Driver structures and prototypes

12 files changed, 344 insertions, 50 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
index 216779f8b..1de8ac0de 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
@@ -1,7 +1,53 @@
 /*
  * DriverWithCallbackExample.c
  *
- *  Created on: 11 במרץ 2018
+ *  Created on: 11 march 2018
  *      Author: shlomo
  */
-uint32_t
+#include "include.h"
+#include "control.h"
+
+
+uint32_t KeepParameter = 0;
+callback_fptr ModuleCallback = 0;
+bool isValid (uint32_t deviceID);
+uint32_t ControlCallBackFunction(uint32_t deviceID, uint32_t ReadValue);
+
+
+
+uint32_t DriverActionWithCallback (uint32_t deviceId, uint32_t parameter, callback_fptr callback)
+{
+    assert (callback);
+    assert (isValid(deviceId));
+
+    //call driver action to device id with the parameter
+    //SetMotorSpeed (deviceId, parameter);
+    KeepParameter = parameter;
+    ModuleCallback = callback;
+    //start control:
+
+    uint32_t ControlId = AddControlCallback( callback,  eOneMillisecond, NULL, deviceId, parameter );
+    return ControlId;
+
+}
+
+uint32_t ControlCallBackFunction(uint32_t deviceId, uint32_t ReadValue)
+{
+       if (ReadValue == KeepParameter)
+       {
+           //stop this control loop
+           RemoveControlCallback(deviceId, ControlCallBackFunction );
+           //possibly: start regular control (speed etc)
+           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, NULL, deviceId, Parameter );
+
+           //call the module callback
+           ModuleCallback(deviceId,ReadValue);
+
+       }
+   return OK;
+}
+
+bool isValid (uint32_t deviceID)
+{
+    return true;
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 6f3a59852..ded4c9f9e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -22,6 +22,10 @@
 
 #include "drivers/adc_sampling/adc.h"
 #include "control.h"
+
+#include "drivers/Motors/Motor.h"
+#include "drivers/Heater/TemperatureSensor.h"
+
 /******************** Definitions  ********************************************/
 #define INVALID_MSG_ID    0xFFFF
 #define MAX_TANGO_CONTROL_DEVICES 200
@@ -30,7 +34,7 @@
 typedef enum
 {
     OneMillisec,
-}nillisecMessages;
+}MillisecMessages;
 
 typedef struct MillisecMessage{
     uint16_t messageId;
@@ -38,6 +42,13 @@ typedef struct MillisecMessage{
     uint32_t tick;
     uint8_t messageData[20];
 }MillisecMessageStruc;
+
+uint32_t  ADC_Data[MAX_ADC_DEVICES] = {0};
+uint32_t  TemperatureSensor_Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
+uint32_t  MotorSpeed_Data[MOTOR_SPARE1_1] = {0};
+uint32_t  MotorStatus_Data[MOTOR_SPARE1_1] = {0};
+bool      MotorBusy_Data[MOTOR_SPARE1_1] = {true};
+
 /******************** GLOBAL PARAMETERS  ********************************************/
 Mailbox_Handle          MillisecMsgQ = NULL;
 bool                    MillisecRestart;
@@ -105,9 +116,6 @@ void OneMilliSecondMillisecInterrupt(UArg arg0)
     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();
@@ -133,7 +141,46 @@ uint32_t MillisecLoop(uint32_t tick)
     Hundred_msTick  =   (tick%eHunderdMillisecond == 0)  ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
 
