merge conflicts

10 files changed, 84 insertions, 29 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index 3d1ba6e78..e2c2b3b1c 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -159,8 +159,8 @@ uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t Re
     DispenserControlId[DispenserId] = AddControlCallback(NULL, IDS_Dispenser_StopMotorCallback, CloseValveTimeout, TemplateDataReadCBFunction,DispenserId, DispenserId, 0 );
     if (DispenserControlId[DispenserId] == 0xFF)
         Report("Add control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
-    else
-        Report("Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+    //else
+    //    Report("Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
 
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 00d740c7e..d8db2c4a5 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -1299,7 +1299,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
     //Task_sleep(5);
     PreSegmentWCFStarted = false;
     PreSegmentPrepareStarted = false;
-    REPORT_MSG(PreSegmentWCFStarted,"START IDSPresegmentPrepareStart");
+    //REPORT_MSG(PreSegmentWCFStarted,"START IDSPresegmentPrepareStart");
 
 //    IDSPresegmentPrepareStart();
     return OK;
@@ -1458,7 +1458,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
 #else
      Valve_Set(VALVE_MIXCHIP_WASTECH, Mixer_Head);
 #endif
-     IDS_Cleaning_Stop_Cleaning_Solution(NULL);
+     //IDS_Cleaning_Stop_Cleaning_Solution(NULL);
      SegmentNumOfBrushStops = Segment->n_brushstops;
      BrushStopTime = Segment->length*1000/(double)SegmentNumOfBrushStops;  //brushstop in meters //brushstop in millisecond
      BrushStopTime = ((BrushStopTime*100)/dyeingspeed);//brushstop in seconds
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
index aaa5978bb..78ae257ac 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
@@ -402,7 +402,8 @@ uint32_t MidTankReading(void)
     MidTankCounter = 0;
     if (IFS_info.Ink.time_out > 0)
         return ERROR;
-    MidTankReadControlId = AddControlCallback( "MidTankRead", MidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
+    MidTankReadControlId = AddControlCallback("MidTankReading", MidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
+
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
index 11ae5b008..36542a1a9 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.h
@@ -52,6 +52,7 @@ bool MidTankValvesAction(bool action); //Cartridge_MidTank_ON of Cartridge_MidTa
 bool ColorMatch();
 bool IFS_TimeOutAlarm(bool status);
 void ResponseDemo(int MidtankId);
+bool IFS_MidTankFilling(void);
 
 bool CartridgeValidationResponseFunc(MessageContainer* requestContainer);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
index de385a32f..5dcabc576 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
@@ -97,7 +97,7 @@ void Stub_FpgaWriteRegRequest(MessageContainer* requestContainer)
         ptr = (volatile short *) (request->address);
         if (request->address == (FPGA3_BASE | 0x3D0))
         {
-            ctlId = AddControlCallback( "Reset_MCU", ResetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,ptr,ptr, 0 );
+            ctlId = AddControlCallback("Reset", ResetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,ptr,ptr, 0 );
         }
         else
             *ptr = (request->value & 0xFFFF);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 40000b8bb..0aff26320 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -359,6 +359,7 @@
                 else
                 {
                     LoadStages++;
+                    LoadStatus = OK;
                     if (LoadStages == THREAD_LOAD_CLOSE_DANCERS)
                     {
                         MotorSetKvalHold(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, keepkvalhold);
@@ -558,6 +559,8 @@
             CallbackCounter--;
             if (CallbackCounter == 0)
             {
+                LoadStatus = OK;
+
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
@@ -681,7 +684,8 @@
         //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
         LengthCalculationMultiplier = (MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].pulleyradius*2*PI)/(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].pulseperround*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].microstep);
         TotalLoadedLen = 0;
-        SpeedTControlId = AddControlCallback(NULL,ThreadLoadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+HARDWARE_MOTOR_TYPE__MOTO_RDRIVING),HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,0);
+        DrierPrevLocation = 200; //initial safe value
+        SpeedTControlId = AddControlCallback("Thread length",ThreadLoadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+HARDWARE_MOTOR_TYPE__MOTO_RDRIVING),HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,0);
         Tinitialpos = 0xFFFF;previousPosition = 0; currentPosition = 0;
         CallbackCounter++;
         Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
@@ -709,12 +713,13 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         ThreadJoggingFunc(20);
-        LoadingControlId = AddControlCallback(NULL,Thread_Load_Jog_ThreadStop, eOneSecond*25,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
+        LoadingControlId = AddControlCallback("Load jog",Thread_Load_Jog_ThreadStop, eOneSecond*25,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         return OK;
     }
     uint32_t Thread_Load_End(void)
     {
         REPORT_MSG(LoadStages,"Loading Ended");
+        ThreadLoadingReport();
         if(LoadingControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
@@ -752,6 +757,7 @@
             usnprintf(LoadErrorMsg, 100, "Load sequence stopped by user on stage %d",LoadStages);
             LoadStatus = ERROR;
         }
+
         LoadStages = THREAD_LOAD_INIT;
         load.color = colorON;
         return OK;
@@ -766,21 +772,19 @@
             return OK;
         }
         Screw_Dir = 1-Screw_Dir;
-        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,30000);
+        status = MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Screw_Dir, 80, screw[Screw_Dir], Thread_Load_switchCallback,13000);
 
