reduce motorconfig size. remove graphic lib. alarm handling does not stop the job

author: Shlomo Hecht <shlomo@twine-s.com> 2018-08-16 13:30:16 +0300
committer: Shlomo Hecht <shlomo@twine-s.com> 2018-08-16 13:30:16 +0300
commit: 081feb3a75a5aa9eb30ce9bf6f4f279de30f8335 (patch)
tree: 93904958b607e96d6cafeaf7655079fe0f41c255 /Software/Embedded_SW/Embedded
parent: 013c584cf6dcf1dd61fa52f5841f500a4bfee459 (diff)
download: Tango-081feb3a75a5aa9eb30ce9bf6f4f279de30f8335.tar.gz
Tango-081feb3a75a5aa9eb30ce9bf6f4f279de30f8335.zip
55 files changed, 425 insertions, 1514 deletions
diff --git a/Software/Embedded_SW/Embedded/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index af6ec942d..74c64b8b5 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -79,14 +79,6 @@ byte index = 0;
 
 void receive_callback(char* buffer, size_t length)
 {
-     //SendChars(buffer,length);
-     //draw_string(buffer, length);
-     //draw_image((uint8_t *)buffer);
-
-     //writeLine("Received ");
-     //writeFloat(length);
-     //writeString(" bytes");
-     //writeLine("Parsing message...");
 
      MessageContainer* requestContainer = message_container__unpack(NULL, length, (uint8_t*)buffer);
    //  HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/length,requestContainer->type,0,0, "Container");
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 6e8321edc..f5c4f0a98 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -4,6 +4,7 @@
 #include <stdlib.h>
 #include <stdint.h>
 #include <stdbool.h>
+#include <driverlib/gpio.h>
 
 //#define EVALUATION_BOARD // to use the LCD only when using the evaluation board
 //#define USE_USB
@@ -123,6 +124,30 @@ enum
 #define MASK_LOW_BYTE_IN_WORD  0x00FF;
 #define MASK_HIGH_BYTE_IN_WORD 0xFF00;
 
+
+#define STATUS_GREEN_LED_ON     ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_1, GPIO_PIN_1) //Turn ON STATUS Green LED
+#define STATUS_RED_LED_ON       ROM_GPIOPinWrite(GPIO_PORTS_BASE, GPIO_PIN_0, GPIO_PIN_0) //Turn ON STATUS Red   LED
+
+#define ACTIVITY_RED_LED_ON     ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, GPIO_PIN_0) //Turn ON ACTIVITY Red LED
+#define ACTIVITY_GREEN_LED_ON   ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_0, GPIO_PIN_0) //Turn ON ACTIVITY Green LED
+
+#define COMM_RED_LED_ON         ROM_GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_4, GPIO_PIN_4) //Turn ON COMM Red LED
+#define COMM_GREEN_LED_ON         ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_1, GPIO_PIN_1) //Turn ON COMM Green LED
+
+#define STATUS_GREEN_LED_OFF    ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_1, 0) //Turn OFF STATUS Green LED
+#define STATUS_RED_LED_OFF       ROM_GPIOPinWrite(GPIO_PORTS_BASE, GPIO_PIN_0, 0) //Turn OFF STATUS Red   LED
+
+#define ACTIVITY_RED_LED_OFF     ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, 0) //Turn OFF ACTIVITY Red LED
+#define ACTIVITY_GREEN_LED_OFF   ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_0, 0) //Turn OFF ACTIVITY Green LED
+
+#define COMM_RED_LED_OFF        ROM_GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_4, 0) //Turn OFF Red LED LED
+#define COMM_GREEN_LED_OFF        ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_1, 0) //Turn OFF COMM Green LED
+
+#define STATUS_GREEN_LED_CHANGE_MODE    ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_1, (ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_1) ^  GPIO_PIN_1));
+#define ACTIVITY_RED_LED_CHANGE_MODE    ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, (ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_0) ^  GPIO_PIN_0));
+#define COMM_RED_CHANGE_MODE            ROM_GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_4, (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_4) ^  GPIO_PIN_4));
+
+
 #define BIT0  0x0001 //0x01 << 0
 #define BIT1  0x0002 //0x01 << 1
 #define BIT2  0x0004 //0x01 << 2
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
index 26b1dbae7..ba9fbc896 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
@@ -5,12 +5,13 @@
 
 #include "driverlib/epi.h"
 #include "inc/hw_memmap.h"
+#include <driverlib/gpio.h>
 
 #include "FPGA_COMM.h"
 #include "driverlib/sysctl.h" //for SysCtlDelay
 #include <driverlib/sysctl.h>
 #include <DataDef.h>
-#include "Drivers/Peripheral_GPIO/GPIO.h"
+
 