+    //gather Motor data from FPGA
+    MotorSpeed_Data[MOTOR_DRYER_DRIVING] = MotorGetSpeedFromFPGA(MOTOR_DRYER_DRIVING);
+    MotorStatus_Data[MOTOR_DRYER_DRIVING] = MotorGetStatusFromFPGA(MOTOR_DRYER_DRIVING);
+    MotorSpeed_Data[MOTOR_SCREW] = MotorGetSpeedFromFPGA(MOTOR_SCREW);
+    MotorStatus_Data[MOTOR_SCREW] = MotorGetStatusFromFPGA(MOTOR_SCREW);
+    MotorSpeed_Data[MOTOR_WINDER] = MotorGetSpeedFromFPGA(MOTOR_WINDER);
+    MotorStatus_Data[MOTOR_WINDER] = MotorGetStatusFromFPGA(MOTOR_WINDER);
+    MotorSpeed_Data[MOTOR_LDRIVING] = MotorGetSpeedFromFPGA(MOTOR_LDRIVING);
+    MotorStatus_Data[MOTOR_LDRIVING] = MotorGetStatusFromFPGA(MOTOR_LDRIVING);
+    MotorSpeed_Data[MOTOR_RDRIVING] = MotorGetSpeedFromFPGA(MOTOR_RDRIVING);
+    MotorStatus_Data[MOTOR_RDRIVING] = MotorGetStatusFromFPGA(MOTOR_RDRIVING);
+    //gather Dancer data from FPGA
     //gather data from FPGA
+
+    if (Hundred_msTick)
+    {
+        int adc_i;
+        for (adc_i = 0; adc_i < MAX_ADC_DEVICES ; adc_i++)
+            ADC_Data[adc_i] = ADC_GetReading(adc_i);
+        //trigger the ADC collection - check and set priorities to make sure handling timing is correct.
+        //we might want to call it from the task, after execution of other tasks!!!
+        ADC_TriggerCollection();
+
+        TEMPERATURE_SENSOR_ID_ENUM pt100_i;
+        for (pt100_i = 0; pt100_i < (int)MAX_TEMPERATURE_SENSOR_ID ; pt100_i++)
+            TemperatureSensor_Data[pt100_i] = TemperatureSensorReadFromFPGA(pt100_i);
+        MotorGetnBusyFromFPGA(); // get all motors nBusy bit status from the FPGAs
+        TimerMotors_t motor_i;
+        for (motor_i = 0; motor_i < MOTOR_SPARE1_1 ; motor_i++)
+        {
+            MotorBusy_Data[motor_i] = MotorGetnBusyState(motor_i);
+            if (MotorBusy_Data[motor_i] == false) //can get data
+            {
+                MotorSpeed_Data[motor_i] = MotorGetSpeedFromFPGA(motor_i);
+                MotorStatus_Data[motor_i] = MotorGetStatusFromFPGA(motor_i);
+            }
+        }
+    }
+    //gather data from FPGA
+
     return OK;
 }
 /******************************************************************************
@@ -163,3 +210,28 @@ void MillisecTask(UArg arg0, UArg arg1)
         }
     }
 }
+
+
+uint32_t getMotorStatusData(int MotorId)
+{
+    assert (MotorId < MOTOR_SPARE1_1);
+    return MotorStatus_Data[MotorId];
+}
+uint32_t getMotorSpeedData(int MotorId)
+{
+    assert (MotorId < MOTOR_SPARE1_1);
+    return MotorSpeed_Data[MotorId];
+}
+
+uint32_t getTemperatureSensorData(int SensorId)
+{
+    assert (SensorId < MAX_TEMPERATURE_SENSOR_ID);
+    return TemperatureSensor_Data[SensorId];
+}
+
+uint32_t getADCData(int DeviceId)
+{
+    assert (DeviceId < MAX_ADC_DEVICES);
+    return ADC_Data[DeviceId];
+}
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
new file mode 100644
index 000000000..0c9d66201
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -0,0 +1,25 @@
+/*
+ * MillisecTask.h
+ *
+ *  Created on: 15 במרץ 2018
+ *      Author: shlomo
+ */
+
+#ifndef MODULES_CONTROL_MILLISECTASK_H_
+#define MODULES_CONTROL_MILLISECTASK_H_
+
+#include "drivers/adc_sampling/adc.h"
+#include "control.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/Heater/TemperatureSensor.h"
+
+
+uint32_t getMotorStatusData(int MotorId);
+uint32_t getMotorSpeedData(int MotorId);
+uint32_t getTemperatureSensorData(int SensorId);
+uint32_t getADCData(int DeviceId);
+
+
+
+
+#endif /* MODULES_CONTROL_MILLISECTASK_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index abc61972d..1d9686124 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -62,7 +62,8 @@ typedef struct
 {
   uint32_t PartId;  // the identity of the inspected/controlled part in the Devices enum.
   bool ControlActive;
-  uint32_t Parameter;
+  uint32_t Parameter1;
+  uint32_t Parameter2;
   DataReadCBFunction ControlDataReadPtr;
   ControlCBFunction ControlCallbackPtr;
   CTRL_TIMING_ENUM ControlTiming;
@@ -97,7 +98,7 @@ void OneMilliSecondFunction(UArg arg0);
 //**********************************************************************
 /******************** CODE  ********************************************/
 //**********************************************************************
-uint32_t TemplateDataReadCBFunction (uint32_t deviceID, uint32_t Parameter)
+uint32_t TemplateDataReadCBFunction (uint32_t deviceID, uint32_t Parameter1, uint32_t Parameter2)
 {
     return 0;
 }
@@ -160,23 +161,34 @@ 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, DataReadCBFunction DriverfPtr, uint32_t Parameter )
+uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter1, uint32_t Parameter2 )
 {
-    assert(deviceId < MAX_TANGO_CONTROL_DEVICES);
     assert(Callback);
     assert(DriverfPtr);
     unsigned int key;
 
