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

24 files changed, 365 insertions, 141 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
new file mode 100644
index 000000000..216779f8b
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
@@ -0,0 +1,7 @@
+/*
+ * DriverWithCallbackExample.c
+ *
+ *  Created on: 11 במרץ 2018
+ *      Author: shlomo
+ */
+uint32_t
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
new file mode 100644
index 000000000..6f3a59852
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -0,0 +1,165 @@
+/************************************************************************************************************************
+ * Millisec.c
+ * Millisec module
+ *
+ * The millisec task is called once every 1 millisecond to gather data from the FPGA crucial modules,
+ * so it will be ready for the Millisec operations. it is called 300 (TBD, configurable)
+ * microsecond before the Millisec task, so that the data will be ready for the Millisec handling.
+ * the ,millisecond task holds the pointer to a double buffer of results, so that the Millisec will handle the
+ * most updated data, without disturbing data gathering
+ *
+ **************************************************************************************************************************/
+
+////////////////////////////////State machine operation////////////////////////////////////
+//the state machine operation is used to operate in runtime correct profile flow execution
+//by recieved esign flow of the user from the UI
+///////////////////////////////////////////////////////////////////////////////////////////
+#include "include.h"
+#include "Modules/General/GeneralHardware.h"
+
+#include <driverlib/timer.h>
+#include <inc/hw_ints.h>
+
+#include "drivers/adc_sampling/adc.h"
+#include "control.h"
+/******************** Definitions  ********************************************/
+#define INVALID_MSG_ID    0xFFFF
+#define MAX_TANGO_CONTROL_DEVICES 200
+/******************** STRUCTURES AND ENUMs  ********************************************/
+
+typedef enum
+{
+    OneMillisec,
+}nillisecMessages;
+
+typedef struct MillisecMessage{
+    uint16_t messageId;
+    uint16_t msglen;
+    uint32_t tick;
+    uint8_t messageData[20];
+}MillisecMessageStruc;
+/******************** GLOBAL PARAMETERS  ********************************************/
+Mailbox_Handle          MillisecMsgQ = NULL;
+bool                    MillisecRestart;
+static GateMutex_Handle gateMillisecDB;
+
+uint32_t                MillisecDatalog[MAX_TANGO_CONTROL_DEVICES];
+uint32_t        Millisec_timerBase = TIMER1_BASE;        //Timer handle
+/******************** Functions  ********************************************/
+
+//**********************************************************************
+/******************** CODE  ********************************************/
+//**********************************************************************
+
+void MillisecInit(void)
+{
+    Error_Block eb;
+
+    MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 20, NULL,NULL);
+
+    MillisecRestart = false;
+
+    memset(MillisecDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES);
+
+
+    gateMillisecDB = GateMutex_create(NULL, &eb);
+    if (gateMillisecDB == NULL)
+    {
+        System_abort("Could not create USB Wait gate");
+    }
+
+    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
+    ROM_TimerConfigure(Millisec_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
+    //TimerIntRegister(Millisec_timerBase, TIMER_A, Timer0Isr);    // Registering  isr
+    ROM_TimerEnable(Millisec_timerBase, TIMER_A);
+    ROM_IntEnable(INT_TIMER1A);
+    ROM_TimerIntEnable(Millisec_timerBase, TIMER_TIMA_TIMEOUT);
+
+    ADCAcquireInit();
+
+    return;
+}
+void MillisecStop(void)
+{
+    MillisecRestart = false;
+    ADCAcquireStop();
+}
+
+void MillisecStart(void)
+{
+    MillisecRestart = true;
+    ROM_TimerLoadSet(Millisec_timerBase, TIMER_A,120000/*one millisecond*/);
+    ADCAcquireStart(0,1);
+}
+
+
+void OneMilliSecondMillisecInterrupt(UArg arg0)
+{
+    MillisecMessageStruc Message;
+    bool retcode = false;
+    ROM_IntMasterDisable();
+    if (MillisecRestart == true)
+    {
+        ROM_TimerLoadSet(Millisec_timerBase, TIMER_A,120000/*one millisecond*/);
+    }
+    else
+        ROM_TimerDisable(Millisec_timerBase,TIMER_A);
+
+    //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
+    //we might want to call it from the task, afetr execution of other taks!!!
+    ADC_TriggerCollection();
+    //send message to the Millisec task
+    Message.messageId = OneMillisec;
+    Message.tick = UsersysTickGet();
+    Message.msglen = sizeof(MillisecMessageStruc);
+    if (MillisecMsgQ != NULL)
+        retcode = Mailbox_post(MillisecMsgQ , &Message, BIOS_NO_WAIT);
+
+    ROM_TimerIntClear(Millisec_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
+    //
+    // Enable all interrupts.
+    //
+    ROM_IntMasterEnable();
+    return ;
+}
+
+uint32_t MillisecLoop(uint32_t tick)
+{
+    //call all modules Millisec functions
+    //test dancers and speed encoders
+    //check all callback units (state machine waiting for completion of a change)
+    bool Ten_msTick, Hundred_msTick, Onesecond_Tick;
+    Ten_msTick      =   (tick%eTenMilliSecond == 0)      ?true:false;
+    Hundred_msTick  =   (tick%eHunderdMillisecond == 0)  ?true:false;
+    Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
+
+    //gather data from FPGA
+    return OK;
+}
+/******************************************************************************
+ *  ======== messageTsk ========
+ *  Task for this function is created statically. See the project's .cfg file.
+ *  this message task is created statically in system initialization,
+ ******************************************************************************/
+void MillisecTask(UArg arg0, UArg arg1)
+{
+    MillisecMessageStruc Message;
+    //char str[60];
+    //uint16_t length;
+    //Clock_setTimeout(HostKAClock, 1000);
+    //Clock_start(HostKAClock);
+    MillisecInit();
+
+    while(1)
+    {
+        Mailbox_pend(MillisecMsgQ , &Message, BIOS_WAIT_FOREVER);
+        switch (Message.messageId)
+        {
+            case OneMillisec:
+                MillisecLoop(Message.tick);
+                break;
+            default:
+                break;
+        }
+    }
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 8f389855e..abc61972d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -56,13 +56,6 @@
 #define INVALID_MSG_ID    0xFFFF
 #define MAX_TANGO_CONTROL_DEVICES 200
 /******************** STRUCTURES AND ENUMs  ********************************************/
-typedef struct
-{
-  uint32_t PartId;  // the identity of the inspected/controlled part in the Devices enum.
-  DeviceDataFunction Callback;
-  uint32_t lastStatus;
-}DriverDeviceStruc;
-DriverDeviceStruc DevicesArray[MAX_PORT_ENUM];
 
