030f9c6..9584ee39b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
@@ -4,6 +4,13 @@
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubI2CRequest.pb-c.h>
 #include <PMR/Stubs/StubI2CResponse.pb-c.h>
+
+#include <PMR/Stubs/StubI2CWriteBytesRequest.pb-c.h>
+#include <PMR/Stubs/StubI2CWriteBytesResponse.pb-c.h>
+
+#include <PMR/Stubs/StubI2CReadBytesRequest.pb-c.h>
+#include <PMR/Stubs/StubI2CReadBytesResponse.pb-c.h>
+
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -23,6 +30,7 @@
 
 void Stub_I2CRequest(MessageContainer* requestContainer)
 {
+
     uint32_t status = PASSED;
     MessageContainer responseContainer;
 
@@ -35,7 +43,24 @@ void Stub_I2CRequest(MessageContainer* requestContainer)
 
 	response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
 	response.has_readbyte= true;
+/*
+	//--------------------------
+
+    response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+    response.has_readbyte= true;
 
+	uint32_t I2C_W_buf[256] = {0},i;
+
+	for(i = 0; i < request->n_bytestwrite;i++)
+	{
+	    I2C_W_buf[i] = request->bytestwrite[i];
+	}
+
+	response.readbytes = I2C_W_buf;
+	response.n_readbytes = request->n_bytestwrite;
+
+	//-------------------------------
+*/
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
     writeLine("Sending Response: ");
@@ -52,4 +77,127 @@ void Stub_I2CRequest(MessageContainer* requestContainer)
     SendChars((char*)container_buffer, container_size);
 
     stub_i2_crequest__free_unpacked(request,NULL);
+
 }
+
+
+void Stub_I2CWriteBytesRequest(MessageContainer* requestContainer)
+{
+
+    uint32_t status = PASSED;
+    MessageContainer responseContainer;
+
+    StubI2CWriteBytesRequest* request = stub_i2_cwrite_bytes_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubI2CWriteBytesResponse response =   STUB_I2_CWRITE_BYTES_RESPONSE__INIT;
+
+    response.i2cid = request->i2cid;
+    response.has_i2cid = true;
+    response.slaveaddress = request->slaveaddress;
+    response.has_slaveaddress = true;
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+    //response.has_readbyte= true;
+
+    //--------------------------
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+    //response.has_readbyte= true;
+
+    uint8_t I2C_W_buf[256] = {0},i;
+
+    for(i = 0; i < request->n_bytestwrite;i++)
+    {
+        I2C_W_buf[i] = (uint8_t)(request->bytestwrite[i] & 0xff);
+    }
+
+    //response.readbytes = I2C_W_buf;
+    //response.n_readbytes = request->n_bytestwrite;
+
+    //-------------------------------
+
+
+    //----------------------
+
+    status = I2C_Write(request->i2cid, request->slaveaddress, I2C_W_buf, request->n_bytestwrite);
+
+    //--------------------------
+
+    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);
+
+    //-------------------------------------------------------------------------------------------
+    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((char*)container_buffer, container_size);
+
+    stub_i2_cwrite_bytes_request__free_unpacked(request,NULL);
+
+}
+
+void Stub_I2CReadBytesRequest(MessageContainer* requestContainer)
+{
+    uint8_t I2C_R_buf[256] = {0},i;
+    uint32_t I2C_R32_buf[256] = {0};
+
+    uint32_t status = PASSED;
+    MessageContainer responseContainer;
+
+    StubI2CReadBytesRequest* request = stub_i2_cread_bytes_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubI2CReadBytesResponse response =   STUB_I2_CREAD_BYTES_RESPONSE__INIT;
+
+    response.i2cid = request->i2cid;
+    response.has_i2cid = true;
+    response.slaveaddress = request->slaveaddress;
+    response.has_slaveaddress = true;
+
+    status = I2C_Read(request->i2cid, request->slaveaddress, I2C_R_buf, request->numberofbytestoread);
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+    //response.has_readbyte= true;
+
+    //--------------------------
+
+    //response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytestwrite[0]);
+    //response.has_readbyte= true;
+
+    //uint32_t I2C_W_buf[256] = {0},i;
+
+    for(i = 0; i < request->numberofbytestoread;i++)
+    {
+        I2C_R32_buf[i]= (uint32_t)I2C_R_buf[i] ;
+    }
+
+    response.readbytes = I2C_R32_buf;
+    response.n_readbytes = request->numberofbytestoread;
+
+    //-------------------------------
+
+    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);
+
+    //-------------------------------------------------------------------------------------------
+    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((char*)container_buffer, container_size);
+
+    stub_i2_cread_bytes_request__free_unpacked(request,NULL);
+}
+
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
index b2d6e0dbc..e91a5fd09 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
@@ -2,5 +2,7 @@
 #define STUB_MOTORENCODER_H
 
 void Stub_I2CRequest(MessageContainer* requestContainer);
+void Stub_I2CReadBytesRequest(MessageContainer* requestContainer);
+void Stub_I2CWriteBytesRequest(MessageContainer* requestContainer);
 
