merge

7 files changed, 188 insertions, 54 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index e8779d265..23560bd06 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -27,6 +27,10 @@
 #include  <PMR/Diagnostics/StartDiagnosticsResponse.pb-c.h>
 #include  <PMR/Diagnostics/StopDiagnosticsRequest.pb-c.h>
 #include  <PMR/Diagnostics/StopDiagnosticsResponse.pb-c.h>
+#include  <PMR/Diagnostics/Event.pb-c.h>
+#include  <PMR/Diagnostics/EventType.pb-c.h>
+#include "PMR/debugging/DebugLogCategory.pb-c.h"
+
 
 char DiagnosticsToken[36] = {0};
 bool DiagnosticsActive = false;
@@ -131,8 +135,88 @@ void AlarmHandler_SendDiagnostics(void)
 
     return ;
 }
+/*typedef enum _EventType {
+  EVENT_TYPE__ThreadBreak = 0,
+  EVENT_TYPE__ThreadTensionControlFailure = 1,
+  EVENT_TYPE__FeederConeInsufficiant = 2,
+  EVENT_TYPE__WinderGeneralError = 3,
+  EVENT_TYPE__WinderConeNotExists = 4,
+  EVENT_TYPE__ThreadFeedingGeneralError = 5,
+  EVENT_TYPE__DyeingHeadOverTemperature = 6,
+  EVENT_TYPE__DHThermalCutoff = 7,
+  EVENT_TYPE__DryerOverTemperature = 8,
+  EVENT_TYPE__DryerThermalCutoff = 9,
+  EVENT_TYPE__DyeingHeadHeatersCurrentOutOfRange = 10,
+  EVENT_TYPE__DryerHeatersCurrentOutOfRange = 11,
+  EVENT_TYPE__DryerDHeadCoverOpen = 12,
+  EVENT_TYPE__AirFilterClogged = 13,
+  EVENT_TYPE__AirFilterNotInstalled = 14,
+  EVENT_TYPE__WHSFailure = 15,
+  EVENT_TYPE__WasteContainerIsAlmostFull = 16,
+  EVENT_TYPE__WasteContainerIsFull = 17,
+  EVENT_TYPE__DispenserEmpty = 18,
+  EVENT_TYPE__DispenserLowLevel = 19,
+  EVENT_TYPE__DispenserRefillFailure = 20,
+  EVENT_TYPE__MidTankEmpty = 21,
+  EVENT_TYPE__MidTankLowLevel = 22,
+  EVENT_TYPE__MidTankNotInPlace = 23,
+  EVENT_TYPE__SystemBITFail = 24,
+  EVENT_TYPE__GeneralInternalOverTemperature = 25,
+  EVENT_TYPE__MachineCoverOpen = 26,
+  EVENT_TYPE__EmergencyPushButtonPressed = 27,
+  EVENT_TYPE__SystemGeneralError = 28,
+  EVENT_TYPE__RequestSent = 29,
+  EVENT_TYPE__ResponseReceived = 30,
+  EVENT_TYPE__RequestFailed = 31,
+  EVENT_TYPE__ApplicationException = 32,
+  EVENT_TYPE__ApplicationInformation = 33,
+  EVENT_TYPE__ApplicationStarted = 34,
+  EVENT_TYPE__ApplicationTerminated = 35,
+  EVENT_TYPE__RecordingStarted = 36,
+  EVENT_TYPE__RecordingStopped = 37
+    PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(EVENT_TYPE)
+} EventType;
+ * */
+uint32_t AlarmHandlingConsequentActions(EventType EventId, DebugLogCategory Severity)
+{
+    switch (Severity)
+    {
+    case DEBUG_LOG_CATEGORY__Warning:
+
+        //raise flag fr next job
+        break;
+    case DEBUG_LOG_CATEGORY__Error:
+        AbortJob(NULL,event_type__descriptor.name[EventId]);
+//Stop Job
+        break;
+    case DEBUG_LOG_CATEGORY__Critical:
+        EndState(NULL,event_type__descriptor.name[EventId]);
+        //stop job
+        //turn machine off
+        break;
+    case DEBUG_LOG_CATEGORY__Debug:
+    case DEBUG_LOG_CATEGORY__Info:
+    default:
+        //do nothing
+        break;
+
+    }
+}
+
 uint32_t AlarmHandlingLoop(uint32_t tick)
 {
+    //read dispensers limit switches. 25 - send warning. up - stop job and send alarm
+
+    //Cone missing
+    //Dyeing head over temperature
+    //mixer over temperature
+    //dryer over temperature
+    //heaters failure
+    //dispenser pressure
+    //valve OCD
+    //Motor Status
+    //machine cover open
+
     return OK;
 }
 void SendDiagnostics(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 1f48d5953..a00c23739 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -80,13 +80,15 @@ Mailbox_Handle          MotorsMsgQ[NUM_OF_MOTORS] = {NULL};
 bool                    MillisecRestart;
 static GateMutex_Handle gateMillisecDB;
 