 
 typedef struct
@@ -73,6 +66,7 @@ typedef struct
   DataReadCBFunction ControlDataReadPtr;
   ControlCBFunction ControlCallbackPtr;
   CTRL_TIMING_ENUM ControlTiming;
+  uint32_t lastStatus;
 }ControlDeviceStruc;
 
 typedef enum
@@ -86,6 +80,9 @@ typedef struct ControlMessage{
     uint32_t tick;
     uint8_t messageData[20];
 }ControlMessageStruc;
+
+int ControlPhaseDelay = 300; //the control task enters only after data gathering in the millisecond task is finished.
+//this parameters defines how many microseconds in the delay. it is used only on starting the control loop on the first time
 /******************** GLOBAL PARAMETERS  ********************************************/
 Mailbox_Handle          ControlMsgQ = NULL;
 bool                    ControlRestart;
@@ -100,6 +97,12 @@ void OneMilliSecondFunction(UArg arg0);
 //**********************************************************************
 /******************** CODE  ********************************************/
 //**********************************************************************
+uint32_t TemplateDataReadCBFunction (uint32_t deviceID, uint32_t Parameter)
+{
+    return 0;
+}
+
+
 
 void ControlInit(void)
 {
@@ -114,12 +117,6 @@ void ControlInit(void)
 
     for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++)
     {
-        DevicesArray[Device_i].Callback = NULL;
-        DevicesArray[Device_i].lastStatus = ERROR;
-    }
-
-    for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES; Device_i++)
-    {
         ControlArray[Device_i].ControlActive = false;
         ControlArray[Device_i].ControlCallbackPtr = NULL;
         ControlArray[Device_i].ControlDataReadPtr = NULL;
@@ -151,7 +148,7 @@ void ControlStop(void)
 void ControlStart(void)
 {
     ControlRestart = true;
-    ROM_TimerLoadSet(Control_timerBase, TIMER_BOTH,120000/*one millisecond*/);
+    ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000+(ControlPhaseDelay*120)/*one millisecond*/);
     ADCAcquireStart(0,1);
 }
 
