update with Beta code

12 files changed, 166 insertions, 90 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 6d5dc00b2..11d08d45a 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -1129,26 +1129,27 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                     if (FPGA_WD_Occurred == true)
                     {
                         Status = false;
-                        break;
                     }
-                    if (isMotorConfigured((TimerMotors_t)AlarmItem[Alarm_i].DeviceId) == false)
+                    else if (isMotorConfigured((TimerMotors_t)AlarmItem[Alarm_i].DeviceId) == false)
                     {
                         Status = false;
-                        break;
                     }
-                    value = MotorGetStatus((TimerMotors_t)AlarmItem[Alarm_i].DeviceId);
-                    if (AlarmItem[Alarm_i].AlarmDirection == true)
+                    else
                     {
-                        if (value && AlarmItem[Alarm_i].AlarmValue)
+                        value = MotorGetStatus((TimerMotors_t)AlarmItem[Alarm_i].DeviceId);
+                        if (AlarmItem[Alarm_i].AlarmDirection == true)
                         {
-                            Status = true;
+                            if (value && AlarmItem[Alarm_i].AlarmValue)
+                            {
+                                Status = true;
+                            }
                         }
-                    }
-                    else
-                    {
-                        if ((value && AlarmItem[Alarm_i].AlarmValue)==false)
+                        else
                         {
-                            Status = true;
+                            if ((value && AlarmItem[Alarm_i].AlarmValue)==false)
+                            {
+                                Status = true;
+                            }
                         }
                     }
                 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 1f5e008d3..8dad3fa60 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -170,7 +170,7 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
         if(FPGA_WD_Occurred == true)
         {
             ACTIVITY_GREEN_LED_ON;
-            HWConfigurationInit();
+            //Motor_ReconfigAllMotors();
         }
 		else
             ACTIVITY_GREEN_LED_OFF;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index ccf5455d4..5c0af7589 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -515,7 +515,7 @@ void Diagnostic100msecCollection(void)
         return;
 
     //DiagnosticLoadSpeedSensor(getSensorSpeedData());
-    if (DiagnosticMode == Diagnostic_Extended_Mode)
+    if (DiagnosticMode == Diagnostic_Extreme_Mode)
         DiagnosticTenMsecCollection(); //call the 10msec function every 100 msec to reduce transport
 
     if (DiagnosticMode >= Diagnostic_Extended_Mode)
@@ -553,7 +553,13 @@ void Diagnostic100msecCollection(void)
             MidTankpressure[i][0] = 1.00-(IDS_Dispenser_Data[i].consumedinnanolitter/5800000);
     }
     */
-
+    if (DiagnosticMode == Diagnostic_Extreme_Mode)
+    {
+        for (i=0;i<NUM_OF_CURRENT_HEATERS;i++)
+        {
+            HeatersCurrent[i][0] = Get_Heaters_Current(i);
+        }
+    }
    /*dispenser1motorfrequency[DiagnosticsIndex] = MotorGetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1);
      dispenser2motorfrequency[DiagnosticsIndex] = MotorGetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2);
      dispenser3motorfrequency[DiagnosticsIndex] = MotorGetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3);
@@ -719,7 +725,6 @@ void SendDiagnostics(void)
             DiagnosticsMonitor.dispenserspressure[i] = &DiagnosticsDispenserPressure[i];
         }
     }
-
     /**/
     DiagnosticsMonitor.n_dispenserslinearpositions = 0;
     DiagnosticsMonitor.n_dispensersangularencoders = 0;
@@ -742,6 +747,43 @@ void SendDiagnostics(void)
     DiagnosticsMonitor.dispenser8pressure = dispenserspressure[7];
 
