Merge branch 'master' of https://twinetfs.visualstudio.com/_git/Tango

7 files changed, 80 insertions, 417 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index c40499bd7..0ed71bf0d 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -16,301 +16,6 @@
 #include "PMR/Hardware/UploadHardWareConfigurationResponse.pb-c.h"
 #include "PMR/Hardware/SystemResetRequest.pb-c.h"
 #include "PMR/Hardware/SystemResetResponse.pb-c.h"
-/*
-PortInfoStruct PortInfoTable[MAX_PORT_ENUM] = {
-       {ANALOG_MIXCHIP_TEMP,"ANALOG_MIXCHIP_TEMP"},
-       {AN_DYEINGH_CURSEN_1,"AN_DYEINGH_CURSEN_1"},
-       {AN_DYEINGH_CURSEN_2,"AN_DYEINGH_CURSEN_2"},
-       {AN_DYEINGH_CURSEN_3,"AN_DYEINGH_CURSEN_3"},
-       {AN_DYEINGH_CURSEN_4,"AN_DYEINGH_CURSEN_4"},
-       {AN_DYEINGH_CURSEN_5,"AN_DYEINGH_CURSEN_5"},
-       {ANALOG_DYEINGH_TEMP1,"ANALOG_DYEINGH_TEMP1"},
-       {ANALOG_DYEINGH_TEMP2,"ANALOG_DYEINGH_TEMP2"},
-       {ANALOG_DYEINGH_TEMP3,"ANALOG_DYEINGH_TEMP3"},
-       {ANALOG_DYEINGH_TEMP4,"ANALOG_DYEINGH_TEMP4"},
-       {ANALOG_DYEINGH_TEMP5,"ANALOG_DYEINGH_TEMP5"},
-       {AN_DRYER_CURSEN1,"AN_DRYER_CURSEN1"},
-       {AN_DRYER_CURSEN2,"AN_DRYER_CURSEN2"},
-       {AN_DRYER_CURSEN3,"AN_DRYER_CURSEN3"},
-       {ANALOG_DRYER_TEMP1,"ANALOG_DRYER_TEMP1"},
-       {ANALOG_DRYER_TEMP2,"ANALOG_DRYER_TEMP2"},
-       {ANALOG_DRYER_TEMP3,"ANALOG_DRYER_TEMP3"},
-       {AN_ENCLOSURETEMP1,"AN_ENCLOSURETEMP1"},
-       {AN_ENCLOSURETEMP2,"AN_ENCLOSURETEMP2"},
-       {AN_ENCLOSURETEMP3,"AN_ENCLOSURETEMP3"},
-       {AN_IDS_PRESSENS_1,"AN_IDS_PRESSENS_1"},
-       {AN_IDS_PRESSENS_2,"AN_IDS_PRESSENS_2"},
-       {AN_IDS_PRESSENS_3,"AN_IDS_PRESSENS_3"},
-       {AN_IDS_PRESSENS_4,"AN_IDS_PRESSENS_4"},
-       {AN_IDS_PRESSENS_5,"AN_IDS_PRESSENS_5"},
-       {AN_IDS_PRESSENS_6,"AN_IDS_PRESSENS_6"},
-       {AN_IDS_PRESSENS_7,"AN_IDS_PRESSENS_7"},
-       {AN_IDS_PRESSENS_8,"AN_IDS_PRESSENS_8"},
-       {AN_MIDTANK_PRESSENS1,"AN_MIDTANK_PRESSENS1"},
-       {AN_MIDTANK_PRESSENS2,"AN_MIDTANK_PRESSENS2"},
-       {AN_MIDTANK_PRESSENS3,"AN_MIDTANK_PRESSENS3"},
-       {AN_MIDTANK_PRESSENS4,"AN_MIDTANK_PRESSENS4"},
-       {AN_MIDTANK_PRESSENS5,"AN_MIDTANK_PRESSENS5"},
-       {AN_MIDTANK_PRESSENS6,"AN_MIDTANK_PRESSENS6"},
-       {AN_MIDTANK_PRESSENS7,"AN_MIDTANK_PRESSENS7"},
-       {AN_MIXCHIP_CURSENn,"AN_MIXCHIP_CURSENn"},
-       {AN5V_LDANCER1,"AN5V_LDANCER1"},
-       {AN5V_LDANCER2,"AN5V_LDANCER2"},
-       {AN5V_RDANCER,"AN5V_RDANCER"},
-       {AN10V_SPARE1,"AN10V_SPARE1"},
-       {AN10V_SPARE2,"AN10V_SPARE2"},
-       {AN_AIRPRESS_1,"AN_AIRPRESS_1"},
-       {AN_AIRPRESS_2,"AN_AIRPRESS_2"},
-       {AN_VOCSENS,"AN_VOCSENS"},
-       {AN_BLOWERCTRL,"AN_BLOWERCTRL"},
-       {LS_DH_LID_CLEANING,"LS_DH_LID_CLEANING"},
-       {LS_DH_LID_CLOSED,"LS_DH_LID_CLOSED"},
-       {LS_DH_CLEAN_UP,"LS_DH_CLEAN_UP"},
-       {LS_DH_CLEAN_RIGHT,"LS_DH_CLEAN_RIGHT"},
-       {LS_DH_SPARE1,"LS_DH_SPARE1"},
-       {LS_DH_LID_OPEN,"LS_DH_LID_OPEN"},
-       {LS_DH_CLEAN_DOWN,"LS_DH_CLEAN_DOWN"},
-       {LS_DH_CLEAN_LEFT,"LS_DH_CLEAN_LEFT"},
-       {LS_DRYER_LID_OPEN,"LS_DRYER_LID_OPEN"},
-       {LS_DRYER_SPARE3,"LS_DRYER_SPARE3"},