 unsigned short GPO_01_Reg;
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 0face2b97..537bacea0 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -378,7 +378,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         break;
     case MOTOR_CONFIG_MIN_SPEED:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_lowspeedoptimization)
+        if(MotorsCfg[_motorId].lowspeedoptimization!=0)
         {
             temp = x_SET_PARAM | x_MIN_SPEED;
             temp = temp << 24;
@@ -398,7 +398,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
          break;
     case MOTOR_CONFIG_STEP_MODE:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_microstep)
+        if(MotorsCfg[_motorId].microstep!=0)
         {
             for (i = 0; i < 8; i++)
             {
@@ -419,7 +419,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_CONFIG:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_configword)
+        if(MotorsCfg[_motorId].configword!=0)
         {
             temp = x_SET_PARAM | x_CONFIG;
             temp = temp << 24;
@@ -429,7 +429,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_KVAL_HOLD:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_kvalhold)
+        if(MotorsCfg[_motorId].kvalhold!=0)
         {
             temp = x_SET_PARAM | x_KVAL_HOLD;
         temp = temp << 24;
@@ -439,7 +439,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_KVAL_RUN:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_kvalrun)
+        if(MotorsCfg[_motorId].kvalrun!=0)
         {
             temp = x_SET_PARAM | x_KVAL_RUN;
         temp = temp << 24;
@@ -449,7 +449,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_KVAL_ACC:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_kvalacc)
+        if(MotorsCfg[_motorId].kvalacc!=0)
         {
             temp = x_SET_PARAM | x_KVAL_ACC;
         temp = temp << 24;
@@ -459,7 +459,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_KVAL_DEC:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_kvalacc)// dec is always the same as acc
+        if(MotorsCfg[_motorId].kvalacc!=0)// dec is always the same as acc
         {
             temp = x_SET_PARAM | x_KVAL_DEC;
         temp = temp << 24;
@@ -469,7 +469,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_ST_SLP:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_stslp)
+        if(MotorsCfg[_motorId].stslp!=0)
         {
             temp = x_SET_PARAM | x_ST_SLP;
         temp = temp << 24;
@@ -479,7 +479,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_INT_SPD:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_intspd)
+        if(MotorsCfg[_motorId].intspd!=0)
         {
             temp = x_SET_PARAM | x_INT_SPD;
         temp = temp << 24;
@@ -489,7 +489,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_FN_SLP_ACC:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_fnslpacc)
+        if(MotorsCfg[_motorId].fnslpacc!=0)
         {
             temp = x_SET_PARAM | x_FN_SLP_ACC;
         temp = temp << 24;
@@ -499,7 +499,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_FN_SLP_DEC:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_fnslpdec)
+        if(MotorsCfg[_motorId].fnslpdec!=0)
         {
             temp = x_SET_PARAM | x_FN_SLP_DEC;
             temp = temp << 24;
@@ -509,7 +509,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_OCD_TH:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_overcurrentthreshold)
+        if(MotorsCfg[_motorId].overcurrentthreshold!=0)
         {
             temp = x_SET_PARAM | x_OCD_TH;
         temp = temp << 24;
@@ -519,7 +519,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_STALL_TH:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_stallthreshold)
+        if(MotorsCfg[_motorId].stallthreshold!=0)
         {
             temp = x_SET_PARAM | x_STALL_TH;
             temp = temp << 24;
@@ -529,7 +529,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_K_THERM:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_thermalcompensationfactor)
+        if(MotorsCfg[_motorId].thermalcompensationfactor!=0)
         {
             temp = x_SET_PARAM | x_K_THERM;
             temp = temp << 24;
@@ -539,7 +539,7 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_FS_SPD:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_fsspd)//temporary using kvaldec for x_FS_SPD
+        if(MotorsCfg[_motorId].fsspd!=0)//temporary using kvaldec for x_FS_SPD
         {
             temp = x_SET_PARAM | x_FS_SPD;
             temp = temp << 24;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.c
index a39a6b991..cd0b09b93 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/Moters_Driver/L6470.c
@@ -455,8 +455,6 @@ unsigned long ParamHandler(byte param, unsigned long value)
         //  NOT provide direction information.
     case x_SPEED:
         ret_val = Param(0, 32);
-//        writeLine("ParamHandler: ");
-//        writeFloat(ret_val);
         break;
         // ACC and DEC set the acceleration and deceleration rates. Set ACC to 0xFFF
         //  to get infinite acceleration/decelaeration- there is no way to get infinite
diff --git a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c
index a0aedfd3e..944abb737 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c
@@ -32,7 +32,7 @@
 #include "driverlib/udma.h"
 #include "utils/uartstdio.h"
 #include "third_party/fatfs/src/ff.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 #include "include.h"
 #include <drivers/Flash_Memory/Flash_Memory.h>
 #include <DataDef.h>
@@ -492,9 +492,6 @@ int Init_Ext_Flash()//for the main board
                                            SYSCTL_USE_PLL |
                                            SYSCTL_CFG_VCO_480), 120000000);
 
-    // Display the setup on the console.
-    writeLine("SSI3 To DK-TM4C129 FLASH TRANSFER");
-
     // The SSI3 peripheral must be enabled for use.
     SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI3);
 
@@ -607,26 +604,16 @@ int Read_Ext_Flash_Device_ID()
     ui32DeviceID = SSILibSendReadIDAdvMode(SSI3_BASE);
     if(ui32DeviceID != 0xC219)
     {
-        writeLine("No External Flash... Read Back:");
-        writeFloat(ui32DeviceID);
         while(1);
     }
 
-    writeLine("External Flash Detected with Device ID:");
-    writeFloat(ui32DeviceID);
-
     return 0;
 }
 
 int Erase_Sector_before_writting_To_Ext_Flash(uint32_t ui32Address)
 {
-    writeLine("Starting Erase Operations...");
-
-
     SSILibSendEraseCommand(SSI3_BASE,ui32Address,INS_SECTOR_ERASE_4KB);
 
-    writeLine("Erase Completed...");
-
     return 0;
 }
 
@@ -635,8 +622,6 @@ int Write_Words_To_Ext_Flash(uint32_t ui32Address, uint32_t NumOfWords, uint32_t
 
     uint32_t ui32Index;
 
-    writeLine("Starting Write Operations...");
-
     SSILibSendPageProgram(SSI3_BASE,ui32Address,INS_PAGE_PROGRAM);
 
     for(ui32Index=0;ui32Index<NumOfWords-1;ui32Index++)
@@ -646,8 +631,6 @@ int Write_Words_To_Ext_Flash(uint32_t ui32Address, uint32_t NumOfWords, uint32_t
 