@@ -163,22 +160,20 @@ void ControlStart(void)
  * both these callbacks can be removed. if a new call is arriving, it invalidates the previous one (no dual control or data)
  *
  ***************************************************************************************************************************************************/
-int  AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency )
+int  AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter )
 {
     assert(deviceId < MAX_TANGO_CONTROL_DEVICES);
     assert(Callback);
+    assert(DriverfPtr);
     unsigned int key;
 
-    if(ControlArray[deviceId].ControlDataReadPtr == NULL)
-    {
-        LOG_ERROR (deviceId, "No dataread function for device");
-        return ERROR;
-    }
 
     key = GateMutex_enter(gateControlDB);
     ControlArray[deviceId].ControlTiming = CtrlFrequency;
     ControlArray[deviceId].ControlCallbackPtr = Callback;
     ControlArray[deviceId].ControlActive = true;
+    ControlArray[deviceId].ControlDataReadPtr = DriverfPtr;
+    ControlArray[deviceId].Parameter = Parameter;
     GateMutex_leave(gateControlDB, key);
 
     return OK;
@@ -194,6 +189,7 @@ int     RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback)
         key = GateMutex_enter(gateControlDB);
         ControlArray[deviceId].ControlTiming = eNoControl;
         ControlArray[deviceId].ControlCallbackPtr = NULL;
+        ControlArray[deviceId].ControlDataReadPtr = NULL;
         ControlArray[deviceId].ControlActive = false;
         GateMutex_leave(gateControlDB, key);
         return OK;
@@ -203,41 +199,18 @@ int     RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback)
 
 }
 
-int  RegisterDevice(uint32_t deviceId, DataReadCBFunction Callback, uint32_t Parameter)
-{
-    assert(deviceId < MAX_TANGO_CONTROL_DEVICES);
-    assert(Callback);
-    unsigned int key;
-    key = GateMutex_enter(gateControlDB);
-    ControlArray[deviceId].Parameter = Parameter;
-    ControlArray[deviceId].ControlDataReadPtr = Callback;
-    GateMutex_leave(gateControlDB, key);
-    return OK;
-
-}
-int  UnRegisterDevice(uint32_t deviceId, DataReadCBFunction Callback )
-{
-    assert(deviceId < MAX_TANGO_CONTROL_DEVICES);
-    unsigned int key;
-    if (Callback == ControlArray[deviceId].ControlDataReadPtr)
-    {
-        key = GateMutex_enter(gateControlDB);
-        ControlArray[deviceId].Parameter = 0;
-        ControlArray[deviceId].ControlDataReadPtr = NULL;
-        ControlDatalog[deviceId] = 0;
-        GateMutex_leave(gateControlDB, key);
-        return OK;
-    }
-    else
-        return ERROR;
-
-}
 
 void OneMilliSecondControlInterrupt(UArg arg0)
 {
     ControlMessageStruc Message;
     bool retcode = false;
     ROM_IntMasterDisable();
+    if (ControlRestart == true)
+    {
+        ROM_TimerLoadSet(Control_timerBase, TIMER_A,120000/*one millisecond*/);
+    }
+    else
+        ROM_TimerDisable(Control_timerBase, TIMER_A);
 
     //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
     //we might want to call it from the task, afetr execution of other taks!!!
@@ -248,10 +221,6 @@ void OneMilliSecondControlInterrupt(UArg arg0)
     Message.msglen = sizeof(ControlMessageStruc);
     if (ControlMsgQ != NULL)
         retcode = Mailbox_post(ControlMsgQ , &Message, BIOS_NO_WAIT);
-    if (ControlRestart == true)
-    {
-        ROM_TimerLoadSet(Control_timerBase, TIMER_BOTH,120000/*one millisecond*/);
-    }
 