-
+    uint32_t device_i;
+    uint32_t deviceId = 0xFFFFFFFF;
+    for(device_i = 0;device_i < MAX_TANGO_CONTROL_DEVICES;device_i++)
+    {
+        if (ControlArray[device_i].ControlActive == false)
+        {
+            deviceId = device_i;
+            break;
+        }
+    }
+    if (deviceId == 0xFFFFFFFF)
+        return 0xFFFFFFFF;
     key = GateMutex_enter(gateControlDB);
     ControlArray[deviceId].ControlTiming = CtrlFrequency;
     ControlArray[deviceId].ControlCallbackPtr = Callback;
     ControlArray[deviceId].ControlActive = true;
     ControlArray[deviceId].ControlDataReadPtr = DriverfPtr;
-    ControlArray[deviceId].Parameter = Parameter;
+    ControlArray[deviceId].Parameter1 = Parameter1;
+    ControlArray[deviceId].Parameter2 = Parameter2;
     GateMutex_leave(gateControlDB, key);
 
-    return OK;
+    return deviceId;
 
 }
 int     RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback)
@@ -212,9 +224,6 @@ void OneMilliSecondControlInterrupt(UArg arg0)
     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!!!
-    ADC_TriggerCollection();
     //send message to the control task
     Message.messageId = OneMillisec;
     Message.tick = UsersysTickGet();
@@ -243,33 +252,41 @@ uint32_t ControlLoop(uint32_t tick)
 
     for (Device_i = 0; Device_i < MAX_TANGO_CONTROL_DEVICES;Device_i++)
     {
-        if (ControlArray[Device_i].ControlDataReadPtr)
-            ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter);
         if (ControlArray[Device_i].ControlActive)
         {
             switch (ControlArray[Device_i].ControlTiming)
             {
                 case eOneMillisecond:
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
                     break;
                 case eTenMilliSecond:
                     if (Ten_msTick)
+                    {
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                    }
                     break;
                 case eHunderdMillisecond:
                     if (Hundred_msTick)
+                    {
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                    }
                     break;
                 case eOneSecond:
                     if (Onesecond_Tick)
+                    {
+                        ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr(Device_i, ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
                         ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                    }
                     break;
                 default:
                     LOG_ERROR (ControlArray[Device_i].ControlTiming, "Invalid control timing value");
                     break;
-            }
-        }
-    }
+            } //switch
+        } //if control active
+    }  //for
 
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h
index 292bbeb82..f443a10d7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h
@@ -10,7 +10,7 @@
 
 //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  uint32_t (* DataReadCBFunction)(uint32_t deviceID, uint32_t Parameter1, uint32_t Parameter2);
 typedef enum {
     eNoControl = 0,
     eOneMillisecond = 1,
@@ -20,10 +20,11 @@ typedef enum {
 }CTRL_TIMING_ENUM;
 
 
-void    ControlInit(void);
-void    ControlStop(void);
-void    ControlStart(void);
-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);
+void        ControlInit(void);
+void        ControlStop(void);
+void        ControlStart(void);
+uint32_t    AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter1, uint32_t Parameter2 );
+int         RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback );
+uint32_t    TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter1, uint32_t Parameter2);
+
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index 1162ff11e..b835cf8f1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -23,6 +23,7 @@
 #include "include.h"
 #include <driverlib/timer.h>
 
+#include "heaters_ex.h"
 #include "heaters.h"
 #include "Drivers/Heater/Heater.h"
 
@@ -50,6 +51,7 @@ HeaterControlConfig_t  HeaterPIDConfig[MAX_HEATERS_NUM] = {0};
 uint32_t DeviceId2Heater[MAX_HEATERS_NUM] = {0};
 bool AcHeaterConfigured[MAX_AC_HEATERS] = {0};
 
+bool FastHeating = 1;
 /******************** CODE  ********************************************/
 /*
  * HeatersInit
@@ -107,6 +109,10 @@ uint32_t HeaterConfigRequestMessage(HardwarePidControl* request)
                     LOG_ERROR (ValidationError, "Validation Error in Heaters Control");
                     return ERROR;
                 }
+            else
+            {
+                HeaterConfigSetSharedHeatersParams(1000,120000*12); // initial setting 50Mhz
+            }
         }
         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 f1920f68f..398f9463b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -23,8 +23,22 @@
 