-uint32_t                MillisecDatalog[MAX_TANGO_CONTROL_DEVICES];
 uint32_t        Millisec_timerBase = TIMER1_BASE;        //Timer handle
 /******************** Functions  ********************************************/
 uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Read);
 //**********************************************************************
 /******************** CODE  ********************************************/
 //**********************************************************************
+uint32_t MSBacklog[1000]={0};
+uint8_t Motor_Id[1000]={0};
+uint16_t MsecLogindex = 0;
 
 void MillisecInit(void)
 {
@@ -103,7 +105,6 @@ void MillisecInit(void)
 
     MillisecRestart = false;
 
-    memset(MillisecDatalog,0,sizeof(uint32_t)*MAX_TANGO_CONTROL_DEVICES);
 
     gateMillisecDB = GateMutex_create(NULL, &eb);
     if (gateMillisecDB == NULL)
@@ -182,6 +183,14 @@ uint32_t MotorActivity = 0;
 int32_t MillisecSetMotorSpeed(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback)
 {
     if (MotorId >= NUM_OF_MOTORS) return -1;
+    //==========================
+    MSBacklog[MsecLogindex]=Data;
+    Motor_Id[MsecLogindex]=MotorId;
+    MsecLogindex++;
+    if (MsecLogindex>=999)
+        MsecLogindex = 0;
+    //==========================
+
     SpeedSetPending[MotorId].Callback = Callback;
     SpeedSetPending[MotorId].Data = Data;
     SpeedSetPending[MotorId].Length = Length;
@@ -209,6 +218,13 @@ int MillisecFlushMsgQ(TimerMotors_t MotorId)
 int32_t MillisecWriteToMotor(TimerMotors_t MotorId, unsigned long Data, int Length, MSecFptr Callback)
 {
     MillisecMotorDataStruc MotorData = {0};
+    //==========================
+    MSBacklog[MsecLogindex]=Data;
+    Motor_Id[MsecLogindex]=MotorId;
+    MsecLogindex++;
+    if (MsecLogindex>=999)
+        MsecLogindex = 0;
+    //==========================
     if (MotorId >= NUM_OF_MOTORS) return -1;
     MotorActivity++;
     MotorData.Callback = Callback;
@@ -223,6 +239,13 @@ int32_t MillisecReadFromMotor(TimerMotors_t MotorId, unsigned long Data, int Len
 {
     MillisecMotorDataStruc MotorData = {0};
     if (MotorId >= NUM_OF_MOTORS) return -1;
+//==========================
+    MSBacklog[MsecLogindex]=Data;
+    Motor_Id[MsecLogindex]=MotorId;
+    MsecLogindex++;
+    if (MsecLogindex>=999)
+        MsecLogindex = 0;
+    //==========================
     MotorActivity++;
     MotorActivity++;
     MotorData.Callback = Callback;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 0ed71bf0d..cc87f6611 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -91,7 +91,6 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
         upload_hardware_configuration_request__free_unpacked(UploadRequest,NULL);
         return ERROR;
     }
-    //status += HeaterConfigSetSharedHeatersParams (request->outputproportionalcycletime, request->outputproportionalsinglestep);
 