 
+    DiagnosticsMonitor.n_midtank1level = 1;
+    DiagnosticsMonitor.midtank1level = MidTankpressure[0];
+    DiagnosticsMonitor.n_midtank2level = 1;
+    DiagnosticsMonitor.midtank2level = MidTankpressure[1];
+    DiagnosticsMonitor.n_midtank3level = 1;
+    DiagnosticsMonitor.midtank3level = MidTankpressure[2];
+    DiagnosticsMonitor.n_midtank4level = 1;
+    DiagnosticsMonitor.midtank4level = MidTankpressure[3];
+    DiagnosticsMonitor.n_midtank5level = 1;
+    DiagnosticsMonitor.midtank5level = MidTankpressure[4];
+    DiagnosticsMonitor.n_midtank6level = 1;
+    DiagnosticsMonitor.midtank6level = MidTankpressure[5];
+    DiagnosticsMonitor.n_midtank7level = 1;
+    DiagnosticsMonitor.midtank7level = MidTankpressure[6];
+    DiagnosticsMonitor.n_midtank8level = 1;
+    DiagnosticsMonitor.midtank8level = MidTankpressure[7];
+
+    DiagnosticsMonitor.n_drierzone1heatercurrent = 1;
+    DiagnosticsMonitor.drierzone1heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_1];
+    DiagnosticsMonitor.n_drierzone2heatercurrent = 1;
+    DiagnosticsMonitor.drierzone2heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_2];
+    DiagnosticsMonitor.n_mixer1heatercurrent = 1;
+    DiagnosticsMonitor.mixer1heatercurrent = HeatersCurrent[HEATER_MIXCHIP_CURRENT];
+    DiagnosticsMonitor.n_headzone1heatercurrent = 1;
+    DiagnosticsMonitor.headzone1heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_1];
+    DiagnosticsMonitor.n_headzone2heatercurrent = 1;
+    DiagnosticsMonitor.headzone2heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_2];
+    DiagnosticsMonitor.n_headzone3heatercurrent = 1;
+    DiagnosticsMonitor.headzone3heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_3];
+    DiagnosticsMonitor.n_headzone4heatercurrent = 1;
+    DiagnosticsMonitor.headzone4heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_4];
+    DiagnosticsMonitor.n_headzone5_6heatercurrent = 1;
+    DiagnosticsMonitor.headzone5_6heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_5_6];
+
+    VOC_Sensor = (double) getGasReading();
+    DiagnosticsMonitor.n_filterdeltapressure = 1;
+    DiagnosticsMonitor.filterdeltapressure = &VOC_Sensor;
 
     response.monitors = &DiagnosticsMonitor;
     //response.digitalpins = DigitalPinArray;
@@ -805,26 +847,6 @@ void SendDiagnostics(void)
         DiagnosticsStop();
     }
     DiagnosticsReset();
-/*    DiagnosticsMonitor.n_drierzone1heatercurrent = 0;
-    DiagnosticsMonitor.n_drierzone2heatercurrent = 0;
-    DiagnosticsMonitor.n_mixer1heatercurrent = 0;
-    DiagnosticsMonitor.n_headzone1heatercurrent = 0;
-    DiagnosticsMonitor.n_headzone2heatercurrent = 0;
-    DiagnosticsMonitor.n_headzone3heatercurrent = 0;
-    DiagnosticsMonitor.n_headzone4heatercurrent = 0;
-    DiagnosticsMonitor.n_headzone5_6heatercurrent = 0;
-    DiagnosticsMonitor.n_filterdeltapressure = 0;
-    DiagnosticsMonitor.n_midtank1level = 0;
-    DiagnosticsMonitor.n_midtank2level = 0;
-    DiagnosticsMonitor.n_midtank3level = 0;
-    DiagnosticsMonitor.n_midtank4level = 0;
-    DiagnosticsMonitor.n_midtank5level = 0;
-    DiagnosticsMonitor.n_midtank6level = 0;
-    DiagnosticsMonitor.n_midtank7level = 0;
-    DiagnosticsMonitor.n_midtank8level = 0;
-    DiagnosticsMonitor.n_dispensersinklevel = 0;
-    DiagnosticsMonitor.n_midtanksinklevel = 0;
-*/
 }
 uint32_t DiagnosticsControlId = 0xff;
 uint32_t Diagnostics10MSControlId = 0xff;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 38f9b73ba..05a2196ce 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -45,7 +45,7 @@ uint32_t MotorHomingRequestCallback(uint32_t deviceID, uint32_t ReadValue)
     MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
 
     responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse, HomingToken[deviceID], true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
-    responseContainer.continuous = true;
+    responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     my_free(responseContainer.data.data);
@@ -141,7 +141,7 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
     responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
     responseContainer.errormessage = "Job Active or incorrect motor ID";
     responseContainer = createContainer(MESSAGE_TYPE__MotorHomingResponse,  requestContainer->token, true, &response, &motor_homing_response__pack, &motor_homing_response__get_packed_size);
-    responseContainer.continuous = true;
+    responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     my_free(responseContainer.data.data);
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 7e46d9342..46abd923f 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -18,13 +18,8 @@
 
 #include "heaters/heaters_ex.h"
 