 #include "heaters.h"
 #include "Drivers/Heater/Heater.h"
+#include "Drivers/Heater/TemperatureSensor.h"
 
 
+/******************** Data Structures  ********************************************/
+typedef enum
+{
+    HeatersControl,
+}HeatersControlMessages;
+
+typedef struct HeatersControlMessage{
+    uint16_t messageId;
+    uint16_t msglen;
+    uint32_t tick;
+    uint8_t messageData[20];
+}HeatersControlMessageStruc;
+
 /******************** GLOBAL PARAMETERS  ********************************************/
 HeaterCommand          HeaterCmd[MAX_HEATERS_NUM] = {};
 int      NumberOFSlicesInUse = 0;
@@ -35,16 +49,64 @@ 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] = {0xFF};
 
-bool InitialHeatingState = false;
+bool InitialHeatingState = true;
+bool TimerActivated = false;
+
+Mailbox_Handle          HeatersControlMsgQ = NULL;
+
 /******************** FUNCTIONS  ********************************************/
 uint32_t HeaterControlCBFunction(uint32_t deviceID, uint32_t ReadValue);
 uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue);
+void HeatersStartControlTimer (void);
 
-/*
+//**********************************************************************
+//******************** CODE  *******************************************/
+//**********************************************************************
+
+void HeatersControlInit(void)
+{
+
+    HeatersControlMsgQ = Mailbox_create(sizeof(HeatersControlMessageStruc), 20, NULL,NULL);
+
+    ROM_TimerConfigure(Heater_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
+    ROM_IntEnable(INT_TIMER2A);
+    ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT);
+
+    HeatersRestart = false;
+
+    return;
+}
+void HeatersControlStop(void)
+{
+    Report("HeatersControlStop ", __FILE__,__LINE__,0, RpMessage, 0, 0);
+    TimerActivated = false;
+    HeatersRestart = false;
+}
+
+void HeatersControlStart(void)
+{
+    Report("HeatersControlStart ", __FILE__,__LINE__,0, RpMessage, 0, 0);
+    HeatersRestart = true;
+    HeatersStartControlTimer();
+}
+
+void HeatersStartControlTimer (void)
+{
+    if (TimerActivated == true)
+        return;
+    TimerActivated = true;
+    ROM_TimerConfigure(Heater_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
+    ROM_IntEnable(INT_TIMER2A);
+    ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT);
+    Report("HeatersStartControlTimer ", __FILE__,__LINE__,0, RpMessage, 0, 0);
+     return OK;
+}
+
+/**************************************************************************************
  * HeaterCommandRequestMessage
  * called by: Communication from host
  * initialized all global data
- */
+ *************************************************************************************/
 uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
 {
     //uint32_t status = NOT_SUPPORTED;
@@ -69,9 +131,6 @@ uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
         //start the control
         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_TIMER2A);
-        ROM_TimerIntEnable(Heater_timerBase, TIMER_TIMA_TIMEOUT);
         // if the heater is off (?) start it.
         ActivateHeater(HeaterId);
         //set the heater operation mode to fast heating - depended on the current temperature
@@ -123,7 +182,7 @@ 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,TemplateDataReadCBFunction,HeaterId);
+    AddControlCallback( HeaterControlCBFunction, eHunderdMillisecond,TemperatureSensorRead,HeaterId,0);
 
     return OK;
 }
@@ -196,6 +255,37 @@ uint32_t HeaterControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
 int  SliceCounter = 0;
 void EightMilliSecondHeatersInterrupt(UArg arg0)
 {
+
+    ROM_TimerIntClear(Heater_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
+
+    ROM_IntMasterDisable();
+    HeatersControlMessageStruc Message;
+    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);
+
+    if (HeatersRestart == true)
+    {
+        ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep/*twelve millisecond???*/);
+    }
+    else
+        TimerDisable(Heater_timerBase, TIMER_A);
+
+    //
+    // Enable all interrupts.
+    //
+    ROM_IntMasterEnable();
+    return ;
+}
+
+
+uint32_t HeatersControlLoop(uint32_t tick)
+{
     char str[100];
     uint8_t len = 0;
 