-       {LS_DRYER_LID_CLOSED,"LS_DRYER_LID_CLOSED"},
-       {LS_DRYER_SPARE4,"LS_DRYER_SPARE4"},
-       {LS_DRYER_SPARE1,"LS_DRYER_SPARE1"},
-       {LS_LOADARM_RIGHT,"LS_LOADARM_RIGHT"},
-       {LS_DRYER_SPARE2,"LS_DRYER_SPARE2"},
-       {LS_LOADARM_LEFT,"LS_LOADARM_LEFT"},
-       {GPI_PS1_DC_OK,"GPI_PS1_DC_OK"},
-       {GPI_PANSW2,"GPI_PANSW2"},
-       {GPI_PANSW4,"GPI_PANSW4"},
-       {GPI_PANSW1,"GPI_PANSW1"},
-       {GPI_PANSW3,"GPI_PANSW3"},
-       {GPI_PANSW5,"GPI_PANSW5"},
-       {GPI_PANSW6,"GPI_PANSW6"},
-       {GPI_TACTSW1,"GPI_TACTSW1"},
-       {GPI_TACTSW3,"GPI_TACTSW3"},
-       {GPI_PWRBUTTON,"GPI_PWRBUTTON"},
-       {GPI_TACTSW2,"GPI_TACTSW2"},
-       {GPI_TACTSW4,"GPI_TACTSW4"},
-       {GPI_EXTWINDER_1,"GPI_EXTWINDER_1"},
-       {GPI_EXTWINDER_2,"GPI_EXTWINDER_2"},
-       {GPI_EXTWINDER_3,"GPI_EXTWINDER_3"},
-       {GPI_EXTWINDER_1_rtn,"GPI_EXTWINDER_1_rtn"},
-       {GPI_EXTWINDER_2_rtn,"GPI_EXTWINDER_2_rtn"},
-       {GPI_EXTWINDER_3_rtn,"GPI_EXTWINDER_3_rtn"},
-       {LS_DISPENSER_UP_1,"LS_DISPENSER_UP_1"},
-       {LS_DISPENSER_25_1,"LS_DISPENSER_25_1"},
-       {LS_DISPENSER_75_1,"LS_DISPENSER_75_1"},
-       {LS_DISPENSER_UP_3,"LS_DISPENSER_UP_3"},
-       {LS_DISPENSER_25_3,"LS_DISPENSER_25_3"},
-       {LS_DISPENSER_75_3,"LS_DISPENSER_75_3"},
-       {LS_DISPENSER_UP_5,"LS_DISPENSER_UP_5"},
-       {LS_DISPENSER_25_5,"LS_DISPENSER_25_5"},
-       {LS_DISPENSER_75_5,"LS_DISPENSER_75_5"},
-       {LS_DISPENSER_UP_7,"LS_DISPENSER_UP_7"},
-       {LS_DISPENSER_25_7,"LS_DISPENSER_25_7"},
-       {LS_DISPENSER_75_7,"LS_DISPENSER_75_7"},
-       {LS_DISPENSER_DOWN_1,"LS_DISPENSER_DOWN_1"},
-       {LS_DISPENSER_50_1,"LS_DISPENSER_50_1"},
-       {LS_DISPENSER_SPARE_1,"LS_DISPENSER_SPARE_1"},
-       {LS_DISPENSER_DOWN_3,"LS_DISPENSER_DOWN_3"},
-       {LS_DISPENSER_50_3,"LS_DISPENSER_50_3"},
-       {LS_DISPENSER_SPARE_3,"LS_DISPENSER_SPARE_3"},
-       {LS_DISPENSER_DOWN_5,"LS_DISPENSER_DOWN_5"},
-       {LS_DISPENSER_50_5,"LS_DISPENSER_50_5"},
-       {LS_DISPENSER_SPARE_5,"LS_DISPENSER_SPARE_5"},
-       {LS_DISPENSER_DOWN_7,"LS_DISPENSER_DOWN_7"},
-       {LS_DISPENSER_50_7,"LS_DISPENSER_50_7"},
-       {LS_DISPENSER_SPARE_7,"LS_DISPENSER_SPARE_7"},
-       {LS_DISPENSER_UP_2,"LS_DISPENSER_UP_2"},
-       {LS_DISPENSER_25_2,"LS_DISPENSER_25_2"},
-       {LS_DISPENSER_75_2,"LS_DISPENSER_75_2"},
-       {LS_DISPENSER_UP_4,"LS_DISPENSER_UP_4"},
-       {LS_DISPENSER_25_4,"LS_DISPENSER_25_4"},
-       {LS_DISPENSER_75_4,"LS_DISPENSER_75_4"},
-       {LS_DISPENSER_UP_6,"LS_DISPENSER_UP_6"},
-       {LS_DISPENSER_25_6,"LS_DISPENSER_25_6"},
-       {LS_DISPENSER_75_6,"LS_DISPENSER_75_6"},
-       {LS_DISPENSER_UP_8,"LS_DISPENSER_UP_8"},
-       {LS_DISPENSER_25_8,"LS_DISPENSER_25_8"},
-       {LS_DISPENSER_75_8,"LS_DISPENSER_75_8"},
-       {LS_RLOADMOTOR_UP,"LS_RLOADMOTOR_UP"},
-       {LS_DISPENSER_DOWN_2,"LS_DISPENSER_DOWN_2"},
-       {LS_DISPENSER_50_2,"LS_DISPENSER_50_2"},
-       {LS_DISPENSER_SPARE_2,"LS_DISPENSER_SPARE_2"},
-       {LS_DISPENSER_DOWN_4,"LS_DISPENSER_DOWN_4"},
-       {LS_DISPENSER_50_4,"LS_DISPENSER_50_4"},
-       {LS_DISPENSER_SPARE_4,"LS_DISPENSER_SPARE_4"},