-//#include "third_party/fatfs/src/ffconf.h"
-//#include "third_party/fatfs/src/diskio.h"
-//#include "drivers/Flash_Memory/Flash_Memory.h"
-//#include "drivers/Flash_Memory/fatfs/ff.h"
 #include "drivers/Flash_ram/FlashProgram.h"
 
-#include "third_party/fatfs/src/ffconf.h"
 #include "Common/SWUpdate/FileSystem.h"
 
 #include "PMR/common/MessageContainer.pb-c.h"
@@ -54,7 +49,7 @@
 #include "Drivers/I2C_Communication/Dispenser_Card/EEPROM/Dispenser_EEPROM.h"
 #include <Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h>
 #include "Modules/General/buttons.h"
-
+#include "Modules/Waste/Waste.h"
 #include "Drivers/I2C_Communication/Main_Board_EEPROM/Main_EEPROM.h"
 
 
@@ -153,6 +148,10 @@ uint32_t HWConfigurationInit(void)
 
     ADC_MUX_Init();
     GeneralHwReady = true;
+
+    //I2C_NFC_Test();
+    //RFID_Test();
+
     return status;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.h b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
index f7dbbb25f..646861bc7 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.h
@@ -34,6 +34,7 @@ typedef enum
     sttDISABLE,
     sttENABLE,
     sttJOGGING,
+    sttLONG_JOGGING,
 
     sttRDY,
     sttPRELOAD,
@@ -44,10 +45,10 @@ typedef enum
 
 typedef struct Button
 {
-    char    bttn_name[10];  //option
-    int     bttn_status;    // 0=RELEASE 1=PRESS
-    PBstat  Action;         // enum : offPB,shortPB,longPB,countPB,replongPB
-    PBcolor color;          // enum : off, blue, blink, bithing
+    char        bttn_name[10];  //option
+    PB_Status   bttn_status;    // 0=RELEASE 1=PRESS
+    PBstat      Action;         // enum : offPB,shortPB,longPB,countPB,replongPB
+    PBcolor     color;          // enum : off, blue, blink, bithing
     PBmachineState state;    // enum : sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
     uint32_t count;
 }button;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index d7de5797d..4305fac0e 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -20,7 +20,6 @@
 #include "drivers/I2C_Communication/ADC_MUX/ADC_MUX.h"
 
 #include "modules/ids/ids_ex.h"
-#include "third_party/fatfs/src/ffconf.h"
 #include "Common/SWUpdate/FileSystem.h"
 #include "StateMachines/Initialization/PowerIdle.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 564df6862..b023d592b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -1182,7 +1182,7 @@ uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     }
     if (readValue>(HeaterCmd[index].targettemperatue+500))
     {
-        ReportWithPackageFilter(HeatersFilter, "DC OverHeating in progress",__FILE__,readValue,HeaterReady[index],RpError, HeaterAtTemp[index],0);
+        ReportWithPackageFilter(HeatersFilter, "DC OverHeating in progress",__FILE__,index,readValue,RpError, HeaterReady[index],0);
     }
 
     // check if the read value is within the proportional band
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index 2a1a8fa31..bdde05b43 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -17,7 +17,7 @@
 #include "drivers/valves/valve.h"
 
 int SaveLeftRockerSpeed = 50, SaveRightRockerSpeed = 50;
-#define CLEANING_DISPENSER_ID 6
+
 uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
 {
     uint32_t status = OK;
@@ -43,8 +43,8 @@ uint32_t IDS_Cleaning_Center_And_Stop_Rockers (int timeout,callback_fptr callbac
 uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr callback)
 {
     uint32_t status = OK;
-    status = IDS_Dispenser_Start_Motor_and_Open_Valve(CLEANING_DISPENSER_ID, dispenserSpeed, callback);
-    Report("IDS_Cleaning_Spray_Cleaning_Solution", __FILE__, __LINE__, CLEANING_DISPENSER_ID, RpWarning,   dispenserSpeed, 0);
+    status = IDS_Dispenser_Start_Motor_and_Open_Valve(CLEANER_DISPENSER, dispenserSpeed, callback);
+    Report("IDS_Cleaning_Spray_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning,   dispenserSpeed, 0);
 
     return status;
 