     ROM_TimerIntClear(Control_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     //
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h
index ab259993a..292bbeb82 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h
@@ -8,7 +8,7 @@
 ///////////////////////////////////////////////////////////////////////////////////////////
 #include "include.h"
 
-typedef  uint32_t (* DeviceDataFunction)(uint32_t deviceID, uint32_t *Value);
+//typedef  uint32_t (* DeviceDataFunction)(uint32_t deviceID, uint32_t *Value);
 typedef  uint32_t (* ControlCBFunction)(uint32_t deviceID, uint32_t ReadValue);
 typedef  uint32_t (* DataReadCBFunction)(uint32_t deviceID, uint32_t Parameter);
 typedef enum {
@@ -23,8 +23,7 @@ typedef enum {
 void    ControlInit(void);
 void    ControlStop(void);
 void    ControlStart(void);
-int     AddControlCallback(uint32_t deviceID, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency );
-int     RemoveControlCallback(uint32_t deviceID, ControlCBFunction Callback );
-int     RegisterDevice(uint32_t deviceID, DataReadCBFunction Callback, uint32_t Parameter);
-int     UnRegisterDevice(uint32_t deviceID, DataReadCBFunction Callback );
+int     AddControlCallback(uint32_t deviceId, ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter );
+int     RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback );
+uint32_t TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 1f5e3aa84..21f39374d 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -337,7 +337,8 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     responseContainer = createContainer(MESSAGE_TYPE__UploadHardwareConfigurationResponse, requestContainer->token, true, &response, &upload_hardware_configuration_response__pack, &upload_hardware_configuration_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);
-    SendChars((char*)container_buffer, container_size);
+    //USBCDCD_sendData(container_buffer, container_size,10);
+    SendChars(container_buffer, container_size);
     free(container_buffer);
     free(requestContainer);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index f15c65f22..f1af0baa1 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -10,112 +10,164 @@
 
 #include <Modules/Stubs_Handler/DataDef.h>
 #include "heaters/heaters_ex.h"
+#include "PMR/Printing/ProcessParameters.pb-c.h"
 #include "PMR/Printing/UploadProcessParametersRequest.pb-c.h"
 #include "PMR/Printing/UploadProcessParametersResponse.pb-c.h"
 #include "PMR/Hardware/HardwarePidControlType.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 
-void ProcessRequestFunc(MessageContainer* requestContainer)
-{
-    MessageContainer responseContainer;
-    uint8_t* container_buffer;
-    uint32_t status = 0;
-
-    UploadProcessParametersRequest* request = upload_process_parameters_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-    ProcessParameters*  ProcessParams = request->processparameters;
-
-
-    UploadProcessParametersResponse response = UPLOAD_PROCESS_PARAMETERS_RESPONSE__INIT;
-
-    responseContainer = createContainer(MESSAGE_TYPE__UploadProcessParametersResponse, requestContainer->token, true, &response, &upload_process_parameters_request__pack, &upload_process_parameters_request__get_packed_size);
-    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-
+double dyeingspeed = 0;
+double dryerbufferlength = 0;
+double mininkuptake = 0;
+double feedertension = 0;
+double pullertension = 0;
+double windertension = 0;
+double headairflow = 0;
+double dryerairflow = 0;
+int32_t tableindex = 0;
 
-    /*
-     *
-     * uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
-     *
-     struct  _ProcessParameters
+uint32_t HandleProcessParameters(ProcessParameters* ProcessParams)
 {
-  protobuf_c_boolean has_dyeingspeed;
-  double dyeingspeed;
-  protobuf_c_boolean has_dryerbufferlength;
-  double dryerbufferlength;
-  protobuf_c_boolean has_mininkuptake;
-  double mininkuptake;
-  protobuf_c_boolean has_feedertension;
-  double feedertension;
-  protobuf_c_boolean has_pullertension;
-  double pullertension;
-  protobuf_c_boolean has_windertension;
-  double windertension;
-  protobuf_c_boolean has_headairflow;
-  double headairflow;
-  protobuf_c_boolean has_dryerairflow;
-  double dryerairflow;
-  protobuf_c_boolean has_tableindex;
-  int32_t tableindex;
-};
-
+    uint32_t status = 0;
 
