MERGE

20 files changed, 295 insertions, 47 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 3606d5bb7..d255384ba 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -331,11 +331,11 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     {
         if (request->pidcontrols[PID_i]->hardwarepidcontroltype <= HARDWARE_PID_CONTROL_TYPE__MixerHeater)
             status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]);
-/*        else if ((request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__MotorDryer)&&
+        else if ((request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__MotorDryer)&&
                 (request->pidcontrols[PID_i]->hardwarepidcontroltype < HARDWARE_PID_CONTROL_TYPE__Dispenser1))
             status += MotorPidRequestMessage(request->pidcontrols[PID_i]);
         else if (request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__Dispenser1)
-            status += DispenserPidRequestMessage(request->pidcontrols[PID_i]);*/
+            status += DispenserPidRequestMessage(request->pidcontrols[PID_i]);
     }
     for (Dispenser_i = 0; Dispenser_i < request->n_dispensers ; Dispenser_i++)
         status += DispenserConfigMessage(request->dispensers[Dispenser_i]);
@@ -352,7 +352,7 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
     SendChars(container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
 
     return OK;
 
@@ -376,13 +376,14 @@ void HWSystemResetRequest(MessageContainer* requestContainer)
 
     Write_status_response(status);
 
-    free(request);
+    //free(request);
+    system_reset_request__free_unpacked(request,NULL);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
 
     ROM_SysCtlDelay(SYS_CLK_FREQ);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 763348254..b407bcd82 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -169,5 +169,7 @@ void ProcessRequestFunc(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars(container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    upload_process_parameters_request__free_unpacked(request,NULL);
+
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index 3bf676984..42ccd7b2b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -117,7 +117,9 @@ void HeatingTestRequest(MessageContainer* requestContainer)
     //USBCDCD_sendData(container_buffer, container_size,10);
     SendChars(container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_heating_test_request__free_unpacked(request,NULL);
+
 #else
     LOG_ERROR (-1, "Heating Control not on debug");
     return ERROR;
@@ -148,8 +150,9 @@ void HeatingTestPollRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars(container_buffer, container_size);
     //free(container_buffer);*/
-    free(requestContainer);
-    free(request);
+//    free(requestContainer);
+//    free(request);
+    stub_heating_test_poll_request__free_unpacked(request,NULL);
 }
 
 void HeatingTestSendResonse(uint32_t status, bool last,bool heater1Active,bool heater2Active, int temperature1, int temperature2,int Heater1Percentage,int Heater2Percentage, char* Message)
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 c79434635..49c7d0d3b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -71,7 +71,8 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_cartridge_read_request__free_unpacked(request,NULL);
 }
 
 void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
@@ -126,6 +127,7 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_cartridge_write_request__free_unpacked(request,NULL);
 }
 
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 fc9393e23..32f3a9b16 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -70,5 +70,6 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_dispenser_request__free_unpacked(request,NULL);
 }
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 cf50b70ab..29e7a0f0c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
@@ -67,14 +67,15 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
 
     Write_status_response(status);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_ext_flash_write_request__free_unpacked(request,NULL);
 
 }
 
@@ -151,13 +152,14 @@ void Stub_ExtFlashReadRequest(MessageContainer* requestContainer)
     writeString(", ");
     writeFloat(response.readword_5);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_ext_flash_read_request__free_unpacked(request,NULL);
 }
 
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 8b9dc8103..4f3d5812e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
@@ -61,7 +61,7 @@ void Stub_FPGAReadBackRegRequest(MessageContainer* requestContainer)
     //free(request);
     stub_fpgaread_back_reg_request__free_unpacked(request,NULL);
     //-------------------------------------------------------------------------------------------
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer)+20);
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
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 83b906efe..ed3fd6512 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
@@ -364,7 +364,8 @@ void Stub_GPIOReadByteRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_gpioread_byte_request__free_unpacked(request,NULL);
 }
 
 
@@ -610,7 +611,8 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_gpioread_bit_request__free_unpacked(request,NULL);
 }
 
 
@@ -755,7 +757,8 @@ void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_gpiowrite_byte_request__free_unpacked(request,NULL);
 }
 
 
@@ -951,5 +954,6 @@ void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer)
               free(responseContainer.data.data);
               SendChars((char*)container_buffer, container_size);
               //free(container_buffer);
-              free(requestContainer);
+              //free(requestContainer);
+              stub_gpioinput_setup_request__free_unpacked(request,NULL);
 }
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 bd59ee2a0..fee7782fc 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
@@ -84,13 +84,15 @@ void Stub_HWVersionRequest(MessageContainer* requestContainer)
 