-       {LS_DISPENSER_DOWN_6,"LS_DISPENSER_DOWN_6"},
-       {LS_DISPENSER_50_6,"LS_DISPENSER_50_6"},
-       {LS_DISPENSER_SPARE_6,"LS_DISPENSER_SPARE_6"},
-       {LS_DISPENSER_DOWN_8,"LS_DISPENSER_DOWN_8"},
-       {LS_DISPENSER_50_8,"LS_DISPENSER_50_8"},
-       {LS_DISPENSER_SPARE_8,"LS_DISPENSER_SPARE_8"},
-       {LS_SCREW_LEFT,"LS_SCREW_LEFT"},
-       {SW_SPOOL_EXISTS,"SW_SPOOL_EXISTS"},
-       {LS_SCREW_RIGHT,"LS_SCREW_RIGHT"},
-       {SW_SPARE,"SW_SPARE"},
-       {LS_LDANCER1_DOWN,"LS_LDANCER1_DOWN"},
-       {LS_LDANCER2_DOWN,"LS_LDANCER2_DOWN"},
-       {LS_LPIVOT_DOWN,"LS_LPIVOT_DOWN"},
-       {LS_PIVOT_SPARE1,"LS_PIVOT_SPARE1"},
-       {LS_LDANCER1_UP,"LS_LDANCER1_UP"},
-       {LS_LDANCER2_UP,"LS_LDANCER2_UP"},
-       {LS_LPIVOT_UP,"LS_LPIVOT_UP"},
-       {LS_PIVOT_SPARE2,"LS_PIVOT_SPARE2"},
-       {LS_LLOADMOTOR_DOWN,"LS_LLOADMOTOR_DOWN"},
-       {LS_LSPARE1,"LS_LSPARE1"},
-       {LS_LLOADMOTOR_UP,"LS_LLOADMOTOR_UP"},
-       {LS_LSPARE2,"LS_LSPARE2"},
-       {LS_RDANCER_DOWN,"LS_RDANCER_DOWN"},
-       {LS_RLOADRAM_DOWN,"LS_RLOADRAM_DOWN"},
-       {LS_RDANCER_UP,"LS_RDANCER_UP"},
-       {LS_RLOADRAM_UP,"LS_RLOADRAM_UP"},
-       {LS_RLOADMOTOR_DOWN,"LS_RLOADMOTOR_DOWN"},
-       {GPI_TFEED_BREAK_1,"GPI_TFEED_BREAK_1"},
-       {GPI_TFEED_BREAK_2,"GPI_TFEED_BREAK_2"},
-       {LS_RSPARE1,"LS_RSPARE1"},
-       {LS_SPARE2_1,"LS_SPARE2_1"},
-       {LS_SPARE2_3,"LS_SPARE2_3"},
-       {LS_SPARE1_1,"LS_SPARE1_1"},
-       {LS_SPARE1_3,"LS_SPARE1_3"},
-       {LS_RSPARE2,"LS_RSPARE2"},
-       {LS_SPARE2_2,"LS_SPARE2_2"},
-       {LS_SPARE2_4,"LS_SPARE2_4"},
-       {LS_SPARE1_2,"LS_SPARE1_2"},
-       {LS_SPARE1_4,"LS_SPARE1_4"},
-       {GPI_WCONTAINER_WARN,"GPI_WCONTAINER_WARN"},
-       {GPI_SW_WCONTAINER_PRES,"GPI_SW_WCONTAINER_PRES"},
-       {GPI_CHILLER_FAULT,"GPI_CHILLER_FAULT"},
-       {GPI_CHILLER_STAT1,"GPI_CHILLER_STAT1"},
-       {GPI_BLOWER_TACH,"GPI_BLOWER_TACH"},
-       {GPI_WCONTAINER_FULL,"GPI_WCONTAINER_FULL"},
-       {GPI_AIRFLOW_FLAP,"GPI_AIRFLOW_FLAP"},
-       {GPO_MIXCHIP_SSR4_CTRL,"GPO_MIXCHIP_SSR4_CTRL"},
-       {GPO_DYEINGH_SSR7_CTRL,"GPO_DYEINGH_SSR7_CTRL"},
-       {GPO_DYEINGH_SSR8_CTRL,"GPO_DYEINGH_SSR8_CTRL"},
-       {GPO_DYEINGH_SSR5_CTRL,"GPO_DYEINGH_SSR5_CTRL"},
-       {GPO_DYEINGH_SSR6_CTRL,"GPO_DYEINGH_SSR6_CTRL"},
-       {GPO_DRYER_SSR3_CTRL,"GPO_DRYER_SSR3_CTRL"},
-       {GPO_DRYER_SSR1_CTRL,"GPO_DRYER_SSR1_CTRL"},
-       {GPO_DRYER_SSR2_CTRL,"GPO_DRYER_SSR2_CTRL"},
-       {GPO_SPARE_SSR12_CTRL,"GPO_SPARE_SSR12_CTRL"},
-       {GPO_SPARE_SSR13_CTRL,"GPO_SPARE_SSR13_CTRL"},
-       {GPO_PDOWN_RL1_CTRL,"GPO_PDOWN_RL1_CTRL"},
-       {GPO_LED1,"GPO_LED1"},
-       {GPO_LED3,"GPO_LED3"},
-       {GPO_LED2,"GPO_LED2"},
-       {GPO_LED4,"GPO_LED4"},
-       {GPO_BUZZER,"GPO_BUZZER"},
-       {GPO_EXTWINDER_SSR11_CTRL,"GPO_EXTWINDER_SSR11_CTRL"},
-       {GPO_EXTWINDER_1,"GPO_EXTWINDER_1"},
-       {GPO_EXTWINDER_2,"GPO_EXTWINDER_2"},
-       {GPO_EXTWINDER_3,"GPO_EXTWINDER_3"},
-       {GPO_DILUTORPUMP_SSR10_CTRL,"GPO_DILUTORPUMP_SSR10_CTRL"},
-       {GPO_WASTECH_PUMP1,"GPO_WASTECH_PUMP1"},
-       {GPO_WASTECH_PUMP2,"GPO_WASTECH_PUMP2"},
-       {GPO_TFEED_BREAK_1,"GPO_TFEED_BREAK_1"},