 #endif //STUB_STUB_MOTORENCODER_H
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 d27036523..01c91c72b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -43,7 +43,7 @@
 #include "driverlib/ssi.h"
 #include "drivers/SPI/SPI_Comm.h"
 #include "Modules/Thread/Thread_ex.h"
-#include "drivers/Motors/Motor.h"
+
 
 #include "Modules/thread/thread.h"
 #include "Drivers/Motors/Motor.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 57b7a9d99..db3bfc46e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -55,7 +55,6 @@ extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
 extern int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
 extern int MotorSamplePointer[MAX_THREAD_MOTORS_NUM];
 extern double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM];
-extern double DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM];
 
 
 uint32_t InternalWinderConfigMessage(HardwareWinder* request);
@@ -66,5 +65,8 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 
 uint32_t DancerConfigMessage(HardwareDancer * request);
 
+uint32_t ThreadPrepareState(void *JobDetails);
+uint32_t Winder_Prepare(void);
+
 #endif //MODULES_THREAD_THREAD_H_
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 164e5eb23..b61247fe4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -9,15 +9,9 @@
 #include "Drivers/Peripheral_GPIO/GPIO.h"
 #include "drivers/Motors/Motor.h"
 #include "StateMachines/Printing/PrintingSTM.h"
-
-#include "drivers/FPGA/FPGA.h"
-
-#include "drivers/FPGA/FPGA_SPI_Comm.h"
-#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
-
 bool Winder_ScrewHoming = false;
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t NumberOfSteps);
-uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue);
+uint32_t Winder_PrepareStage2(void);
 
 double ScrewSpeed = 0;
 
@@ -25,77 +19,31 @@ uint32_t Winder_Init(void)
 {
     return OK;
 }
-uint32_t Winder_Test2(uint32_t deviceID, uint32_t ReadValue);
-uint32_t Winder_Test1(uint32_t deviceID, uint32_t ReadValue)
-{
-    uint32_t status;
-    uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
-    uint32_t position;
-    /*
-     * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
-     * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
-     * report ready to the job STM
-     */
-    MotorGetPositionFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    //deley TODO
-    SysCtlDelay(100000);
-    position = Fpga_Spi[HARDWARE_MOTOR_TYPE__MOTO_SCREW].RX_MISO;//MotorGetPositionFromFPGA_Res(Motor_Id);
-
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI_LS_SCREW_LEFT, Winder_Test2);
-//        status |= MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
-        //set motor location 0 here
-        return status;
-
-}
-uint32_t Winder_Test2(uint32_t deviceID, uint32_t ReadValue)
-{
-    uint32_t status;
-    uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
-    uint32_t position;
-    /*
-     * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
-     * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
-     * report ready to the job STM
-     */
-    MotorGetPositionFromFPGA(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
-    //deley TODO
-    SysCtlDelay(100000);
-    position = Fpga_Spi[HARDWARE_MOTOR_TYPE__MOTO_SCREW].RX_MISO;//MotorGetPositionFromFPGA_Res(Motor_Id);
-
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI_LS_SCREW_RIGHT, Winder_Test1);
-        //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
-        //set motor location 0 here
-        return status;
-
-}
-uint32_t Winder_Prepare(void *JobDetails)
+uint32_t Winder_Prepare(void)
 {
     uint32_t status = 0;
-    JobTicket* JobTicket = JobDetails;
-
-    float process_speed = JobTicket->processparameters->dyeingspeed;
 //    double ScrewSpeed = (50 *  MotorsCfg[SCREW_MOTOR].pulseperround *  MotorsCfg[SCREW_MOTOR].microstep)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
-    double ScrewSpeed = (process_speed *  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulseperround)/(2*PI* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);
+    double ScrewSpeed = (50 *  MotorsCfg[SCREW_MOTOR].pulseperround)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
 