     Write_status_response(status);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+
+    stub_hwversion_request__free_unpacked(request,NULL);
 
 }
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 d72a749b1..52aef460f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
@@ -71,5 +71,6 @@ void Stub_HeaterRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_heater_request__free_unpacked(request,NULL);
 }
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 dcec8cade..9381515f1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
@@ -120,14 +120,15 @@ void Stub_L6470DriverRequest(MessageContainer* requestContainer)
 */
     Write_status_response(status);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_l6470_driver_request__free_unpacked(request,NULL);
 
 
     //StartUSB(ui32SysClock); //todo  to test the USB comm problem after using 6470
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 ac1563cd5..751fa20d2 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -148,14 +148,15 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
     //
     //Write_status_response(status);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_init_request__free_unpacked(request,NULL);
 }
 
 
@@ -227,14 +228,15 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
     
     //Write_status_response(status);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_run_request__free_unpacked(request,NULL);
 }
 
 
@@ -291,14 +293,15 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     
     //Write_status_response(status);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_stop_request__free_unpacked(request,NULL);
 }
 
 
@@ -378,14 +381,15 @@ void Stub_MotorStatusRequest(MessageContainer* requestContainer)
     writeFloat(response.motor_id);
  
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_status_request__free_unpacked(request,NULL);
 }
 
 
@@ -407,14 +411,15 @@ void Stub_MotorSpeedRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorSpeedResponse, requestContainer->token, true, &response, &stub_motor_speed_response__pack, &stub_motor_speed_response__get_packed_size);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_speed_request__free_unpacked(request,NULL);
 }
 
 
@@ -435,14 +440,15 @@ void Stub_MotorPositionRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorPositionResponse, requestContainer->token, true, &response, &stub_motor_position_response__pack, &stub_motor_position_response__get_packed_size);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_position_request__free_unpacked(request,NULL);
 }
 
 
@@ -490,14 +496,15 @@ void Stub_MotorMovRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorMovResponse, requestContainer->token, true, &response, &stub_motor_mov_response__pack, &stub_motor_mov_response__get_packed_size);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_mov_request__free_unpacked(request,NULL);
 }
 
 void Stub_MotorRequest(MessageContainer* requestContainer)
@@ -563,13 +570,14 @@ void Stub_MotorRequest(MessageContainer* requestContainer)
     writeFloat(response.motor_id);
 