-       {GPO_TFEED_BREAK_2,"GPO_TFEED_BREAK_2"},
-       {GPO_SPARE1_1,"GPO_SPARE1_1"},
-       {GPO_SPARE2_1,"GPO_SPARE2_1"},
-       {GPO_SPARE1_2,"GPO_SPARE1_2"},
-       {GPO_SPARE2_2,"GPO_SPARE2_2"},
-       {GPO_BLOWER_PWM,"GPO_BLOWER_PWM"},
-       {GPO_WHS_WTANKPUMP2,"GPO_WHS_WTANKPUMP2"},
-       {GPO_CHILLER_SSR9_CTRL,"GPO_CHILLER_SSR9_CTRL"},
-       {DH2,"DH2"},
-       {DH1,"DH1"},
-       {DRYER2,"DRYER2"},
-       {DRYER1,"DRYER1"},
-       {ELECTRICALENC,"ELECTRICALENC"},
-       {USERPANEL,"USERPANEL"},
-       {EXTWINDINGUNIT,"EXTWINDINGUNIT"},
-       {DISPENSER_1,"DISPENSER_1"},
-       {DISPENSER_3,"DISPENSER_3"},
-       {DISPENSER_5,"DISPENSER_5"},
-       {DISPENSER_7,"DISPENSER_7"},
-       {MIDTANK3_1,"MIDTANK3_1"},
-       {DISPENSER_2,"DISPENSER_2"},
-       {DISPENSER_4,"DISPENSER_4"},
-       {DISPENSER_6,"DISPENSER_6"},
-       {DISPENSER_8,"DISPENSER_8"},
-       {CART3,"CART3"},
-       {CART1,"CART1"},
-       {CART2,"CART2"},
-       {CART4,"CART4"},
-       {CART7,"CART7"},
-       {CART5,"CART5"},
-       {CART6,"CART6"},
-       {CART8,"CART8"},
-       {INTWINDINGUNIT,"INTWINDINGUNIT"},
-       {LTFEEDUNIT2,"LTFEEDUNIT2"},
-       {LTFEEDUNIT1,"LTFEEDUNIT1"},
-       {RTFEEDUNIT2,"RTFEEDUNIT2"},
-       {RTFEEDUNIT1,"RTFEEDUNIT1"},
-       {SPARE2,"SPARE2"},
-       {SPARE1,"SPARE1"},
-       {WHS,"WHS"},
-       {MIDTANK3_2,"MIDTANK3_2"},
-       {MOTO_DH_CLEANHEAD,"MOTO_DH_CLEANHEAD"},
-       {MOTO_DH_CLEANMECH,"MOTO_DH_CLEANMECH"},
-       {MOTO_DH_LID,"MOTO_DH_LID"},
-       {MOTO_DRYER_DRIVING,"MOTO_DRYER_DRIVING"},
-       {MOTO_DRYER_LID,"MOTO_DRYER_LID"},
-       {MOTO_DRYER_LOADARM,"MOTO_DRYER_LOADARM"},
-       {MOTO_DISPENSER_1,"MOTO_DISPENSER_1"},
-       {MOTO_DISPENSER_2,"MOTO_DISPENSER_2"},
-       {MOTO_DISPENSER_3,"MOTO_DISPENSER_3"},
-       {MOTO_DISPENSER_4,"MOTO_DISPENSER_4"},
-       {MOTO_DISPENSER_5,"MOTO_DISPENSER_5"},
-       {MOTO_DISPENSER_6,"MOTO_DISPENSER_6"},
-       {MOTO_DISPENSER_7,"MOTO_DISPENSER_7"},
-       {MOTO_DISPENSER_8,"MOTO_DISPENSER_8"},
-       {MOTO_SCREW,"MOTO_SCREW"},
-       {MOTO_WINDER,"MOTO_WINDER"},
-       {MOTO_LDANCER1,"MOTO_LDANCER1"},
-       {MOTO_LDANCER2,"MOTO_LDANCER2"},
-       {MOTO_LDRIVING,"MOTO_LDRIVING"},
-       {MOTO_LLOADING,"MOTO_LLOADING"},
-       {MOTO_LPIVOT1,"MOTO_LPIVOT1"},
-       {MOTO_RDANCER,"MOTO_RDANCER"},
-       {MOTO_RDRIVING,"MOTO_RDRIVING"},
-       {MOTO_RLOADARM,"MOTO_RLOADARM"},
-       {MOTO_RLOADING,"MOTO_RLOADING"},
-       {MOTO_SPARE1_1,"MOTO_SPARE1_1"},
-       {MOTO_SPARE1_2,"MOTO_SPARE1_2"},
-       {MOTO_SPARE2_1,"MOTO_SPARE2_1"},
-       {MOTO_SPARE2_2,"MOTO_SPARE2_2"},
-       {DRYER_LOADARM_ROTENC,"DRYER_LOADARM_ROTENC"},
-       {DISPENSER_ROTENC1,"DISPENSER_ROTENC1"},
-       {DISPENSER_ROTENC2,"DISPENSER_ROTENC2"},
-       {DISPENSER_ROTENC3,"DISPENSER_ROTENC3"},
-       {DISPENSER_ROTENC4,"DISPENSER_ROTENC4"},
-       {DISPENSER_ROTENC5,"DISPENSER_ROTENC5"},
-       {DISPENSER_ROTENC6,"DISPENSER_ROTENC6"},
-       {DISPENSER_ROTENC7,"DISPENSER_ROTENC7"},
-       {DISPENSER_ROTENC8,"DISPENSER_ROTENC8"},
-       {SCREW_ROTENC,"SCREW_ROTENC"},
-       {LDANCER1_ROTENC2,"LDANCER1_ROTENC2"},