@@ -203,7 +293,6 @@ void EightMilliSecondHeatersInterrupt(UArg arg0)
     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]);
-    ROM_IntMasterDisable();
 
     if (TimeSliceAllocation[SliceCounter] == HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w)
     {
@@ -236,16 +325,32 @@ void EightMilliSecondHeatersInterrupt(UArg arg0)
     if (SliceCounter >= NumberOFSlicesInUse)
         SliceCounter = 0;
 
-    if (HeatersRestart == true)
+    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 HeatersControlTask(UArg arg0, UArg arg1)
+{
+    HeatersControlMessageStruc Message;
+    //char str[60];
+    //uint16_t length;
+    //Clock_setTimeout(HostKAClock, 1000);
+    //Clock_start(HostKAClock);
+    HeatersControlInit();
+
+    while(1)
     {
-        ROM_TimerLoadSet(Heater_timerBase, TIMER_A,OutputProportionalSingleStep/*twelve millisecond???*/);
+        Mailbox_pend(HeatersControlMsgQ , &Message, BIOS_WAIT_FOREVER);
+        switch (Message.messageId)
+        {
+            case HeatersControl:
+                HeatersControlLoop(Message.tick);
+                break;
+            default:
+                break;
+        }
     }
-    else
-        TimerDisable(Heater_timerBase, TIMER_A);
-
-    //
-    // Enable all interrupts.
-    //
-    ROM_IntMasterEnable();
-    return ;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index 1c9fee547..074923d79 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -1,6 +1,8 @@
+#ifndef MODULES_IDS_IDS_H_
+#define MODULES_IDS_IDS_H_
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
-
+#include "drivers/motors/motor.h"
 #define MAX_SYSTEM_DISPENSERS 8
 typedef struct
 {
@@ -22,4 +24,9 @@ typedef struct
       int32_t id;
 }DispenserConfigStruc;
 
+
+extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 uint32_t DispenserConfigMessage(HardwareDispenser * request);
+
+
+#endif  //MODULES_IDS_IDS_H_
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
index 0294615b6..d575b0b6e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_init.c
@@ -12,6 +12,8 @@
 
 DispenserConfigStruc DispensersCfg[ MAX_SYSTEM_DISPENSERS];
 
+uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS] = {MOTOR_DISPENSER_1,MOTOR_DISPENSER_2,MOTOR_DISPENSER_3,MOTOR_DISPENSER_4,MOTOR_DISPENSER_5,MOTOR_DISPENSER_6,MOTOR_DISPENSER_7,MOTOR_DISPENSER_8,};
+
 
 
 uint32_t DispenserConfigMessage(HardwareDispenser * request)
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 32b147569..13ea3d77e 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -11,6 +11,7 @@
 #include "PMR/Hardware/Hardwaremotor.pb-c.h"
 #include "PMR/Hardware/HardwareDispenser.pb-c.h"
 #include "StateMachines/Printing/printingSTM.h"
+#include "drivers/motors/motor.h"
 
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 475f63795..f0dd35da9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -1,3 +1,7 @@
+
+#ifndef MODULES_THREAD_THREAD_H_
+#define MODULES_THREAD_THREAD_H_
+
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
@@ -53,3 +57,7 @@ uint32_t MotorsConfigMessage(HardwareMotor * request);
 uint32_t InternalWindingConfigMessage(JobSpool* request);
 
 uint32_t DancerConfigMessage(HardwareDancer * request);
+
+
+#endif //MODULES_THREAD_THREAD_H_
+
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 13c81fb39..44e5c8936 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -10,6 +10,9 @@
 #include "../control/pidalgo.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/Heater/TemperatureSensor.h"
+#include "drivers/Heater/Heater.h"
 ////////////////////////////////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
@@ -186,8 +189,9 @@ 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,TemplateDataReadCBFunction,Motor_i);
+        AddControlCallback(ThreadControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,Motor_i,0);
     }
+
     //set 3 dancers to the profile positions
     return NextState;
 }
@@ -196,10 +200,10 @@ static ReturnCode PrepareState(void *JobDetails)
 static ReturnCode PreSegmentState(void *JobDetails)
 {
 
-    int Motor_i;
+    TimerMotors_t Motor_i;
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
     {
-        MotorControlConfig[Motor_i].m_SetParam = getMotorFreq(Motor_i);//need to update SetParams on presegment stage
+        MotorControlConfig[Motor_i].m_SetParam = MotorGetSpeed(getMotorId(Motor_i));//need to update SetParams on presegment stage
     }
     // set the new speed in the dryer motor to the speed of the new segment
     // activate control fr all motors