@@ -52,8 +52,8 @@ uint32_t IDS_Cleaning_Spray_Cleaning_Solution (int dispenserSpeed,callback_fptr
 uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback)
 {
     uint32_t status = OK;
-    status = IDS_Dispenser_Close_Valve_And_Stop_Motor(CLEANING_DISPENSER_ID,callback);
-    Report("IDS_Cleaning_Stop_Cleaning_Solution", __FILE__, __LINE__, CLEANING_DISPENSER_ID, RpWarning,   status, 0);
+    status = IDS_Dispenser_Close_Valve_And_Stop_Motor(CLEANER_DISPENSER,callback);
+    Report("IDS_Cleaning_Stop_Cleaning_Solution", __FILE__, __LINE__, CLEANER_DISPENSER, RpWarning,   status, 0);
 
     return status;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index ca9a15008..55ae7d879 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -593,7 +593,10 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
      }
 
      NumOfActiveDispensers = 0;
-     IDS_StopHomeDispenser(CLEANER_DISPENSER);
+     if (lubricant_speed > 0.1)
+         IDS_StopHomeDispenser(LUBRICANT_DISPENSER);
+      if ((EnableIntersegment == true)&&(IntersegmentLength>0))
+         IDS_StopHomeDispenser(CLEANER_DISPENSER);
      for (i = 0; i < MAX_DYE_DISPENSERS; i++)
      {
          if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
@@ -607,11 +610,37 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
          }
          else
          {
-             if ((HomingActive[i] == false)&&(PrimingActive == false))
+             /**/if (AutoHoming_Config >= AutoHoming_JobEnd_PowerOn_off)
+             {
+                 if ((HomingActive[i] == false)&&(PrimingActive == false))
+                 {
+                     Report("Homing Inactive dispenser",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
+                     IDS_HomeDispenser (i, 1000 , NULL);
+                 }
+                 else
+                 {
+                     Report("Inactive dispenser already homing",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
+                 }
+             }/**/
+             /*if ((HomingActive[i] == false)&&(PrimingActive == false))
              {
                  Report("Inactive dispenser open valve",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
                  Control3WayValvesWithCallback (i, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-             }
+                     Report("Homing Inactive dispenser",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
+                     IDS_HomeDispenser (i, 1000 , NULL);
+                 }
+                 else
+                 {
+                     Report("Inactive dispenser already homing",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
+                 }
+             }*/
+             //if ((HomingActive[i] == false)&&(PrimingActive == false))
+             //{
+             //    Report("Inactive dispenser open valve",__FILE__,i,HomingActive[i],RpWarning,PrimingActive[i],0);
+             //    Control3WayValvesWithCallback (i, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+             //}
+             //ControlIdtoInactiveDispenserId[Dispenser_i] = AddControlCallback( IDS_Check_Pressure_Callback, eOneMinute,TemplateDataReadCBFunction ,0, 0, 0 );
+
          }
      }
      if (NumOfActiveDispensers)
@@ -763,11 +792,13 @@ uint32_t InactiveDispenserHome(uint32_t DispenserId, uint32_t ReadValue)
                  }
                  else
                  {
-                     MotorStop(HW_Motor_Id, Hard_Hiz);
-                     CurrentDispenserSpeed[Dispenser_i] = 0;
-                     usnprintf(IdsMessage, 80,"Presegment Prepare Dispenser %d stopped",DispenserId,(int) segmentfirst_speed);
-                     Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
-
+                     if (DispenserUsedInJob[DispenserId] == true)
+                     {
+                         MotorStop(HW_Motor_Id, Hard_Hiz);
+                         CurrentDispenserSpeed[Dispenser_i] = 0;
+                         usnprintf(IdsMessage, 80,"Presegment Prepare Dispenser %d stopped",DispenserId,(int) segmentfirst_speed);
+                         Report(IdsMessage, __FILE__, __LINE__, Dispenser_i, RpWarning,   segmentfirst_speed, 0);
+                     }
                  }
              }
              DispenserBuildTimeCounter = 0;
@@ -855,6 +886,8 @@ uint32_t IDS_Cleaning_Stop_Cleaning_Solution (callback_fptr callback);
          Report("End of Pre-segment Handling",__FILE__,__LINE__,InterSegmentStepsCount,RpWarning,(int)lInterSegmentLength,0);
          //PreSegmentReady(Module_IDS,ModuleDone);
          SafeRemoveControlCallback(DispenserPreSegmentControlId,IDSPreSegmentStateCallbackRunner);
+         if (CurrentDispenserSpeed[CLEANER_DISPENSER]>0)
+             IDS_Cleaning_Stop_Cleaning_Solution (NULL);
          setRapidPressureRead(false);
      }
      if (EnableCleaning == true)
@@ -1145,12 +1178,15 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
             }
             if ((EnableIntersegment == true)&&(IntersegmentLength>0.1)&&(SegmentId>0))
             {
-                MotorStop(HW_Motor_Id,Soft_Hiz); //26/03/19 test  without valves
-                CurrentDispenserSpeed[DispenserId] = 0;
-                //MotorSetSpeed(HW_Motor_Id, 5);
-                //CurrentDispenserSpeed[Dispenser_i] = 5;
-                DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
-                REPORT_MSG(DispenserId,"Dispenser stopped pre Segment");
+                if (DispenserUsedInJob[DispenserId] == true)
+                {
+                    MotorStop(HW_Motor_Id,Soft_Hiz); //26/03/19 test  without valves
+                    CurrentDispenserSpeed[DispenserId] = 0;
+                    //MotorSetSpeed(HW_Motor_Id, 5);
+                    //CurrentDispenserSpeed[Dispenser_i] = 5;
+                    DispenserPreSegmentReady[DispenserId] = true; //27/03/19 check if job should be stopped
+                    REPORT_MSG(DispenserId,"Dispenser stopped pre Segment");
+                }
             }
             IDS_Valve_PresegmentReady(DispenserId,0); //27/03/19 to be removed when the presegment handler will be added
         }
@@ -1226,8 +1262,11 @@ void IDS_StartBrushStop(int n_dispensers,  JobDispenser** Dispensers)
             {
                 DispenserSegmentReady[DispenserId] = true;
                 //IDS_Dispenser_Close_Valve_And_Stop_Motor(DispenserId,NULL);*/
-                MotorStop(HW_Motor_Id, Hard_Hiz);
-                CurrentDispenserSpeed[DispenserId] = 0;
+                if (DispenserUsedInJob[DispenserId] == true)
+                {
+                    MotorStop(HW_Motor_Id, Hard_Hiz);
+                    CurrentDispenserSpeed[DispenserId] = 0;
+                }
                 //Report("inActive dispenser stopped", __FILE__, __LINE__, DispenserId, RpWarning,   segmentfirst_speed, 0);
             }
         }
@@ -1276,6 +1315,17 @@ uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue)
     }
     return OK;
 }
+#define VALVE_DELAY 1
+#ifdef VALVE_DELAY
+
+uint32_t IDSValveControlId = 0xFF;
+uint32_t IDSSegmentStateSetValve(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    SafeRemoveControlCallback(IDSValveControlId,IDSSegmentStateSetValve);
+    Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
+    Report("IDSSegmentState set valve after 1 second",__FILE__,__LINE__,(int)0,RpWarning,(int)0,0);
+}
+#endif
 //********************************************************************************************************************
 uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 {
@@ -1283,8 +1333,11 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
      JobDispenser **Dispensers;
      int n_dispensers;
 