-       {LDANCER2_ROTENC2,"LDANCER2_ROTENC2"},
-       {LSPARE_ROTENC,"LSPARE_ROTENC"},
-       {LSPARE_ROTENCn,"LSPARE_ROTENCn"},
-       {LSPARE1_ROTENC,"LSPARE1_ROTENC"},
-       {LSPARE2_ROTENC,"LSPARE2_ROTENC"},
-       {RDANCER_ROTENC2,"RDANCER_ROTENC2"},
-       {RSPARE_ROTENC,"RSPARE_ROTENC"},
-       {RSPEEDSENS_ROTENC,"RSPEEDSENS_ROTENC"},
-       {SPARE1_ROTENC,"SPARE1_ROTENC"},
-       {SPARE2_ROTENC,"SPARE2_ROTENC"},
-       {FAN_TACHO1,"FAN_TACHO1"},
-       {FAN_TACHO3,"FAN_TACHO3"},
-       {FAN_TACHO2,"FAN_TACHO2"},
-       {FAN1_TACH,"FAN1_TACH"},
-       {FAN2_TACH,"FAN2_TACH"},
-       {FAN5_TACH,"FAN5_TACH"},
-       {FAN3_TACH,"FAN3_TACH"},
-       {FAN4_TACH,"FAN4_TACH"},
-};
-*/
 
 
 uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.h
index 587f00c4f..7c0fee8ed 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.h
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.h
@@ -9,7 +9,7 @@
 #define MODULES_STUBS_HANDLER_STUBREALTIMEUSAGE_H_
 
 
-
+void Stub_RealTimeUsageRequest(MessageContainer* requestContainer);
 
 
 #endif /* MODULES_STUBS_HANDLER_STUBREALTIMEUSAGE_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
new file mode 100644
index 000000000..11030f9c6
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
@@ -0,0 +1,55 @@
+
+#include <Container.h>
+#include <DataDef.h>
+#include <PMR/Common/MessageContainer.pb-c.h>
+#include <PMR/Stubs/StubI2CRequest.pb-c.h>
+#include <PMR/Stubs/StubI2CResponse.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 "driverlib/gpio.h"
+
+#include "Drivers/USB_Communication/USBCDCD.h"
+
+#include "drivers/twine_graphicslib/graphics_adapter.h"
+
+#include "Stub_Status.h"
+#include "drivers/I2C_Communication/I2C.h"
+
+void Stub_I2CRequest(MessageContainer* requestContainer)
+{
+    uint32_t status = PASSED;
+    MessageContainer responseContainer;
+
+    StubI2CRequest* request = stub_i2_crequest__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+              
+    StubI2CResponse response =   STUB_I2_CRESPONSE__INIT;
+	
+	response.i2cid = request->i2cid;
+	response.has_i2cid = true;
+
+	response.readbyte = I2C_control(request->i2cid, request->slaveaddress, request->readorwrite,request->bytetowrite );
+	response.has_readbyte= true;
+
+	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
+
+    writeLine("Sending Response: ");
+//
+
+    Write_status_response(status);
+
+    responseContainer = createContainer(MESSAGE_TYPE__StubI2CResponse, requestContainer->token, true, &response, &stub_i2_cresponse__pack, &stub_i2_cresponse__get_packed_size);
+
+    //-------------------------------------------------------------------------------------------
+    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_crequest__free_unpacked(request,NULL);
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
index 0e0a1c41e..b2d6e0dbc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.h
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.h
@@ -1,6 +1,6 @@
 #ifndef STUB_MOTORENCODER_H
 #define STUB_MOTORENCODER_H
 
-void Stub_MotorEncoderRequest(MessageContainer* requestContainer);
+void Stub_I2CRequest(MessageContainer* requestContainer);
 