     ControlStart();
     //ThreadInitialTestStub(request);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
index 5759617cb..4cee9b196 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_ex.h
@@ -4,6 +4,7 @@
 //uint32_t HeaterCommandRequestMessage(MessageContainer* requestContainer);
 uint32_t HeaterConfigRequestMessage(HardwarePidControl* request);
 uint32_t HeaterConfigSetSharedHeatersParams (uint32_t outputproportionalcycletime, uint32_t outputproportionalsinglestep);
+void HeatingTestSendResonse(uint32_t status, bool last,bool heater1Active,bool heater2Active, int temperature1, int temperature2,int Heater1Percentage,int Heater2Percentage, char* Message);
 
 uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature);
 void HeatingTestRequest(MessageContainer* requestContainer);
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index 3fa8cfa40..315e4c1e7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -104,7 +104,6 @@ void HeatingTestRequest(MessageContainer* requestContainer)
                     HeaterId2, false,
                     request->dryerzone2temp);
     }
-    HeaterConfigSetSharedHeatersParams(1000,120000*12);
     ControlStart();
     StubHeatingTestResponse response = STUB_HEATING_TEST_RESPONSE__INIT;
 
@@ -276,7 +275,6 @@ uint32_t HeaterConfigRequestMessage(HardwarePidControl* request)
                 }
             else
             {
-                HeaterConfigSetSharedHeatersParams(1000,120000*12); // initial setting 50Mhz
             }
         }
         return OK;
@@ -333,8 +331,8 @@ uint32_t HeaterConfigSetSharedHeatersParams(uint32_t outputproportionalcycletime
 
 }
 /*
- * HeaterConfigSetSharedHeatersParams - prepare the time slices for A/C heaters co-ordinated operation
- * called by the general hardware HWConfigurationFunc
+ * HeaterRecalculateSharedHeatersParams -
+ *
  * parameters - the cycle time for the coordinated operation, the size (in MCU cycles) of a single step.
  */
 uint32_t HeaterRecalculateSharedHeatersParams(uint32_t deviceId, uint32_t new_outputproportionalpowerlimit)
@@ -392,7 +390,7 @@ uint32_t HeaterRecalculateHeaterParams(uint32_t deviceId, uint32_t new_outputpro
    HeaterControl[deviceId].outputproportionalpowerlimit = new_outputproportionalpowerlimit;
 
    //mark the time slices  for heaters operation as empty / Heater1000 / Heater 200
-   DCTimeSliceAllocation[deviceId] = HeaterControl[deviceId].outputproportionalpowerlimit * NumberOFSlicesInUse / 10000;
+   DCTimeSliceAllocation[deviceId] = (HeaterControl[deviceId].outputproportionalpowerlimit * NumberOFSlicesInUse) / 100;
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 6f565f880..eb5736c1d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -22,6 +22,7 @@
 
 #include "heaters.h"
 #include "Drivers/Heater/Heater.h"
+#include "Heaters_ex.h"
 #include "Drivers/Heater/TemperatureSensor.h"
 
 #include "StateMachines/Printing/PrintingSTM.h"
@@ -41,8 +42,8 @@ typedef struct HeatersControlMessage{
 }HeatersControlMessageStruc;
 
 /******************** GLOBAL PARAMETERS  ********************************************/
-HeaterCommand          HeaterCmd[MAX_HEATERS_NUM] = {};
-uint32_t    ControlIdtoHeaterId [MAX_HEATERS_NUM] = {0xFF};
+HeaterCommand          HeaterCmd[MAX_HEATERS_NUM];
+uint32_t    ControlIdtoHeaterId [MAX_HEATERS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
 uint32_t    DryerHeaterMaxTempControl = 0xFF;
 uint32_t    DryerInternalPT100Id = ANALOG_DRYER_TEMP2;
 