-     */
     if (ProcessParams->has_mixertemp)
     {
-        if(ProcessParams->mixertemp)
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__MixerHeater, true, ProcessParams->mixertemp);
+        if (ProcessParams->mixertemp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__MixerHeater, true,
+                    ProcessParams->mixertemp);
         else
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__MixerHeater, false, ProcessParams->mixertemp);
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__MixerHeater, false,
+                    ProcessParams->mixertemp);
     }
     if (ProcessParams->has_headzone1temp)
     {
-        if(ProcessParams->headzone1temp)
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, true, ProcessParams->headzone1temp);
+        if (ProcessParams->headzone1temp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, true,
+                    ProcessParams->headzone1temp);
         else
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false, ProcessParams->headzone1temp);
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false,
+                    ProcessParams->headzone1temp);
     }
     if (ProcessParams->has_headzone2temp)
     {
-        if(ProcessParams->headzone2temp)
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, true, ProcessParams->headzone2temp);
+        if (ProcessParams->headzone2temp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, true,
+                    ProcessParams->headzone2temp);
         else
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false, ProcessParams->headzone2temp);
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false,
+                    ProcessParams->headzone2temp);
     }
     if (ProcessParams->has_headzone3temp)
     {
-        if(ProcessParams->headzone3temp)
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, true, ProcessParams->headzone3temp);
+        if (ProcessParams->headzone3temp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, true,
+                    ProcessParams->headzone3temp);
         else
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false, ProcessParams->headzone3temp);
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false,
+                    ProcessParams->headzone3temp);
     }
     if (ProcessParams->has_dryerzone1temp)
     {
-        if(ProcessParams->dryerzone1temp)
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, true, ProcessParams->dryerzone1temp);
+        if (ProcessParams->dryerzone1temp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, true,
+                    ProcessParams->dryerzone1temp);
         else
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, false, ProcessParams->dryerzone1temp);
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w, false,
+                    ProcessParams->dryerzone1temp);
     }
     if (ProcessParams->has_dryerzone2temp)
     {
-        if(ProcessParams->dryerzone2temp)
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, true, ProcessParams->dryerzone2temp);
+        if (ProcessParams->dryerzone2temp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, true,
+                    ProcessParams->dryerzone2temp);
         else
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, false, ProcessParams->dryerzone2temp);
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1, false,
+                    ProcessParams->dryerzone2temp);
     }
     if (ProcessParams->has_dryerzone3temp)
     {
-        if(ProcessParams->dryerzone3temp)
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, true, ProcessParams->dryerzone3temp);
+        if (ProcessParams->dryerzone3temp)
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, true,
+                    ProcessParams->dryerzone3temp);
         else
-            status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, false, ProcessParams->dryerzone3temp);
+            status |= HeaterCommandRequestMessage(
+                    HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2, false,
+                    ProcessParams->dryerzone3temp);
     }
+    if (ProcessParams->has_dyeingspeed)
+    {
+        dyeingspeed = ProcessParams->dyeingspeed;
+    }
+    if (ProcessParams->has_dryerbufferlength)
+    {
+        dryerbufferlength = ProcessParams->dryerbufferlength;
+    }
+    if (ProcessParams->has_mininkuptake)
+    {
+        mininkuptake = ProcessParams->mininkuptake;
+    }
+    if (ProcessParams->has_feedertension)
+    {
+        feedertension = ProcessParams->feedertension;
+    }
+    if (ProcessParams->has_pullertension)
+    {
+        pullertension = ProcessParams->pullertension;
+    }
+    if (ProcessParams->has_windertension)
+    {
+        windertension = ProcessParams->windertension;
+    }
+    if (ProcessParams->has_headairflow)
+    {
+        headairflow = ProcessParams->headairflow;
+    }
+    if (ProcessParams->has_dryerairflow)
+    {
+        dryerairflow = ProcessParams->dryerairflow;
+    }
+    return status;
+}
+
+void ProcessRequestFunc(MessageContainer* requestContainer)
+{
+    MessageContainer responseContainer;
+    uint8_t* container_buffer;
+    uint32_t status = 0;
+
+    UploadProcessParametersRequest* request = upload_process_parameters_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    ProcessParameters*  ProcessParams = request->processparameters;
+
+
+    UploadProcessParametersResponse response = UPLOAD_PROCESS_PARAMETERS_RESPONSE__INIT;
+
+    responseContainer = createContainer(MESSAGE_TYPE__UploadProcessParametersResponse, requestContainer->token, true, &response, &upload_process_parameters_request__pack, &upload_process_parameters_request__get_packed_size);
+    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+
+
 