     /*
      * 1. move home to the limit switch (check that the cart is clear from the limit switch, start moving, with acceleration to maximal speed. enable interrupt on the limit switch, upon interrupt stop.
      * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
      * report ready to the job STM
      */
-    if (FPGA_Read_limit_Switches(GPI_LS_SCREW_RIGHT)==LIMIT)
+    if (PollGPIO(GPI113_LS_SCREW_RIGHT))
     {
         //go to prepare stage 2
-        Winder_PrepareStage2(0,0);
+        Winder_PrepareStage2();
     }
     else
     {
         Winder_ScrewHoming = true;
-//        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed, GPI_LS_SCREW_RIGHT, Winder_PrepareStage2);
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize, ScrewSpeed/10, GPI_LS_SCREW_RIGHT, Winder_Test1);
+        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1);//make sur to move the cart home
+        status |=  MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewSpeed);
     }
     return status;
 }
-uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
+uint32_t Winder_PrepareStage2(void)
 {
     uint32_t status;
     uint32_t numOfSteps = InternalWinderCfg.segmentoffsetpulses;
@@ -104,8 +52,7 @@ uint32_t Winder_PrepareStage2(uint32_t deviceID, uint32_t ReadValue)
      * 2. move back x steps - according to thehw specifications and bobine definitions in the job. move for a predefined number of steps. get a callback when done
      * report ready to the job STM
      */
-        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,(1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize));//make sur to move the cart out
-//        status |= MotorMove(HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
+        status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,0);//make sur to move the cart out
         //status |= MotorMoveSteps (HARDWARE_MOTOR_TYPE__MOTO_SCREW, numOfSteps, Winder_ScrewAtOffsetCallback);
         //set motor location 0 here
         return status;
@@ -124,7 +71,7 @@ uint32_t Winder_Presegment(void *JobDetails)
     float RotationsPerSecond;
 
 //    double ScrewSpeed = (process_speed *  MotorsCfg[SCREW_MOTOR].pulseperround *  MotorsCfg[SCREW_MOTOR].microstep)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
-    double ScrewSpeed = (process_speed *  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulseperround)/(2*PI* MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].pulleyradius);
+    double ScrewSpeed = (process_speed *  MotorsCfg[SCREW_MOTOR].pulseperround)/(2*PI* MotorsCfg[SCREW_MOTOR].pulleyradius);
 
 /*typedef struct
 {
@@ -169,12 +116,12 @@ void Winder_ScrewHomeLimitSwitchInterrupt(void)
     {
         StopMotor(HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Stop); //stop ASAP
     }
-    status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out
+    status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorsCfg[SCREW_MOTOR].directionthreadwize);//make sure to move the cart out
 }
 void Winder_ScrewOutLimitSwitchInterrupt(void)
 {
     uint32_t status;
-    status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);//make sure to move the cart out
+    status = MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_SCREW,1-MotorsCfg[SCREW_MOTOR].directionthreadwize);//make sure to move the cart out
 }
 uint32_t Winder_ScrewAtOffsetCallback(uint32_t NumberOfSteps)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 28a2346c1..ea75bffa3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -18,7 +18,7 @@ uint32_t ThreadInitialTestStub();
 
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 uint32_t Winder_Init(void);
-uint32_t Winder_Prepare(void *JobDetails);
+uint32_t Winder_Prepare(void);
 uint32_t Winder_Presegment(void *JobDetails);
 uint32_t Winder_End(void);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index e2d492b47..0e276fe92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -17,7 +17,6 @@ HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
 int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
 int MotorSamplePointer[MAX_THREAD_MOTORS_NUM] = {0};
 double NormalizedErrorCoEfficient[MAX_THREAD_MOTORS_NUM] = {0};
-double DancerStopActivityLimit[MAX_THREAD_MOTORS_NUM] = {0};
 InternalWinderConfigStruc InternalWinderCfg = {0};
 HardwareDancer DancersCfg[MAX_SYSTEM_DANCERS] = {0};
 
@@ -98,11 +97,10 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
         MotorSamples[Motor_i][i] = 0;  //reset the samples value for control beginning
     NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
     temp = 1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits);
-    temp=(10*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
+    temp=(100*(temp-1)*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm);
     NormalizedErrorCoEfficient[Motor_i] = NormalizedErrorCoEfficient[Motor_i] / temp;
 //    uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
-    DancerStopActivityLimit[Motor_i] = ((1<<(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].resolutionbits)*(DancersCfg[ThreadMotorIdToDancerId[Motor_i]].maximalmovementmm)*2));
-    DancerStopActivityLimit[Motor_i] = DancerStopActivityLimit[Motor_i]/(2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
+
     return OK;
 }
 uint32_t DancerConfigMessage(HardwareDancer * request)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 56e1bf844..92bfa9c92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -22,7 +22,6 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
-#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "modules/heaters/heaters.h"
 