@@ -76,8 +77,10 @@ void HeatersControlInit(void)
 {
     int i;
     HeatersControlMsgQ = Mailbox_create(sizeof(HeatersControlMessageStruc), 20, NULL,NULL);
+    HeaterConfigSetSharedHeatersParams(1000,120000*12);
 
     ROM_TimerConfigure(Heater_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
+    ROM_TimerEnable(Heater_timerBase, TIMER_A);
     ROM_IntEnable(INT_TIMER2A);
     ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT);
 
@@ -97,7 +100,7 @@ void HeatersControlStop(void)
     TimerActivated = false;
     HeatersRestart = false;
 }
-#warning there is a need to separate the AC and DC heaters preparation!
+//#warning there is a need to separate the AC and DC heaters preparation!
 void HeatersControlStart(void)
 {
     Report("HeatersControlStart ", __FILE__,__LINE__,0, RpMessage, 0, 0);
@@ -113,14 +116,26 @@ uint32_t HeatersEnd(void)
     {
         if (i > HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2) //DC Heaters
         {
-            status |= RemoveControlCallback(ControlIdtoHeaterId [i], DCHeaterControlCBFunction);
+            if (ControlIdtoHeaterId [i]!=0xFF)
+            {
+                status |= RemoveControlCallback(ControlIdtoHeaterId [i], DCHeaterControlCBFunction);
+                ControlIdtoHeaterId [i]=0xFF;
+            }
         }
         else if (i < HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2) //AC Heaters
         {
-            status |=RemoveControlCallback(ControlIdtoHeaterId [i] ,HeaterControlCBFunction);
+            if (ControlIdtoHeaterId [i]!=0xFF)
+            {
+                status |=RemoveControlCallback(ControlIdtoHeaterId [i] ,HeaterControlCBFunction);
+                ControlIdtoHeaterId [i]=0xFF;
+            }
         }
         if (i == HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w) //DC Heaters
-            status |=RemoveControlCallback(DryerHeaterMaxTempControl ,HeaterMaxTempCBFunction);
+            if (ControlIdtoHeaterId [i]!=0xFF)
+            {
+                status |=RemoveControlCallback(DryerHeaterMaxTempControl ,HeaterMaxTempCBFunction);
+                ControlIdtoHeaterId [i]=0xFF;
+            }
         DeActivateHeater(i);
     }
     return status;
@@ -134,10 +149,10 @@ void HeatersStartControlTimer (void)
         return;
     TimerActivated = true;
     ROM_TimerConfigure(Heater_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
-    ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep/*twelve millisecond???*/);
+    ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep /*twelve millisecond???*/);
+    ROM_TimerEnable(Heater_timerBase, TIMER_A);
     ROM_IntEnable(INT_TIMER2A);
     ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT);
-    TimerEnable(Heater_timerBase, TIMER_A);
     Report("HeatersStartControlTimer ", __FILE__,__LINE__,0, RpMessage, 0, 0);
     return;
 }
@@ -236,10 +251,12 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
     if (HeaterId > HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2) //DC Heaters
     {
         ControlIdtoHeaterId [HeaterId] = AddControlCallback( DCHeaterControlCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
+        DCInitialHeating[HeaterId] = true;
     }
     else if (HeaterId < HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2) //AC Heaters
     {
         ControlIdtoHeaterId [HeaterId] = AddControlCallback( HeaterControlCBFunction, eHundredMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
+        InitialHeating = true;
     }
     HeaterReady[HeaterId] = false;
     if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w) //Dryer Heaters
@@ -297,9 +314,7 @@ uint32_t HeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
         LOG_ERROR (readValue, "Heater Cooled Off max temperature, turned on");
         return OK;
     }
-
-    return OK;
-
+    return ERROR;
 }
 uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 {
@@ -368,18 +383,20 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
     if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
     {
         HeaterPIDConfig[index].m_mesuredParam = readValue;
-        HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                                              &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
-/*        if (HeaterPIDConfig[index].m_calculatedError >= HeaterPIDConfig[index].m_params.MAX)
+        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) //below proportional band
         {
-            HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MAX;
+            HeaterPIDConfig[index].m_calculatedError = 1.0;
+            HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError*100));
         }
-        if (HeaterPIDConfig[index].m_calculatedError < HeaterPIDConfig[index].m_params.MIN)
+        else if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
         {
-            HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MIN;
+            HeaterPIDConfig[index].m_calculatedError = 0.0;
+            HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError*100));
         }
-*/
-        HeaterRecalculateSharedHeatersParams(index, HeaterPIDConfig[index].m_calculatedError);
+//check only for the proportional band limits
+//        HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+//                                                                              &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+//        HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError*100));
 