 #endif //STUB_STUB_MOTORENCODER_H
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.h b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.h
index 95f82353f..f638ec4d4 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.h
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.h
@@ -5,3 +5,4 @@ void Stub_MotorStatusRequest(MessageContainer* requestContainer);
 void Stub_MotorSpeedRequest(MessageContainer* requestContainer);
 void Stub_MotorPositionRequest(MessageContainer* requestContainer);
 void Stub_MotorMovRequest(MessageContainer* requestContainer);
+void Stub_MotorRequest(MessageContainer* requestContainer);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
deleted file mode 100644
index c27a19bc3..000000000
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
+++ /dev/null
@@ -1,86 +0,0 @@
-
-#include <Container.h>
-#include <DataDef.h>
-#include <PMR/Common/MessageContainer.pb-c.h>
-#include <PMR/Stubs/StubMotorEncoderRequest.pb-c.h>
-#include <PMR/Stubs/StubMotorEncoderResponse.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 "driverlib/gpio.h"
-
-#include "Drivers/USB_Communication/USBCDCD.h"
-
-#include "drivers/twine_graphicslib/graphics_adapter.h"
-
-#include "Stub_Status.h"
-
-void Stub_MotorEncoderRequest(MessageContainer* requestContainer)
-{
-    uint32_t status = NOT_SUPPORTED;
-    MessageContainer responseContainer;
-
-    StubMotorEncoderRequest* request = stub_motor_encoder_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-	/*
-	request->motorid
-	request->readencspeed
-	request->readdirection
-	request->motion_control
-    */
-
-    writeLine("Encoder Request: ");
-
-    writeFloat(request->motorid);
-    writeString(", ");
-    writeFloat(request->readencspeed);
-    writeString(", ");
-    writeFloat(request->readdirection);
-    writeString(", ");
-    writeFloat(request->motion_control);
-              
-    StubMotorEncoderResponse response =   STUB_MOTOR_ENCODER_RESPONSE__INIT;
-	
-	response.encoderid = request->motorid;
-	response.has_encoderid = true;
-	
-	response.encoderversion = 456;
-	response.has_encoderversion = true;
-	
-	//response.motorspeed
-	response.has_motorspeed = false;
-	
-	response.motordirection = CW;
-	response.has_motordirection = true;
-
-	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
-
-    writeLine("Sending Response: ");
-
-    writeFloat(response.encoderid);
-    writeString(", ");
-    writeFloat(response.encoderversion);
-    writeString(", ");
-    writeFloat(response.motorspeed);
-    writeString(", ");
-    writeFloat(response.motordirection);
-    writeString(", ");
-
-    Write_status_response(status);
-
-    responseContainer = createContainer(MESSAGE_TYPE__StubMotorEncoderResponse, requestContainer->token, true, &response, &stub_motor_encoder_response__pack, &stub_motor_encoder_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);
-    //free(container_buffer);
-    //free(requestContainer);
-    stub_motor_encoder_request__free_unpacked(request,NULL);
-}
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 71a5e0dac..92bfa9c92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -59,6 +59,7 @@ double CurrentRequestedLength = 0.0;