     SSIAdvDataPutFrameEnd(SSI3_BASE,TxBuf[NumOfWords-1]);
 
-    writeLine("Write Completed...");
-
     return 0;
 }
 
@@ -656,8 +639,6 @@ int Read_Words_From_Ext_Flash(uint32_t ui32Address, uint32_t NumOfWords, uint32_
 
     uint32_t ui32Index;
 
-    writeLine("Starting Read Operations...");
-
     SSILibSendReadDataAdvBi(SSI3_BASE,ui32Address,INS_READ_DATA);
 
     for(ui32Index=0;ui32Index<NumOfWords-1;ui32Index++)
@@ -668,14 +649,13 @@ int Read_Words_From_Ext_Flash(uint32_t ui32Address, uint32_t NumOfWords, uint32_
     SSIAdvDataPutFrameEnd(SSI3_BASE,DUMMY_BYTE);
     SSIDataGet(SSI3_BASE,&RxBuf[NumOfWords-1]);
 
-    writeLine("Read Completed...");
-
     return 0;
 }
 
 int Display_RX_TX_Ext_Flash_Data(uint32_t NumOfWords, uint32_t* TxBuf, uint32_t* RxBuf)
 {
     uint32_t ui32Index;
+#ifdef SPI_EVA_LCD_ENABLED
 
     for(ui32Index=0;ui32Index<NumOfWords;ui32Index++)
     {
@@ -694,7 +674,7 @@ int Display_RX_TX_Ext_Flash_Data(uint32_t NumOfWords, uint32_t* TxBuf, uint32_t*
             writeFloat(RxBuf[ui32Index]);
         }
     }
-
+#endif
     return 0;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
index bb31e502c..2b132955a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
@@ -20,7 +20,7 @@
 
 #include <drivers/FPGA/FPGA_Comm.h>
 #include <DataDef.h>
-#include "Drivers/Peripheral_GPIO/GPIO.h"
+
 #include <Modules/Stubs_Handler/User_Leds.h>
 #include "PMR/Hardware/HardwarePIDControl.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index ee717ef24..5c0729f69 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -47,42 +47,36 @@
 //  double hightimeoutusec;
 //}MotorDriverConfigStruc;
 
-/*typedef struct
+typedef struct
 {
-  uint32_t ACC; //set
-  uint32_t DEC;  //set
-  uint32_t MaxSpeed; //set
-  bool HasMicroStep;
-  uint32_t Microstep; //set
-  bool HasConfigWord;
-  uint16_t ConfigWord; //set
-  bool has_kvalhold;
+  HardwareMotorType hardwaremotortype;
+  int32_t minfrequency;
+  int32_t maxfrequency;
+  int32_t setmicrostep;
+  int32_t microstep;
+  double maxchangeslope;
+  double highlengthmicrosecond;
+  bool speedmaster;
+  int32_t pulseperround;
+  double pulleyradius;
+  int32_t configword;
+  bool directionthreadwize;
   int32_t kvalhold;
-  bool has_kvalrun;
   int32_t kvalrun;
-  bool has_kvalacc;
   int32_t kvalacc;
-  bool has_kvaldec;
   int32_t kvaldec;
-  bool has_overcurrentthreshold;
   int32_t overcurrentthreshold;
-  bool has_stallthreshold;
   int32_t stallthreshold;
-  bool has_thermalcompensationfactor;
   int32_t thermalcompensationfactor;
-  bool has_lowspeedoptimization;
   bool lowspeedoptimization;
-  bool has_stslp;
   int32_t stslp;
-  bool has_intspd;
   int32_t intspd;
-  bool has_fnslpacc;
   int32_t fnslpacc;
-  bool has_fnslpdec;
   int32_t fnslpdec;
+  int32_t fsspd;
 }MotorDriverConfigStruc;
-*/
-#define MotorDriverConfigStruc HardwareMotor
+
+//#define MotorDriverConfigStruc HardwareMotor
 typedef struct
 {
   bool Direction;
@@ -107,7 +101,7 @@ extern MotorDriverRequestStruct MotorDriverRequest[NUM_OF_MOTORS];
 
 extern MotorDriverResponseStruct MotorDriverResponse[NUM_OF_MOTORS];
 
-extern HardwareMotor  MotorsCfg[NUM_OF_MOTORS];
+extern MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS];
 