 ////////////////////////////////State machine operation////////////////////////////////////
@@ -38,7 +37,7 @@ uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF};
 uint32_t    SpeedControlId=0xFF;
 
 int OriginalMotorSpd_2PPS[MAX_THREAD_MOTORS_NUM] = {0};
-uint32_t JobCounter = 0;
+
 typedef struct
 {
     bool                m_isEnabled;
@@ -67,8 +66,6 @@ ProcessedLengthFunc ProcessedLengthFuncPtr = NULL;
 void ThreadSegmentEnded(void);
 void ThreadInterSegmentEnded(void);
 void ThreadDistanceToSpoolEnded(void);
-
-double KeepNormalizedError = 0;
 ////////////////////////Slow Motor State////////////////////////////////////
 //uint32_t ThreadPreSegmentState(void *JobDetails);
 
@@ -168,7 +165,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
 #warning control disabled
         CurrentProcessedLength+=length;
-
+#warning control disabled
     PosDif[MotorDataIndex] = CurrentPosition;
     //PosDif[MotorDataIndex] = positionDiff;
     MotorSentData[MotorDataIndex] = length;
@@ -179,9 +176,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     pooler_counter++;
     if (pooler_counter%10 == 0)
     {
-        //SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
-        SendJobProgress(/*KeepNormalizedError*/MotorControlConfig[index].m_calculatedError,CurrentSegmentId,false);
-
+        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
     }
     if (pooler_counter>=100)
     {
@@ -192,6 +187,8 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     }
     if (CurrentProcessedLength>=CurrentRequestedLength )
     {
+        SendJobProgress(100,0,true);
+		#warning handle job wit several segments!!!
         // segment/intersegment/distance to spool finished
         if (ProcessedLengthFuncPtr)
             ProcessedLengthFuncPtr();
@@ -283,14 +280,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         DancerId = ThreadMotorIdToDancerId[index];
         if (ReadValue < 10)
-            return OK;
+            return;
         TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
-        if (index == POOLER_MOTOR)
-        {
-			//pooler dancer is right sided: data is opposite
+        if (index == POOLER_MOTOR) //pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
-            JobCounter++;
-        }
         //TranslatedReadValue = 0;//test
         MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
         MotorSamplePointer[index]++;
@@ -298,20 +291,12 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
-        //Stop Execution if the dancer moves too much
-#warning need to disable this in the first second of the job execution
-        if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
-        {
-            EndState(CurrentJob);
-        }
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
         MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation((float)MotorControlConfig[index].m_SetParam , (float)MotorControlConfig[index].m_mesuredParam,
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
-        if (index != FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
+        if (index == FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
             MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
-        else
-            KeepNormalizedError = NormalizedError;
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
         if (abs(calculated_speed-CurrentControlledSpeed[index])>5)
         {
@@ -324,7 +309,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         pooler_counter++;
         if (pooler_counter>=1000)
         {
-            //float error_integered = MotorControlConfig[index].m_calculatedError*1000;
+            float error_integered = MotorControlConfig[index].m_calculatedError*1000;
             /*{
   "HeaterGroupId": 0,
   "Zone1Temp": 80,
@@ -339,7 +324,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }*/
             //HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
 
-            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,MotorControlConfig[index].m_calculatedError,ReadValue, "FeederSpeed");
+            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,calculated_speed,ReadValue, "FeederSpeed");
                 pooler_counter = 0;
         }
     }
@@ -365,8 +350,6 @@ bool InitialProcess = false;
 {
     int Motor_i, HW_Motor_Id, Pid_Id;
     CurrentSegmentId = 0;
-
-    JobCounter = 0;
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
@@ -492,7 +475,6 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 10);
 //#warning rocker disabled
 
-//    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO
 
     // activate control fr all motors
     //set speed for both rocker motors
@@ -504,7 +486,6 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     }
     else
     {
-        ThreadUpdateProcessLength (0,(void *)NULL);
         PreSegmentReady(Module_Thread,ModuleDone);
         InitialProcess = false;
     }