+#ifdef VALVE_DELAY
+     IDSValveControlId = AddControlCallback("VALVE_DELAY",IDSSegmentStateSetValve, eOneSecond,TemplateDataReadCBFunction,0,0,0);
+#else
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
-
+#endif
      IDS_Cleaning_Stop_Cleaning_Solution(NULL);
      SegmentNumOfBrushStops = Segment->n_brushstops;
      BrushStopTime = Segment->length/SegmentNumOfBrushStops;  //brushstop in meters
@@ -1412,7 +1465,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
      {
          Report("IDS_Valve_EndValveReady start homing",__FILE__,deviceID,(int)AutoHoming_Config,RpWarning,(int)AutoHoming_JobEnd_PowerOn_off,0);
 
-         if (deviceID!=LUBRICANT_DISPENSER)
+         //if (deviceID!=LUBRICANT_DISPENSER)
          IDS_HomeDispenser (deviceID, 1000 , NULL);
      }
      return OK;
@@ -1455,8 +1508,8 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          }
          else
          {
-             RemoveControlCallback(ControlIdtoInactiveDispenserId[Dispenser_i], IDS_Check_Pressure_Callback );
-             ControlIdtoInactiveDispenserId[Dispenser_i] = 0xFF;
+//             RemoveControlCallback(ControlIdtoInactiveDispenserId[Dispenser_i], IDS_Check_Pressure_Callback );
+//             ControlIdtoInactiveDispenserId[Dispenser_i] = 0xFF;
              IDS_Valve_EndValveReady(Dispenser_i,false);
          }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 856812c12..852c19a1a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -67,6 +67,7 @@
     uint8_t CallbackCounter = 0;
     uint8_t TimeoutsCounter = 0;
 