 //initialize general motors driver database
 uint32_t MotorsInit(void);
diff --git a/Software/Embedded_SW/Embedded/Drivers/Peripheral_GPIO/GPIO.c b/Software/Embedded_SW/Embedded/Drivers/Peripheral_GPIO/GPIO.c
deleted file mode 100644
index 6bc348701..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/Peripheral_GPIO/GPIO.c
+++ /dev/null
@@ -1,133 +0,0 @@
-
-#include <stdbool.h>
-#include <ti/sysbios/BIOS.h>
-#include <driverlib/rom.h>
-#include <inc/hw_memmap.h>
-#include "Drivers/Peripheral_GPIO/GPIO.h"
-
-//#define MAX_NUM_OF_REGISTRED_CALLBACKS 9 // screw,6 dispensers , 2 sw - start manual/stop manual
-#define MAX_NUM_OF_REGISTRED_CALLBACKS 7 // screw,6 dispensers , 2 sw - start manual/stop manual
-
-typedef struct
-{
-	uint32_t m_port;
-	uint32_t m_pin;
-} GPIOIntPortMap;
-
-static GPIOIntPortMap portMap[NUM_OF_GPIO_INT] =
-{
-#ifdef EVALUATION_BOARD
-	{GPIO_PORTG_BASE, GPIO_INT_PIN_0},	// Dispenser LSW 1
-	{GPIO_PORTG_BASE, GPIO_INT_PIN_1},	// Dispenser LSW 2
-	{GPIO_PORTP_BASE, GPIO_INT_PIN_4},	// Dispenser LSW 3
-	{GPIO_PORTP_BASE, GPIO_INT_PIN_5},	// Dispenser LSW 4
-	{GPIO_PORTQ_BASE, GPIO_INT_PIN_7},	// Dispenser LSW 5
-	{GPIO_PORTS_BASE, GPIO_INT_PIN_0},	// Dispenser LSW 6
-	{GPIO_PORTS_BASE, GPIO_INT_PIN_3},	// Screw LSW
-	{GPIO_PORTD_BASE, GPIO_INT_PIN_1},	// Start Manual Btn
-	{GPIO_PORTJ_BASE, GPIO_INT_PIN_3}, 	// End Manual Btn
-	{GPIO_PORTE_BASE, GPIO_INT_PIN_4}, 	//
-	{GPIO_PORTH_BASE, GPIO_INT_PIN_5}, 	//
-	{GPIO_PORTP_BASE, GPIO_INT_PIN_0}, 	//
-	{GPIO_PORTQ_BASE, GPIO_INT_PIN_5}, 	//
-#endif
-};
-
-typedef struct
-{
-	bool 			m_isEnabled;
-	GPIOInt_t		m_param;
-	GPIOIntCallback m_callback;
-}PortConfig_t;
-
-static PortConfig_t gpio_configuration[MAX_NUM_OF_REGISTRED_CALLBACKS];
-
-bool PollGPIO (uint8_t index)
-{
-    unsigned long ulStatus = ROM_GPIOPinRead(portMap[index].m_port, portMap[index].m_pin);
-    if ( ulStatus)
-    {
-        return true;
-    }
- return false;
-}
-//********************************************************************************************************************
-//genneral interrupt handler for all GPIO's
-//********************************************************************************************************************
-void IntGPIO(UArg arg0)
-{
-	uint32_t port = (uint32_t)arg0;
-    unsigned long ulStatus = ROM_GPIOIntStatus(port, true);
-
-
-    uint8_t index;
-    for (index = 0; index < MAX_NUM_OF_REGISTRED_CALLBACKS; ++index)
-    {
-    	GPIOInt_t gpioInt = gpio_configuration[index].m_param;
-    	if (gpio_configuration[index].m_isEnabled && (portMap[gpioInt].m_port == port) && (portMap[gpioInt].m_pin & ulStatus))
-    	{
-    		gpio_configuration[index].m_callback(gpio_configuration[index].m_param);
-    	}
-    }
-    //
-    // Clear all the pin interrupts that are set
-    //
-    ROM_GPIOIntClear(port, ulStatus);
-}
-
-//********************************************************************************************************************
-void GPIOInit(void)
-{
-	uint8_t index;
-	for (index = 0; index < MAX_NUM_OF_REGISTRED_CALLBACKS; ++index)
-	{
-		gpio_configuration[index].m_isEnabled = false;
-	}
-}
-
-//********************************************************************************************************************
-void GPIOEnableInterrupt(GPIOInt_t gpioInt, GPIOIntCallback callBack, uint32_t type)
-{
-	uint8_t index;
-	for (index = 0; index < MAX_NUM_OF_REGISTRED_CALLBACKS; ++index)
-	{
-		if (!gpio_configuration[index].m_isEnabled)
-		{
-			gpio_configuration[index].m_isEnabled = true;
-			gpio_configuration[index].m_param = gpioInt;
-			gpio_configuration[index].m_callback = callBack;
-			ROM_GPIOIntTypeSet(portMap[gpioInt].m_port,portMap[gpioInt].m_pin, type);
-			ROM_GPIOIntClear(portMap[gpioInt].m_port,portMap[gpioInt].m_pin);
-			ROM_GPIOIntEnable(portMap[gpioInt].m_port,portMap[gpioInt].m_pin);
-			return;
-		}
-		else
-		{
-			if ((gpio_configuration[index].m_param == gpioInt) &&
-			    (gpio_configuration[index].m_callback == callBack))
-			{
-				return;
-			}
-		}
-	}
-}
-
-//********************************************************************************************************************