 double CurrentProcessedLength = 0.0;
 double LengthCalculationMultiplier;
 
+int CurrentSegmentId = 0;
 typedef  void (* ProcessedLengthFunc)(void);
 ProcessedLengthFunc ProcessedLengthFuncPtr = NULL;
 // segment/intersegment/distance to spool finished
@@ -103,6 +104,7 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
  *
  *
  * **************************************************************************************/
+uint32_t initialpos = 0xFFFF;
 
 void ThreadUpdateProcessLength (double length, void *Funcptr)
 {
@@ -112,11 +114,11 @@ void ThreadUpdateProcessLength (double length, void *Funcptr)
     //CurrentPosition = 0;
     totalLength = 0;
     ProcessedLengthFuncPtr = (ProcessedLengthFunc)Funcptr;
+    initialpos = 0xFFFF;
 }
 double MotorSentData[1000] = {0};
 uint32_t PosDif[1000] = {0};
 uint32_t tick[1000] = {0};
-uint32_t initialpos = 0xFFFF;
 
 
 int MotorDataIndex = 0;
@@ -143,7 +145,10 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     if (CurrentPosition == 0)
         return OK; //unusable data
     if (initialpos == 0xFFFF)
-        initialpos = CurrentPosition;
+    {
+        PreviousPosition = CurrentPosition;
+        initialpos = 0;
+    }
     positionDiff = Control_Delta_Position_Pass(CurrentPosition,PreviousPosition);
     //positionDiff = positionDiff / MotorsCfg[ThreadMotorIdToMotorId[index]].microstep;
     PreviousPosition = CurrentPosition;
@@ -169,20 +174,12 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     if (MotorDataIndex == 999) MotorDataIndex = 0;
     static int pooler_counter = 0;
     pooler_counter++;
+    if (pooler_counter%10 == 0)
+    {
+        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
+    }
     if (pooler_counter>=100)
     {
-        /*{
-"HeaterGroupId": 0,
-"Zone1Temp": 80,
-"Zone2Temp": 2641,
-"Heater1Active": false,
-"Heater2Active": false,
-"Heater1Percentage": 3,
-"Heater2Percentage": 4000,
-"InfoMessage": "Standard DC"
-}  void HeatingTestSendResonse(uint32_t status, bool last,bool heater1Active,bool heater2Active, int temperature1, int temperature2,int Heater1Percentage,int Heater2Percentage, char* Message)
-
-}*/
         //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]*/length,positionDiff/*(int)error_integered*/,CurrentProcessedLength,CurrentRequestedLength, "FeederLength");
@@ -190,6 +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();
@@ -223,15 +222,6 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         MotorControlConfig[index].m_mesuredParam = ReadValue;
         MotorControlConfig[index].m_calculatedError = PIDAlgorithmCalculation(MotorControlConfig[index].m_SetParam , MotorControlConfig[index].m_mesuredParam,
                                                                               &MotorControlConfig[index].m_params,   &MotorControlConfig[index].m_preError, &MotorControlConfig[index].m_integral);
-/*        if (MotorControlConfig[index].m_calculatedError >= MotorControlConfig[index].m_params.MAX)
-        {
-            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MAX;
-        }
-        if (MotorControlConfig[index].m_calculatedError < MotorControlConfig[index].m_params.MIN)
-        {