         //SetMotorFreq (index, HeaterControl[index].m_calculatedError);
     }
@@ -473,18 +490,20 @@ Data, 428, 80, 2641, False, False, 3, 4000, Standard DC
     if(HeaterPIDConfig[index].m_isEnabled && (HeaterPIDConfig[index].m_SetParam != 0))
     {
         HeaterPIDConfig[index].m_mesuredParam = readValue;
-        HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
-                                                                              &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
-/*        if (HeaterPIDConfig[index].m_calculatedError >= HeaterPIDConfig[index].m_params.MAX)
+        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100)) //below proportional band
         {
-            HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MAX;
+            HeaterPIDConfig[index].m_calculatedError = 1.0;
+            HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError*100));
         }
-        if (HeaterPIDConfig[index].m_calculatedError < HeaterPIDConfig[index].m_params.MIN)
+        else if (readValue > ((HeaterCmd[index].targettemperatue * (100+HeaterControl[index].outputproportionalband))/100))
         {
-            HeaterPIDConfig[index].m_calculatedError = HeaterPIDConfig[index].m_params.MIN;
+            HeaterPIDConfig[index].m_calculatedError = 0.0;
+            HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError*100));
         }
-*/
-        HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError*100));
+//check only for the proportional band limits
+//        HeaterPIDConfig[index].m_calculatedError = PIDAlgorithmCalculation(HeaterPIDConfig[index].m_SetParam , HeaterPIDConfig[index].m_mesuredParam,
+//                                                                              &HeaterPIDConfig[index].m_params,   &HeaterPIDConfig[index].m_preError, &HeaterPIDConfig[index].m_integral);
+//        HeaterRecalculateHeaterParams(index, (int)(HeaterPIDConfig[index].m_calculatedError*100));
 
         //SetMotorFreq (index, HeaterControl[index].m_calculatedError);
     }
@@ -505,18 +524,18 @@ void EightMilliSecondHeatersInterrupt(UArg arg0)
 
     ROM_IntMasterDisable();
     HeatersControlMessageStruc Message;
-    bool retcode = false;
+    //bool retcode = false;
 
     //send message to the HeatersControl task
     Message.messageId = HeatersControl;
     Message.tick = UsersysTickGet();
     Message.msglen = sizeof(HeatersControlMessageStruc);
     if (HeatersControlMsgQ != NULL)
-        retcode = Mailbox_post(HeatersControlMsgQ , &Message, BIOS_NO_WAIT);
+        /*retcode = */Mailbox_post(HeatersControlMsgQ , &Message, BIOS_NO_WAIT);
 
     if (HeatersRestart == true)
     {
-        ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep/*twelve millisecond???*/);
+        ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep);
     }
     else
         TimerDisable(Heater_timerBase, TIMER_A);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index f5462e398..6740d6304 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -15,6 +15,8 @@
 #include "PMR/Printing/JobSegment.pb-c.h"
 #include "PMR/Printing/JobTicket.pb-c.h"
 
+#include <utils/ustdlib.h>
+
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
@@ -178,7 +180,7 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     pooler_counter++;
     if (pooler_counter%10 == 0)
     {
-        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false);
+        SendJobProgress(CurrentProcessedLength/CurrentRequestedLength,CurrentSegmentId,false, "Progress");
         //SendJobProgress(/*KeepNormalizedError*/MotorControlConfig[index].m_calculatedError,CurrentSegmentId,false);
 