+    uint32_t UnloadingStart = 0;
     uint8_t NumberOfDrierLoaderCycles = 0;
     uint32_t status = OK;
     uint32_t LoadingControlId = 0xFF,PullerControlId = 0xFF,WinderControlId = 0xFF;
@@ -184,8 +185,6 @@
         {
             Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             //storeLoadArmParameters();
-            MotorMove(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,LoadArmInfo.LoadArmBackLash );
-
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
             ThreadLoadStateMachine(LoadStages);
@@ -215,6 +214,8 @@
 //move to exact location?
 //        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         CallbackCounter = 0;
+        Report("Thread_Load_Set_Load_Arm_To_Stopper time",__FILE__,msec_millisecondCounter - UnloadingStart,msec_millisecondCounter,RpMessage,UnloadingStart,0);
+
         Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         NumberOfDrierLoaderCycles=0;
         //storeLoadArmParameters();
@@ -614,7 +615,7 @@
         LoadArmInfo.LoadArmRounds = 0;
         //uint32_t numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
-        SetOriginMotorSpeed(19);
+        SetOriginMotorSpeed(30);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
@@ -670,14 +671,14 @@
         CallbackCounter++;
         //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
         //                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
-        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        UnloadingStart = msec_millisecondCounter;
+        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
         LoadArmInfo.LoadArmBackLash = 5;
-
         status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
-                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
+                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/2, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
         //Keep Notation How Many Rotations In The Dryer
-        LoadArmInfo.LoadArmBackLash = 5;
+        //LoadArmInfo.LoadArmBackLash = 0;
         LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         load.color = BLINK;
         return OK;
@@ -840,7 +841,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         CurrentControlledSpeed[index] = calculated_speed;
         MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
     }
-    if (index == POOLER_MOTOR)
+   /* if (index == POOLER_MOTOR)
     {
         if ((TranslatedReadValue)<(-1200))
         {
@@ -868,7 +869,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
         }
 
-    }
+    }*/
 /*    LoadCounter++;
     if ((LoadCounter % 5001) == 0)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 741fed7af..0d1656301 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -107,6 +107,8 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
     InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage;
+    if (request->rotationsperpassage > 6.1)
+        InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
     InternalWinderCfg.diameter = request->diameter;
     usnprintf(ScrewStr, 150, "WindingConfig start,offset,head,tail {, %d, %d, %d, %d, %d}",InternalWinderCfg.startoffsetpulses,(int)InternalWinderCfg.segmentoffsetpulses,
               (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate);
@@ -279,7 +281,7 @@ numOfSteps = InternalWinderCfg.startoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__
 double WinderReferenceSpeed=0;
 double  TotalWinderSpeed=0;
 bool Add100 = false;
-double Rotations = 6.0;
+double Rotations = 10.0;
 int flipflop = 0;
 uint32_t motspeed;
 float speedf;
@@ -400,11 +402,11 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     }*/
     //WinderReferenceSpeed = 1000;
     //ScrewNumberOfSteps = 1000;
-    screw_horizontal_speed = ScrewNumberOfSteps /  Rotations;//InternalWinderCfg.NumberOfRotationPerPassage;
+    //screw_horizontal_speed = ScrewNumberOfSteps /  Rotations;//InternalWinderCfg.NumberOfRotationPerPassage;
   //  if (Rotations > 6.6)//7.0)
   //      Rotations = 6.0;
-    RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
-    tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
+    //RotationsPerSecond =  WinderReferenceSpeed / (double)MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].pulseperround;
+    //tempScrewSpeed = screw_horizontal_speed*RotationsPerSecond;
     //ROM_IntMasterDisable();
     tempScrewSpeed = ScrewSpeed;
 
@@ -468,7 +470,6 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
             InternalWinderCfg.SpoolBottomBackingRate =  2000; //no cone shape for samples
             InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             JobSegment* Segment = SegmentDetails;
-            InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             ScrewSpeed = InternalWinderCfg.segmentoffsetpulses/(((Segment->length *100)/dyeingspeed)/3);
             ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
 
@@ -481,7 +482,6 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
             InternalWinderCfg.SpoolBottomBackingRate =  2000; //no cone shape for samples
             InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             JobSegment* Segment = SegmentDetails;
-            InternalWinderCfg.NumberOfRotationPerPassage = 100; // a very slow movement of the screw
             ScrewSpeed = InternalWinderCfg.segmentoffsetpulses/(((Segment->length *100)/dyeingspeed)/20);
             ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses;//*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
         }