-            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MIN;
-        }
-*/
         //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError);
     }
  return OK;
@@ -289,8 +279,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     if(MotorControlConfig[index].m_isEnabled )
     {
         DancerId = ThreadMotorIdToDancerId[index];
+        if (ReadValue < 10)
+            return;
         TranslatedReadValue = ReadValue - DancersCfg[DancerId].zeropoint;
-        if (index == POOLER_MOTOR)
+        if (index == POOLER_MOTOR) //pooler dancer is right sided: data is opposite
             TranslatedReadValue = (-1*TranslatedReadValue);
         //TranslatedReadValue = 0;//test
         MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
@@ -303,14 +295,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         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 (MotorControlConfig[index].m_calculatedError >= MotorControlConfig[index].m_params.MAX)
-        {
-            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MAX;
-        }
-        if (MotorControlConfig[index].m_calculatedError < MotorControlConfig[index].m_params.MIN)
-        {
-            MotorControlConfig[index].m_calculatedError = MotorControlConfig[index].m_params.MIN;
-        }*/
+        if (index == FEEDER_MOTOR) //feeder unit handles errors opposite to left unit
+            MotorControlConfig[index].m_calculatedError = (-1*MotorControlConfig[index].m_calculatedError);
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
         if (abs(calculated_speed-CurrentControlledSpeed[index])>5)
         {
@@ -363,6 +349,7 @@ bool InitialProcess = false;
  uint32_t ThreadPrepareState(void *JobDetails)
 {
     int Motor_i, HW_Motor_Id, Pid_Id;
+    CurrentSegmentId = 0;
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
@@ -393,7 +380,7 @@ bool InitialProcess = false;
                     RemoveControlCallback(SpeedControlId,ThreadLengthCBFunction);
                     SpeedControlId = 0xFF;
                 }
-                SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
+                //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
                 LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
                 SpeedControlId = AddControlCallback(ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
             }
@@ -406,7 +393,7 @@ bool InitialProcess = false;
                     CurrentControlledSpeed[Motor_i] = 0;
                 }
                 ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
-                AddControlCallback(ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
+                //AddControlCallback(ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
             }
             if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
             {
@@ -521,6 +508,7 @@ void ThreadDistanceToSpoolEnded(void)
 uint32_t ThreadSegmentState(void *JobDetails, int SegmentId)
 {
     JobTicket* JobTicket = JobDetails;
+    CurrentSegmentId = SegmentId;
     ThreadUpdateProcessLength (JobTicket->segments[SegmentId]->length,(void *)ThreadSegmentEnded);
     return OK;
 }