         return OK;
     }
     uint32_t Thread_Load_Dryer_UnLoading_Callback(uint32_t MotorId, uint32_t ReadValue)
     {
         numberOfCycles++;
-        uint32_t temp = Control_Read_Dryer_Position(0,0);
-        Report("Thread_Load_Dryer_Loading_Callback",__FILE__,ReadValue,temp,RpMessage,DrierPrevLocation,0);
-        //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
-        if ((abs (temp -DrierPrevLocation)>20  )&&(ReadValue == NOTBUSY))
+        uint32_t temp = Read_Dryer_ENC_Position();
+        Report("Thread_Load_Dryer_UnLoading_Callback",__FILE__,ReadValue,temp,RpMessage,DrierPrevLocation,0);
+        //Report("Thread_Load_Dryer_UnLoading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
+        if ((abs (temp -DrierPrevLocation)>1000  )&&(ReadValue == NOTBUSY))
         {
             DrierPrevLocation = temp;
-            //Report("Thread_Load_Dryer_Loading_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-            //Report("Thread_Load_Dryer_Loading_Callback details",__FILE__,(int)(TotalLoadedLen),numberOfCycles,RpMessage,CallbackCounter,0);
             if (LoadStages != THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION)
             {
                 return OK;
@@ -801,7 +805,7 @@
         {
             LOG_ERROR(LoadStages,"Load sequence timeout - drier Unloading");
             Report("Store Number of cycles in drier - halted",__FILE__,__LINE__,numberOfCycles,RpMessage,LoadArmInfo.LoadArmRounds,0);
-            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds-numberOfCycles);
+            MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds-(numberOfCycles-2));//it takes two cycles to identify a stop of the arm
             TimeoutsCounter = 0;
             CallbackCounter = 0;
             if(PullerControlId != 0xFF)
@@ -826,12 +830,14 @@
             load.color = fastBILNK;
             usnprintf(LoadErrorMsg, 100, "Load sequence timeout %d motor %d",LoadStages, HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);
             LoadStatus = ERROR;
+            TryAgain = true;
             ThreadLoadingReport();
         }
         return OK;
     }
     uint32_t Thread_Load_Dryer_UnLoading(void)
     {
+        uint32_t temp;
         REPORT_MSG(LoadStages, "Thread UnLoad State Machine step");
         //LoadArmInfo.LoadArmRounds = 0;
         //uint32_t numberOfSteps = 0;
@@ -899,9 +905,10 @@
         numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/**LoadArmInfo.LoadArmRounds*/*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
         numberOfCycles = 0;
 