+    status = HandleProcessParameters(ProcessParams);
     if (status)
     {
         responseContainer.has_error = true;
         responseContainer.error = (ErrorCode)status;
     }
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    SendChars((char*)container_buffer, container_size);
+    //USBCDCD_sendData(container_buffer, container_size,10);
+    SendChars(container_buffer, container_size);
     free(container_buffer);
     free(requestContainer);
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.h b/Software/Embedded_SW/Embedded/Modules/General/process.h
index aa7b157a2..f23f7a8fc 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.h
@@ -8,8 +8,20 @@
 #ifndef MODULES_GENERAL_PROCESS_H_
 #define MODULES_GENERAL_PROCESS_H_
 
+#include "PMR/Printing/ProcessParameters.pb-c.h"
+extern double dyeingspeed;
+extern double dryerbufferlength;
+extern double mininkuptake;
+extern double feedertension;
+extern double pullertension;
+extern double windertension;
+extern double headairflow;
+extern double dryerairflow;
+extern int32_t tableindex;
 
-void ProcessRequestFunc(MessageContainer* requestContainer);
+
+extern void ProcessRequestFunc(MessageContainer* requestContainer);
+extern uint32_t HandleProcessParameters(ProcessParameters* ProcessParams);
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
index beaf32b2a..148d2891c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters.h
@@ -58,5 +58,5 @@ extern HeaterPIDControlConfig HeaterControl[MAX_HEATERS_NUM];
 extern HeaterControlConfig_t  HeaterPIDConfig[MAX_HEATERS_NUM];
 extern HeaterCommand          HeaterCmd[MAX_HEATERS_NUM];
 extern uint32_t DeviceId2Heater[MAX_HEATERS_NUM];
-
+extern uint32_t  Heater_timerBase;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
index b5249d302..061a46501 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
@@ -7,3 +7,4 @@ uint32_t HeaterConfigSetSharedHeatersParams (uint32_t outputproportionalcycletim
 
 uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature);
 
+uint32_t Heaters_Init(void);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index 55da2ecfa..1162ff11e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -58,6 +58,8 @@ bool AcHeaterConfigured[MAX_AC_HEATERS] = {0};
  */
 uint32_t Heaters_Init(void)
 {
+    ROM_TimerDisable(Heater_timerBase, TIMER_A);
+
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 3eeff9ec3..f1920f68f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -18,6 +18,8 @@
 #include "../control/pidalgo.h"
 #include "include.h"
 #include <driverlib/timer.h>
+#include <inc/hw_ints.h>
+#include <inc/hw_memmap.h>
 
 #include "heaters.h"
 #include "Drivers/Heater/Heater.h"
@@ -31,7 +33,7 @@ bool HeatersRestart = false;
 uint32_t OutputProportionalSingleStep = 0;  //A/C Heaters step size from one decision point to another - in cpu clocks. 120000 = 1 millisecod
 uint32_t  Heater_timerBase = TIMER2_BASE;        //Timer handle
 uint32_t OutputProportionalCycleTime = 0; //A/C Heaters Cycle time in milliseconds - one for all heaters
-char     TimeSliceAllocation[MAX_TIMESLICES] = {0};
+char     TimeSliceAllocation[MAX_TIMESLICES] = {0xFF};
 