-
-void GPIODisableInterrupt(GPIOInt_t gpioInt,GPIOIntCallback callBack)
-{
-	uint8_t index;
-	for (index = 0; index < MAX_NUM_OF_REGISTRED_CALLBACKS; ++index)
-	{
-		if (gpio_configuration[index].m_isEnabled &&
-		   (gpio_configuration[index].m_param == gpioInt) &&
-		   (gpio_configuration[index].m_callback == callBack))
-		{
-			ROM_GPIOIntDisable(portMap[gpioInt].m_port,portMap[gpioInt].m_pin);
-			ROM_GPIOIntClear(portMap[gpioInt].m_port,portMap[gpioInt].m_pin);
-			gpio_configuration[index].m_isEnabled = false;
-			return;
-		}
-	}
-}
-
diff --git a/Software/Embedded_SW/Embedded/Drivers/Peripheral_GPIO/GPIO.h b/Software/Embedded_SW/Embedded/Drivers/Peripheral_GPIO/GPIO.h
deleted file mode 100644
index 66e99375d..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/Peripheral_GPIO/GPIO.h
+++ /dev/null
@@ -1,199 +0,0 @@
-
-#ifndef DRIVERS_GPIO_H_
-#define DRIVERS_GPIO_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <driverlib/gpio.h>
-
-typedef enum
-{
-    GPI001_LS_DH_CLEAN_DOWN,
-    GPI002_LS_DH_CLEAN_LEFT,
-    GPI003_LS_DH_CLEAN_RIGHT,
-    GPI004_LS_DH_CLEAN_UP,
-    GPI005_LS_DH_LID_CLEANING,
-    GPI006_LS_DH_LID_CLOSED,
-    GPI007_LS_DH_LID_OPEN,
-    GPI008_LS_DH_SPARE1,
-    GPI009_LS_DRYER_LID_CLOSED,
-    GPI010_LS_DRYER_LID_OPEN,
-    GPI011_LS_DRYER_SPARE1,
-    GPI012_LS_DRYER_SPARE2,
-    GPI013_LS_DRYER_SPARE3,
-    GPI014_LS_DRYER_SPARE4,
-    GPI015_LS_LOADARM_LEFT,
-    GPI016_LS_LOADARM_RIGHT,
-    GPI017_GPI_PS1_DC_OK,
-    GPI018_GPI_PANSW1,
-    GPI019_GPI_PANSW2,
-    GPI020_GPI_PANSW3,
-    GPI021_GPI_PANSW4,
-    GPI022_GPI_PANSW5,
-    GPI023_GPI_PANSW6,
-    GPI024_GPI_PWRBUTTON,
-    GPI025_GPI_TACTSW1,
-    GPI026_GPI_TACTSW2,
-    GPI027_GPI_TACTSW3,
-    GPI028_GPI_TACTSW4,
-    GPI029_GPI_EXTWINDER_1,
-    GPI030_GPI_EXTWINDER_2,
-    GPI031_GPI_EXTWINDER_3,
-    GPI032_LS_DISPENSER_25_1,
-    GPI033_LS_DISPENSER_25_2,
-    GPI034_LS_DISPENSER_25_3,
-    GPI035_LS_DISPENSER_25_4,
-    GPI036_LS_DISPENSER_25_5,
-    GPI037_LS_DISPENSER_25_6,
-    GPI038_LS_DISPENSER_25_7,
-    GPI039_LS_DISPENSER_25_8,
-    GPI040_LS_DISPENSER_50_1,
-    GPI041_LS_DISPENSER_50_2,
-    GPI042_LS_DISPENSER_50_3,
-    GPI043_LS_DISPENSER_50_4,
-    GPI044_LS_DISPENSER_50_5,
-    GPI045_LS_DISPENSER_50_6,
-    GPI046_LS_DISPENSER_50_7,
-    GPI047_LS_DISPENSER_50_8,
-    GPI048_LS_DISPENSER_75_1,
-    GPI049_LS_DISPENSER_75_2,
-    GPI050_LS_DISPENSER_75_3,
-    GPI051_LS_DISPENSER_75_4,
-    GPI052_LS_DISPENSER_75_5,
-    GPI053_LS_DISPENSER_75_6,
-    GPI054_LS_DISPENSER_75_7,
-    GPI055_LS_DISPENSER_75_8,
-    GPI056_LS_DISPENSER_DOWN_1,
-    GPI057_LS_DISPENSER_DOWN_2,
-    GPI058_LS_DISPENSER_DOWN_3,
-    GPI059_LS_DISPENSER_DOWN_4,
-    GPI060_LS_DISPENSER_DOWN_5,
-    GPI061_LS_DISPENSER_DOWN_6,
-    GPI062_LS_DISPENSER_DOWN_7,
-    GPI063_LS_DISPENSER_DOWN_8,
-    GPI064_LS_DISPENSER_SPARE_1,
-    GPI065_LS_DISPENSER_SPARE_2,
-    GPI066_LS_DISPENSER_SPARE_3,
-    GPI067_LS_DISPENSER_SPARE_4,
-    GPI068_LS_DISPENSER_SPARE_5,
-    GPI069_LS_DISPENSER_SPARE_6,
-    GPI070_LS_DISPENSER_SPARE_7,
-    GPI071_LS_DISPENSER_SPARE_8,
-    GPI072_LS_DISPENSER_UP_1,
-    GPI073_LS_DISPENSER_UP_2,
-    GPI074_LS_DISPENSER_UP_3,
-    GPI075_LS_DISPENSER_UP_4,
-    GPI076_LS_DISPENSER_UP_5,
-    GPI077_LS_DISPENSER_UP_6,
-    GPI078_LS_DISPENSER_UP_7,
-    GPI079_LS_DISPENSER_UP_8,
-    GPI080_MIDTANK1_LVL1_FLOAT,
-    GPI081_MIDTANK1_LVL2_FLOAT,
-    GPI082_MIDTANK1_LVL3_FLOAT,
-    GPI083_MIDTANK1_LVL4_FLOAT,
-    GPI084_MIDTANK2_LVL1_FLOAT,
-    GPI085_MIDTANK2_LVL2_FLOAT,
-    GPI086_MIDTANK2_LVL3_FLOAT,
-    GPI087_MIDTANK2_LVL4_FLOAT,
-    GPI088_MIDTANK3_LVL1_FLOAT,
-    GPI089_MIDTANK3_LVL2_FLOAT,
-    GPI090_MIDTANK3_LVL3_FLOAT,
-    GPI091_MIDTANK3_LVL4_FLOAT,
-    GPI092_MIDTANK4_LVL1_FLOAT,
-    GPI093_MIDTANK4_LVL2_FLOAT,
-    GPI094_MIDTANK4_LVL3_FLOAT,
-    GPI095_MIDTANK4_LVL4_FLOAT,
-    GPI096_MIDTANK5_LVL1_FLOAT,
-    GPI097_MIDTANK5_LVL2_FLOAT,
-    GPI098_MIDTANK5_LVL3_FLOAT,
-    GPI099_MIDTANK5_LVL4_FLOAT,
-    GPI100_MIDTANK6_LVL1_FLOAT,
-    GPI101_MIDTANK6_LVL2_FLOAT,