     }
@@ -186,8 +188,8 @@ uint32_t ThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     {
         //HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
 
-        HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/length,positionDiff/*(int)error_integered*/,CurrentProcessedLength,CurrentRequestedLength, "FeederLength");
-            pooler_counter = 0;
+        //HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/length,positionDiff/*(int)error_integered*/,CurrentProcessedLength,CurrentRequestedLength, "FeederLength");
+        //    pooler_counter = 0;
     }
     if (CurrentProcessedLength>=CurrentRequestedLength )
     {
@@ -259,6 +261,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     int32_t TranslatedReadValue, avreageSampleValue = 0;
     uint32_t calculated_speed;
     double NormalizedError;
+    char Message[60];
+
     if (IfIndex>>8 != IfTypeThread)
     {
         LOG_ERROR (IfIndex, "Wrong  Interface type");
@@ -293,7 +297,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         //TranslatedReadValue = 0;//test
         MotorSamples[index][MotorSamplePointer[index]] = TranslatedReadValue;//(-1 * TranslatedReadValue);
         MotorSamplePointer[index]++;
-        if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode) MotorSamplePointer[index] = 0;
+        if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode)
+            MotorSamplePointer[index] = 0;
         for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
@@ -301,7 +306,9 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 
         if ((abs(avreageSampleValue)> DancerStopActivityLimit[index])&&(JobCounter > eOneSecond))
         {
-            EndState(CurrentJob);
+             usnprintf(Message, 60, "Dancer %d limit %d value %d Zero %d",DancerId,DancerStopActivityLimit[index],avreageSampleValue,DancersCfg[DancerId].zeropoint);
+
+            EndState(CurrentJob,Message );
         }
         NormalizedError = avreageSampleValue*NormalizedErrorCoEfficient[index];
         MotorControlConfig[index].m_mesuredParam = NormalizedError;
@@ -339,8 +346,8 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 }*/
             //HeatingTestSendResonse(0, false,true,true, MotorDriverRequest[22].Speed,MotorDriverRequest[18].Speed,MotorDriverRequest[15].Speed,MotorDriverRequest[3].Speed, "MotorSpeed");
 
-            HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,MotorControlConfig[index].m_calculatedError,ReadValue, "FeederSpeed");
-                pooler_counter = 0;
+            //HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/_speed,OriginalMotorSpd_2PPS[index]/*(int)error_integered*/,MotorControlConfig[index].m_calculatedError,ReadValue, "FeederSpeed");
+            //    pooler_counter = 0;
         }
     }
 
@@ -472,7 +479,9 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
 //set the speed only before the first segment, speed is constant accros job
     JobTicket* JobTicket = JobDetails;
 
-    float process_speed = JobTicket->processparameters->dyeingspeed;
+    float process_speed;
+    if (JobTicket->processparameters)
+        process_speed= JobTicket->processparameters->dyeingspeed;
 
     SetOriginMotorSpeed(process_speed);
     //ControlStart();
@@ -483,14 +492,14 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
  //only for testing - when control works, these motors will take their speed from the dryer
     //MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RDRIVING, OriginalMotorSpd_2PPS[FEEDER_MOTOR]);
 
-//#warning rocker disabled
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].has_directionthreadwize)
-        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 5);
-    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].has_directionthreadwize)
-        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 5);
-//#warning rocker disabled
+#warning rocker disabled
+//    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].has_directionthreadwize)
+//        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize);
+//    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 5);
+//    if (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].has_directionthreadwize)
+//        MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
+//    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 5);
+#warning rocker disabled
 
 //    MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 0, GPI_LS_RLOADMOTOR_UP, EndState); //TODO
 
@@ -506,6 +515,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails)
     {
         ThreadUpdateProcessLength (0,(void *)NULL);
         PreSegmentReady(Module_Thread,ModuleDone);
+        JobCounter = 0;
         InitialProcess = false;
     }