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_request__free_unpacked(request,NULL);
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
index bcc5e16fb..c27a19bc3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
@@ -81,5 +81,6 @@ void Stub_MotorEncoderRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_motor_encoder_request__free_unpacked(request,NULL);
 }
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 a1fdeb390..6e763a825 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
@@ -67,5 +67,6 @@ void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_opt_limit_switch_request__free_unpacked(request,NULL);
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
new file mode 100644
index 000000000..b357155ce
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
@@ -0,0 +1,76 @@
+/*
+ * Stub_ReadEmbeddedVersion.c
+ *
+ *  Created on: May 3, 2018
+ *      Author: avi
+ */
+
+#include <Container.h>
+#include <DataDef.h>
+#include <PMR/Stubs/StubReadEmbeddedVersionResponse.pb-c.h>
+#include <PMR/Stubs/StubReadEmbeddedVersionRequest.pb-c.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include "inc/hw_memmap.h"
+#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"
+#include "drivers/FPGA/FPGA.h"
+
+#include "Common/SW_Info/SW_Info.h"
+
+#include "DataDef.h"
+
+void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer)
+{
+
+    char buffer[MAX_STRING_LEN] = {0};//33
+
+    MessageContainer responseContainer;
+
+    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);
+
+    response.version = &buffer[4];
+
+    response.has_verbuild = true;
+    response.has_vermajor = true;
+    response.has_verminor = true;
+    response.has_verpatch = true;
+
+    response.vermajor = buffer[0];
+    response.verminor = buffer[1];
+    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);
+    //-------------------------------------------------------------------------------------------
+    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);
+    //free(container_buffer);
+    //free(requestContainer);
+    stub_read_embedded_version_request__free_unpacked(request,NULL);
+}
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.h
new file mode 100644
index 000000000..f56cad5d5
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.h
@@ -0,0 +1,15 @@
+/*
+ * Stub_ReadEmbeddedVersion.h
+ *
+ *  Created on: May 3, 2018
+ *      Author: avi
+ */
+
+#ifndef MODULES_STUBS_HANDLER_STUB_READEMBEDDEDVERSION_H_
+#define MODULES_STUBS_HANDLER_STUB_READEMBEDDEDVERSION_H_
+
+
+void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer);
+
+
+#endif /* MODULES_STUBS_HANDLER_STUB_READEMBEDDEDVERSION_H_ */
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 78fd2ef3b..d628e5d4a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
@@ -76,5 +76,6 @@ void Stub_SteperMotorRequest(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_steper_motor_request__free_unpacked(request,NULL);
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
new file mode 100644
index 000000000..ef2d7321c
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
@@ -0,0 +1,110 @@
+/*
+ * Stub_TivaReg.c
+ *
+ *  Created on: May 5, 2018
+ *      Author: avi
+ */
+
+#include <Container.h>
+#include <DataDef.h>
+#include <PMR/Stubs/StubTivaReadRegResponse.pb-c.h>
+#include <PMR/Stubs/StubTivaReadRegRequest.pb-c.h>
+#include <PMR/Stubs/StubTivaWriteRegResponse.pb-c.h>
+#include <PMR/Stubs/StubTivaWriteRegRequest.pb-c.h>
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include "inc/hw_memmap.h"
+#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"
+#include "drivers/FPGA/FPGA.h"
+#include "drivers/FPGA/FPGA_Comm.h"
+
+
+void Stub_TivaReadRegRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = PASSED;
+
+    MessageContainer responseContainer;
+
+    StubTivaReadRegRequest* request = stub_tiva_read_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StubTivaReadRegResponse response =   STUB_TIVA_READ_REG_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+
+        volatile short *ptr;
+        ptr = (volatile short *) (request->address);
+
+        response.address = request->address;
+        response.has_address = true;
+        response.value = *ptr;
+        response.has_value = true;
+
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubTivaReadRegResponse, requestContainer->token, true, &response, &stub_tiva_read_reg_response__pack, &stub_tiva_read_reg_response__get_packed_size);
+
+    Write_status_response(status);
+
+    //free(request);
+    //-------------------------------------------------------------------------------------------
+    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);
+    //free(container_buffer);
+    //free(requestContainer);
+
+    stub_tiva_read_reg_request__free_unpacked(request,NULL);
+
+}
+
+void Stub_TivaWriteRegRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = PASSED;
+
+    MessageContainer responseContainer;
+
+    StubTivaWriteRegRequest* request = stub_tiva_write_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+
+        volatile short *ptr;
+        ptr = (volatile short *) (request->address);
+        *ptr = (request->value & 0xFFFF);
+
+    StubTivaWriteRegResponse response =   STUB_TIVA_WRITE_REG_RESPONSE__INIT;
+
+    status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubTivaWriteRegResponse, requestContainer->token, true, &response, &stub_tiva_write_reg_response__pack, &stub_tiva_write_reg_response__get_packed_size);
+
+    Write_status_response(status);
+
+    //free(request);
+    //-------------------------------------------------------------------------------------------
+    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);
+    //free(container_buffer);
+    //free(requestContainer);
+    stub_tiva_write_reg_request__free_unpacked(request,NULL);
+
+}
+
+
+
+
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.h
new file mode 100644
index 000000000..f1d4c1a0a
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.h
@@ -0,0 +1,16 @@
+/*
+ * Stub_TivaReg.h
+ *
+ *  Created on: May 5, 2018
+ *      Author: avi
+ */
+
+#ifndef MODULES_STUBS_HANDLER_STUB_TIVAREG_H_
+#define MODULES_STUBS_HANDLER_STUB_TIVAREG_H_
+
+void Stub_TivaReadRegRequest(MessageContainer* requestContainer);
+void Stub_TivaWriteRegRequest(MessageContainer* requestContainer);
+
+
+
+#endif /* MODULES_STUBS_HANDLER_STUB_TIVAREG_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 86460f119..35dab1c27 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -49,12 +49,13 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
 
     Write_status_response(status);
 
-    free(request);
+    //free(request);
     //-------------------------------------------------------------------------------------------
     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);
     //free(container_buffer);
-    free(requestContainer);
+    //free(requestContainer);
+    stub_valve_request__free_unpacked(request,NULL);
 }