-    GPI102_MIDTANK6_LVL3_FLOAT,
-    GPI103_MIDTANK6_LVL4_FLOAT,
-    GPI104_MIDTANK7_LVL1_FLOAT,
-    GPI105_MIDTANK7_LVL2_FLOAT,
-    GPI106_MIDTANK7_LVL3_FLOAT,
-    GPI107_MIDTANK7_LVL4_FLOAT,
-    GPI108_MIDTANK8_LVL1_FLOAT,
-    GPI109_MIDTANK8_LVL2_FLOAT,
-    GPI110_MIDTANK8_LVL3_FLOAT,
-    GPI111_MIDTANK8_LVL4_FLOAT,
-    GPI112_LS_SCREW_LEFT,
-    GPI113_LS_SCREW_RIGHT,
-    GPI114_SW_SPARE,
-    GPI115_SW_SPOOL_EXISTS,
-    GPI116_LS_LDANCER1_DOWN,
-    GPI117_LS_LDANCER1_UP,
-    GPI118_LS_LDANCER2_DOWN,
-    GPI119_LS_LDANCER2_UP,
-    GPI120_LS_LLOADMOTOR_DOWN,
-    GPI121_LS_LLOADMOTOR_UP,
-    GPI122_LS_LPIVOT_DOWN,
-    GPI123_LS_LPIVOT_UP,
-    GPI124_LS_LSPARE1,
-    GPI125_LS_LSPARE2,
-    GPI126_LS_PIVOT_SPARE1,
-    GPI127_LS_PIVOT_SPARE2,
-    GPI128_LS_RLOADMOTOR_UP,
-    GPI129_GPI_TFEED_BREAK_1,
-    GPI130_GPI_TFEED_BREAK_2,
-    GPI131_LS_RDANCER_DOWN,
-    GPI132_LS_RDANCER_UP,
-    GPI133_LS_RLOADMOTOR_DOWN,
-    GPI134_LS_RLOADRAM_DOWN, //F1_LS_RDANCER_LONG
-    GPI135_LS_RLOADRAM_UP,
-    GPI136_LS_RSPARE1,
-    GPI137_LS_RSPARE2,
-    GPI138_LS_SPARE1_1,
-    GPI139_LS_SPARE1_2,
-    GPI140_LS_SPARE1_3,
-    GPI141_LS_SPARE1_4,
-    GPI142_LS_SPARE2_1,
-    GPI143_LS_SPARE2_2,
-    GPI144_LS_SPARE2_3,
-    GPI145_LS_SPARE2_4,
-    GPI146_GPI_AIRFLOW_FLAP,
-    GPI147_GPI_BLOWER_TACH,
-    GPI148_GPI_CHILLER_FAULT,
-    GPI149_GPI_CHILLER_STAT1,
-    GPI150_GPI_SW_FILTER_PRES,
-    GPI151_GPI_WCONTAINER_FULL,
-    GPI152_GPI_WCONTAINER_WARN,
-	NUM_OF_GPIO_INT
-}GPIOInt_t;
-
-
-#define STATUS_GREEN_LED_ON     ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_1, GPIO_PIN_1) //Turn ON STATUS Green LED
-#define STATUS_RED_LED_ON       ROM_GPIOPinWrite(GPIO_PORTS_BASE, GPIO_PIN_0, GPIO_PIN_0) //Turn ON STATUS Red   LED
-
-#define ACTIVITY_RED_LED_ON     ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, GPIO_PIN_0) //Turn ON ACTIVITY Red LED
-#define ACTIVITY_GREEN_LED_ON   ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_0, GPIO_PIN_0) //Turn ON ACTIVITY Green LED
-
-#define COMM_RED_LED_ON         ROM_GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_4, GPIO_PIN_4) //Turn ON COMM Red LED
-#define COMM_GREEN_LED_ON         ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_1, GPIO_PIN_1) //Turn ON COMM Green LED
-
-#define STATUS_GREEN_LED_OFF    ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_1, 0) //Turn OFF STATUS Green LED
-#define STATUS_RED_LED_OFF       ROM_GPIOPinWrite(GPIO_PORTS_BASE, GPIO_PIN_0, 0) //Turn OFF STATUS Red   LED
-
-#define ACTIVITY_RED_LED_OFF     ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, 0) //Turn OFF ACTIVITY Red LED
-#define ACTIVITY_GREEN_LED_OFF   ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_0, 0) //Turn OFF ACTIVITY Green LED
-
-#define COMM_RED_LED_OFF        ROM_GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_4, 0) //Turn OFF Red LED LED
-#define COMM_GREEN_LED_OFF        ROM_GPIOPinWrite(GPIO_PORTJ_BASE, GPIO_PIN_1, 0) //Turn OFF COMM Green LED
-
-#define STATUS_GREEN_LED_CHANGE_MODE    ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_1, (ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_1) ^  GPIO_PIN_1));
-#define ACTIVITY_RED_LED_CHANGE_MODE    ROM_GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, (ROM_GPIOPinRead(GPIO_PORTN_BASE, GPIO_PIN_0) ^  GPIO_PIN_0));
-#define COMM_RED_CHANGE_MODE            ROM_GPIOPinWrite(GPIO_PORTP_BASE, GPIO_PIN_4, (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_4) ^  GPIO_PIN_4));
-
-typedef void (*GPIOIntCallback)(GPIOInt_t arg);
-
-void GPIOInit(void);
-
-bool PollGPIO (uint8_t index);
-
-void GPIOEnableInterrupt(GPIOInt_t gpioInt, GPIOIntCallback callBack, uint32_t type);
-
-void GPIODisableInterrupt(GPIOInt_t gpioInt,GPIOIntCallback callBack);
-
-#endif /* DRIVERS_GPIO_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
index 89319786d..80a1d15b2 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SPI/SPI_Comm.c
@@ -335,9 +335,11 @@ void SPI_RX(unsigned int SSI_Bsae, uint32_t* RxBuf, uint32_t NumOfWords)
         //
         SSIDataGet(SSI_Bsae, &pui32DataRx[ui32Index]);
 