 bool InitialHeatingState = false;
 /******************** FUNCTIONS  ********************************************/
@@ -68,7 +70,7 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
         PrepareHeater(HeaterId,Temperature);  //prepare the heaters control info
         //set the power balance handler (if not set yet)
         ROM_TimerConfigure(Heater_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
-        ROM_IntEnable(INT_TIMER2B);
+        ROM_IntEnable(INT_TIMER2A);
         ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT);
         // if the heater is off (?) start it.
         ActivateHeater(HeaterId);
@@ -121,7 +123,7 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
     HeaterPIDConfig[HeaterId].m_mesuredParam = 0;
     HeaterPIDConfig[HeaterId].m_preError = 0;
     HeaterPIDConfig[HeaterId].m_SetParam = SetTemperatue;//need to update SetParams on presegment stage
-    AddControlCallback(DeviceId2Heater[HeaterId], HeaterControlCBFunction, eHunderdMillisecond);
+    AddControlCallback(DeviceId2Heater[HeaterId], HeaterControlCBFunction, eHunderdMillisecond,TemplateDataReadCBFunction,HeaterId);
 
     return OK;
 }
@@ -197,6 +199,7 @@ void EightMilliSecondHeatersInterrupt(UArg arg0)
     char str[100];
     uint8_t len = 0;
 
+    ROM_TimerIntClear(Heater_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     len = usnprintf(str, 100, "\r\n EightMilliSecondHeatersInterrupt SliceCounter %d Owner %d H1000 %d  H2000 %d"
                     ,SliceCounter,TimeSliceAllocation[SliceCounter],HeatersRestart,NumberOFSlicesInUse);
     Report(str, __FILE__,__LINE__,0, RpMessage, SliceCounter, TimeSliceAllocation[SliceCounter]);
@@ -235,10 +238,11 @@ void EightMilliSecondHeatersInterrupt(UArg arg0)
 
     if (HeatersRestart == true)
     {
-        ROM_TimerLoadSet(Heater_timerBase, TIMER_BOTH,OutputProportionalSingleStep/*twelve millisecond???*/);
+        ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep/*twelve millisecond???*/);
     }
+    else
+        TimerDisable(Heater_timerBase, TIMER_A);
 
-    ROM_TimerIntClear(Heater_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     //
     // Enable all interrupts.
     //
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
index f12b92adc..df706ee69 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
@@ -5,7 +5,7 @@
 #include "include.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 #include "Container.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c
index b9c3ffbd0..1014c08fc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c
@@ -17,6 +17,8 @@
 #include "Stub_ExtFlash.h"
 #include "General/GeneralHardware.h"
 #include "heaters/heaters_ex.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+#include "Drivers/USB_Communication/usb_serial_buffer.h"
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "Modules/General/process.h"
 #include "Common/report/report.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index c44df4ef7..2fa0f891c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -5,7 +5,8 @@
 #include "include.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 //#include "graphics_adapter.h"
 #include "Container.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
index 166cf9e7a..0f3f9dfd9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -9,7 +9,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
index 384133e7e..63e72c4fc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -6,7 +6,8 @@
 #include "include.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.h"
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 5b7577dfe..75483cf21 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
@@ -16,7 +16,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.h"
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 07ef4a360..1858a8ddb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
@@ -23,7 +23,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
index ff2f2ce1c..0499d5d66 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
@@ -15,7 +15,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.h"
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 346b595e2..807fa69ab 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
@@ -14,7 +14,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.h"
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 5da89ab10..7c166db48 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
@@ -15,7 +15,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.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 03807934b..baf66af8f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
@@ -15,7 +15,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.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 ef38bb496..c69b41d7b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -14,7 +14,8 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 
-#include "drivers/twine_usblib/usb_serial_adapter.h"
+#include "Drivers/USB_Communication/USBCDCD.h"
+
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Container.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 10baaed8e..13c81fb39 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -186,7 +186,7 @@ static ReturnCode PrepareState(void *JobDetails)
         MotorControlConfig[Motor_i].m_mesuredParam = 0;
         MotorControlConfig[Motor_i].m_preError = 0;
         MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
-        AddControlCallback(DeviceId2Motor[Motor_i], ThreadControlCBFunction, eOneMillisecond);
+        AddControlCallback(DeviceId2Motor[Motor_i], ThreadControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,Motor_i);
     }
     //set 3 dancers to the profile positions
     return NextState;