-        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&DrierPrevLocation);
-
-        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,LoadStages,RpMessage, LoadArmInfo.LoadArmRounds,0);
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CENTER,&temp);
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
+        DrierPrevLocation = temp;
+        Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,UnloadingStart,DrierPrevLocation,RpMessage, LoadArmInfo.LoadArmRounds,0);
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 //        status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
 //                                        MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
@@ -1002,7 +1009,6 @@
             ThreadLoadingReport();
             break;
         case THREAD_LOAD_END:
-            MessageState = 0;
             LoadStages = THREAD_LOAD_END;
             Thread_Load_End();
             break;
@@ -1025,23 +1031,27 @@ uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
         return ERROR;
     }
     Report("ThreadLoadButton",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
+    Report("ThreadLoadButton params",__FILE__,LoadStatus,TryAgain,RpMessage,SecondTry,0);
     if (LoadStatus == ERROR)
     {
         if ((SecondTry == false)&&(TryAgain == true))
         {
             LoadStatus = OK;
             SecondTry = true;
+            Report("Calling State machine",__FILE__,LoadStages,LoadStatus,RpMessage,SecondTry,0);
             ThreadLoadStateMachine(LoadStages);
         }
         else
         {
             SecondTry = false;
+            Report("Calling State machine",__FILE__,LoadStages,LoadStatus,RpMessage,SecondTry,0);
             ThreadLoadStateMachine(LoadStages+1);
         }
     }
     else
     {
-        ThreadLoadStateMachine(ReadValue);
+        Report("Calling State machine status OK",__FILE__,ReadValue,LoadStatus,RpMessage,SecondTry,0);
+        ThreadLoadStateMachine(LoadStages);
     }
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index f0b709ff2..78092ae2b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -61,6 +61,7 @@ static bool KeepWindingCone = false;
 static uint32_t WindingConeLocation;
 static uint32_t WinderBackToBaseTime = 800;
 
+float NumberOfRotationPerPassage = 0.0;
 InternalWinderConfigStruc InternalWinderCfg = {0};
 //#define READ_SCREW_ENCODER
 #ifdef READ_SCREW_ENCODER
@@ -106,12 +107,17 @@ uint32_t InternalWindingConfigMessage(JobSpool* request)
     InternalWinderCfg.spoolbackingrate = request->backingrate;
     InternalWinderCfg.startoffsetpulses = request->startoffsetpulses;
     InternalWinderCfg.SpoolBottomBackingRate =  request->bottombackingrate;
-    InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*2;//request->rotationsperpassage;
+    InternalWinderCfg.NumberOfRotationPerPassage = 3.1415926*3;//request->rotationsperpassage;
     if (request->rotationsperpassage > 6.1)
         InternalWinderCfg.NumberOfRotationPerPassage = request->rotationsperpassage;
+    if (NumberOfRotationPerPassage > 1)
+    {
+        InternalWinderCfg.NumberOfRotationPerPassage = NumberOfRotationPerPassage;
+        Report("Rotation per passage set from stub",__FILE__,__LINE__,(int)(request->rotationsperpassage*1000),RpWarning,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000), 0);
+    }
     InternalWinderCfg.diameter = request->diameter;
     usnprintf(ScrewStr, 150, "WindingConfig start,offset,head,tail {, %d, %d, %d, %d, %d}",InternalWinderCfg.startoffsetpulses,(int)InternalWinderCfg.segmentoffsetpulses,
-              (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate);
+              (int)InternalWinderCfg.spoolbackingrate,(int)InternalWinderCfg.SpoolBottomBackingRate,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000));
     Report(ScrewStr,__FILE__,__LINE__,(int)InternalWinderCfg.diameter,RpWarning,(int)(InternalWinderCfg.NumberOfRotationPerPassage*1000), 0);
 
     return status;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index dd9395248..420b782b5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -42,6 +42,8 @@ uint32_t StoreDancerConfigMessage(void);
 uint32_t LoadDancerConfigMessage(void);
 
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
+extern float NumberOfRotationPerPassage; //debug for rotation per passage trials
+
 uint32_t Winder_Init(void);
 uint32_t Winder_Prepare(void *JobDetails);
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 0a3a9e149..45ab2cb19 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -41,7 +41,11 @@
 
 double CurrentControlledSpeed[MAX_THREAD_MOTORS_NUM] = {0};
 
+#ifndef DRIER_CONTROL_TEST
+TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
+#else
 TimerMotors_t ThreadMotorIdToMotorId[MAX_THREAD_MOTORS_NUM] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER,HARDWARE_MOTOR_TYPE__MOTO_SCREW};
+#endif
 HardwareDancerType ThreadMotorIdToDancerId[MAX_THREAD_MOTORS_NUM] = {FEEDER_DANCER,NUM_OF_DANCERS,POOLER_DANCER,WINDER_DANCER,NUM_OF_DANCERS};
 uint32_t    ControlIdtoMotorId [MAX_THREAD_MOTORS_NUM] = {0xFF,0xFF,0xFF,0xFF,0xFF};
 uint32_t    SpeedControlId=0xFF;
@@ -848,7 +852,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
             }
 //            if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
 //                AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,TemplateDataReadCBFunction,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0);
-            if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
+            if (Motor_i == ThreadMotorIdToMotorId[DRYER_MOTOR]) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 continue;
     }
 #ifdef TEST_PID_THREAD
@@ -897,7 +901,7 @@ uint32_t ThreadDryerRampUp(uint32_t IfIndex, uint32_t BusyFlag)
         ControlIdtoMotorId[DRYER_MOTOR] = 0xFF;
     }
 