+        //#ifdef SPI_EVA_LCD_ENABLED
 //        writeLine("SPI_RX: ");
 //        writeFloat (pui32DataRx[ui32Index]);
 //        writeString("   ");
+        //#endif
 
 
         //
@@ -432,7 +434,7 @@ void setup(MotorDriverConfigStruc *MotorConfig)
             }
         }
 
-        if(MotorConfig->has_microstep)
+        if(MotorConfig->microstep !=0)
         {
             SetParam(x_STEP_MODE,
                 !x_SYNC_EN |
@@ -610,7 +612,7 @@ void setup(MotorDriverConfigStruc *MotorConfig)
     }
 */
 
-    if(MotorConfig->has_configword)
+    if(MotorConfig->configword!=0)
     {
         //while(SSIBusy(SSI2_BASE)){};
         timeout = SSI_SPI_TIMEOUT;
@@ -640,7 +642,7 @@ void setup(MotorDriverConfigStruc *MotorConfig)
                 return ;
             }
         }
-	if(MotorConfig->has_overcurrentthreshold)
+	if(MotorConfig->overcurrentthreshold!=0)
     {
         SetParam(x_OCD_TH, MotorConfig->overcurrentthreshold);
     }
@@ -873,7 +875,6 @@ void loop()
 //    SysCtlDelay(17500000);
 
 //    HardStop();
-   // writeLine("Received: ");
     //while(1)
     {
 
@@ -882,8 +883,6 @@ void loop()
 //        {
 //            Run(FWD,i );
 //            HardStop();
-//            writeLine("Tx ");
-//            writeFloat(i);
 //            SysCtlDelay(5000000);
 //        }
         //i  = 100000;
@@ -926,8 +925,6 @@ void loop()
 
                         //Avi_test_get_speed(); //OK !!!
             Read_Speed = Get_Param(x_SPEED);
-/*            writeLine("Read_Speed: ");
-            writeFloat(Read_Speed);*/
 
             //while(SSIBusy(SSI2_BASE)){};
             timeout = SSI_SPI_TIMEOUT;
@@ -942,9 +939,6 @@ void loop()
                         }
                         //SysCtlDelay(17500000);
                         Read_pos = Get_Param(x_ABS_POS);
-                        //writeLine("Read_pos: ");
-                        //writeFloat(Read_pos);
-                       // while(SSIBusy(SSI2_BASE)){};
                         timeout = SSI_SPI_TIMEOUT;
 
                                     while(SSIBusy(SSI2_BASE))
@@ -957,13 +951,9 @@ void loop()
                                     }
 
 /*                        Read_ELpos = Get_Param(x_EL_POS);
-                        writeLine("Read_EL_pos: ");
-                        writeFloat(Read_ELpos);
                         while(SSIBusy(SSI2_BASE)){};*/
 
 
-            //writeLine("Tx ");
-            //writeFloat(Run_Value);
             Run(Direction,Run_Value );
 
             switch(Stop_Command)
@@ -992,6 +982,7 @@ void loop()
 
             read_status = Get_Param(x_STATUS);
 /*
+#ifdef SPI_EVA_LCD_ENABLED
             switch((read_status & x_STATUS_MOT_STATUS)>>5)
             {
             case 0://Stopped
@@ -1016,23 +1007,18 @@ void loop()
                     writeLine("<<");
                 break;
             }
+#endif
             */
             //read_status = GetStatus();
             //read_status = Get_Param_Status( x_GET_STATUS); // The GetStatus command resets the STATUS register warning flags.
             read_status = Get_and_Clear_Status();
 
-            if((read_status &  x_STATUS_UVLO)==0)
-               //writeLine("Undervoltage");
 
             Get_Param(x_STEP_MODE);
 
             /*
             //speed =  Get_Param(x_SPEED);
             speed =  GetParam(x_SPEED);
-            if(speed & 0xfffff == Run_Value )
-                writeLine(" XXXXXXX ");
-            writeLine(" Speed: ");
-            writeFloat(speed);
             */
             //SysCtlDelay(17500000);
             ///while(SSIBusy(SSI2_BASE)){};
@@ -1060,15 +1046,11 @@ void loop()
 
 
                 Read_Acc = Get_Param(x_ACC);
-                writeLine("x_ACC: ");
-                writeFloat(Read_Acc);
 
 
                // while(SSIBusy(SSI2_BASE)){};
 
                Read_Dec = Get_Param(x_DEC);
-                writeLine("x_ACC: ");
-                writeFloat(Read_Dec);
 
                 while(SSIBusy(SSI2_BASE)){};
 
@@ -1096,30 +1078,20 @@ void loop()
 
 /*
         Read_KvalAcc = Get_Param(x_KVAL_ACC);
-        writeLine("x_KVAL_ACC: ");
-        writeFloat(Read_KvalAcc);
 
         Read_KvalDec = Get_Param(x_KVAL_DEC);
-        writeLine("x_KVAL_DEC: ");
-        writeFloat(Read_KvalDec);
 */
 
  /*      while (1)
        {
            //Run(Direction,Run_Value );
 
-           writeLine("Tx ");
-           writeFloat(Run_Value);
 
            SysCtlDelay(7500000);
            Read_Speed = Get_Param(x_SPEED);
-           writeLine("Speed: ");
-           writeFloat(Read_Speed);
 