-    MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed );
+    MotorSetSpeed(ThreadMotorIdToMotorId[DRYER_MOTOR],InitialDryerSpeed );
     //ReportWithPackageFilter(ThreadFilter,"ThreadDryerRampUp",__FILE__,ControlIdtoMotorId[DRYER_MOTOR],(int)InitialDryerSpeed,RpWarning,(int)OriginalMotorSpd_2PPS[DRYER_MOTOR],0);
 
 
@@ -927,7 +931,7 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
         DrierDivider = dyeingspeed/5;  //ramp up drier in 5 cm/sec steps
         ReportWithPackageFilter(ThreadFilter,"Drier ramp up",__FILE__,__LINE__,(int)dyeingspeed,RpWarning,(int)DrierDivider,0);
         InitialDryerSpeed = OriginalMotorSpd_2PPS[DRYER_MOTOR]/DrierDivider;
-        MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed );
+        MotorSetSpeed(ThreadMotorIdToMotorId[DRYER_MOTOR],InitialDryerSpeed );
         ControlIdtoMotorId[DRYER_MOTOR] = AddControlCallback("DryerRampUp",ThreadDryerRampUp, 200,TemplateDataReadCBFunction,0,0,0);
 #endif
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.c
index d44047fdb..f48a075ca 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/newWHS_init.c
@@ -16,9 +16,10 @@
 #include <Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC/Max_5805.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_MAX11614/WHS_MAX11614_A2D.h>
 #include <Drivers/I2C_Communication/WHS_Card/D_AD5272/WHS_AD5272_Driver.h>
+#include <Drivers/I2C_Communication/WHS_Card/D_ADS122/WHS_PT100_ADC.h>
 
 bool test_9555(void);
-
+bool WHS_I2C_EEprom_Write_Ch_shai_taest(void);
 
 bool newWHS_init(void)
 {
@@ -34,9 +35,10 @@ bool newWHS_init(void)
 //    status |= Test_WHS_valve();
 //    status |= Test_WHS_pump();
 //    status |= Test_WHS_max11614();
-    status |= Test_WHS_AD5272_A2D();
-
+//    status |= Test_WHS_AD5272_A2D();
+      status |= Test_WHS_PT100_ADC();
     //test_9555();
+//    status |= WHS_I2C_EEprom_Write_Ch_shai_taest();
     return status;
 }
 
@@ -50,4 +52,33 @@ bool test_9555(void)
     return status;
 }
 
+uint8_t WHS_Write_Buf[9];
+uint8_t WHS_Read_Buf[9];
+
+bool WHS_I2C_EEprom_Write_Ch_shai_taest()
+{
+    bool status= OK;
+
+//    uint8_t i = 0;
+    uint8_t address_high_byte = 0x00;
+    uint8_t address_low_byte  = 0x00;
 
+    status |= Select_Main_WHS_Mux_Channel();
+
+    WHS_Write_Buf[0] = address_high_byte;
+    WHS_Write_Buf[1] = address_low_byte;
+    WHS_Write_Buf[2] = 0xAA;
+    WHS_Write_Buf[4] = 0xAA;
+    WHS_Write_Buf[6] = 0xAA;
+    WHS_Write_Buf[8] = 0xAA;
+    WHS_Write_Buf[3] = 0x55;
+    WHS_Write_Buf[5] = 0x55;
+    WHS_Write_Buf[7] = 0x55;
+
+
+    status |= I2C_Write(I2C_ID_WHS_CARD, I2CEEPROM_ADDRESS, WHS_Write_Buf, 9);
+    SysCtlDelay(5000000);//Must delay for at least 5 milli. !!!  (See data sheet )
+    status |= I2C_Write(I2C_ID_WHS_CARD, I2CEEPROM_ADDRESS, WHS_Write_Buf, 2);
+    status |= I2C_Read(I2C_ID_WHS_CARD, I2CEEPROM_ADDRESS + 1, WHS_Read_Buf, 7);
+    return status;
+}