            SpeedStepPerSec = MaxSpdCalc(Read_Speed);
 
-           writeLine("Speed (Step Per Sec): ");
-           writeFloat(SpeedStepPerSec);
        }
 */
 
@@ -1138,14 +1110,10 @@ void loop()
          //SetParam(x_MAX_SPEED, MaxSpdCalc(1));  // Change the Speed
         // SetParam(x_MIN_SPEED, MinSpdCalc(300));
 
-         //writeLine("Tx ");
-        // writeFloat(i);
-        // writeLine("Rx ");
         //delay(5);
         //SysCtlDelay(7500000); // need #include "driverlib/sysctl.h"
         //ReadSpeed =  GetParam(x_SPEED);
 
-        //writeFloat(ReadSpeed);
 
 
          //SysCtlDelay(17500000);
@@ -1210,8 +1178,6 @@ byte Transfer_tx(byte data/*, byte data_out*/ )
 
     SPI_RX(SSI2_BASE, &pui32DataRx, NUM_SSI_DATA );
 
-   //writeLine("Transfer_tx: ");
-    //writeFloat(pui32DataRx[0]);
 
     data_out = pui32DataRx[0];
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.ccsproject b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.ccsproject
deleted file mode 100644
index d132942b2..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.ccsproject
+++ /dev/null
@@ -1,13 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<?ccsproject version="1.0"?>
-<projectOptions>
-	<ccsVersion value="7.2.0"/>
-	<deviceVariant value="Cortex M.TM4C129XNCZAD"/>
-	<deviceFamily value="TMS470"/>
-	<deviceEndianness value="little"/>
-	<codegenToolVersion value="16.3.0.STS"/>
-	<isElfFormat value="true"/>
-	<createSlaveProjects value=""/>
-	<templateProperties value="id=com.ti.common.project.core.emptyProjectTemplate,"/>
-	<filesToOpen value=""/>
-</projectOptions>
diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.cproject b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.cproject
deleted file mode 100644
index 670f72289..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.cproject
+++ /dev/null
@@ -1,141 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
-	<storageModule configRelations="2" moduleId="org.eclipse.cdt.core.settings">
-		<cconfiguration id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.570777470">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.570777470" moduleId="org.eclipse.cdt.core.settings" name="Debug">
-				<externalSettings/>
-				<extensions>
-					<extension id="com.ti.ccstudio.binaryparser.CoffParser" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="com.ti.ccstudio.errorparser.CoffErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="com.ti.ccstudio.errorparser.AsmErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="com.ti.ccstudio.errorparser.LinkErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="lib" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="" id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.570777470" name="Debug" parent="com.ti.ccstudio.buildDefinitions.TMS470.Debug">
-					<folderInfo id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.570777470." name="/" resourcePath="">
-						<toolChain id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.libraryDebugToolchain.2032570844" name="TI Build Tools" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.libraryDebugToolchain" targetTool="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.librarianDebug.2089916128">
-							<option id="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS.471837303" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS" valueType="stringList">
-								<listOptionValue builtIn="false" value="DEVICE_CONFIGURATION_ID=Cortex M.TM4C129XNCZAD"/>
-								<listOptionValue builtIn="false" value="DEVICE_ENDIANNESS=little"/>
-								<listOptionValue builtIn="false" value="OUTPUT_FORMAT=ELF"/>
-								<listOptionValue builtIn="false" value="CCS_MBS_VERSION=6.1.3"/>
-								<listOptionValue builtIn="false" value="OUTPUT_TYPE=staticLibrary"/>
-							</option>
-							<option id="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION.14452932" name="Compiler version" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION" value="16.3.0.STS" valueType="string"/>
-							<targetPlatform id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.targetPlatformDebug.2077799957" name="Platform" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.targetPlatformDebug"/>
-							<builder buildPath="${BuildDirectory}" id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.builderDebug.1862617755" keepEnvironmentInBuildfile="false" name="GNU Make" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.builderDebug"/>
-							<tool id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.compilerDebug.965069148" name="ARM Compiler" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.compilerDebug">
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-									<listOptionValue builtIn="false" value="&quot;${PROJECT_ROOT}&quot;"/>
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-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
-		<cconfiguration id="com.ti.ccstudio.buildDefinitions.TMS470.Release.2011248728">
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-				<externalSettings/>
-				<extensions>
-					<extension id="com.ti.ccstudio.binaryparser.CoffParser" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="com.ti.ccstudio.errorparser.CoffErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="com.ti.ccstudio.errorparser.AsmErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="com.ti.ccstudio.errorparser.LinkErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="lib" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="" id="com.ti.ccstudio.buildDefinitions.TMS470.Release.2011248728" name="Release" parent="com.ti.ccstudio.buildDefinitions.TMS470.Release">
-					<folderInfo id="com.ti.ccstudio.buildDefinitions.TMS470.Release.2011248728." name="/" resourcePath="">
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-								<listOptionValue builtIn="false" value="DEVICE_CONFIGURATION_ID=Cortex M.TM4C129XNCZAD"/>
-								<listOptionValue builtIn="false" value="DEVICE_ENDIANNESS=little"/>
-								<listOptionValue builtIn="false" value="OUTPUT_FORMAT=ELF"/>
-								<listOptionValue builtIn="false" value="CCS_MBS_VERSION=6.1.3"/>
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-							<option id="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION.1941138829" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION" value="16.3.0.STS" valueType="string"/>
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-							<builder buildPath="${BuildDirectory}" id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.builderRelease.1944619168" name="GNU Make.Release" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.builderRelease"/>
-							<tool id="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.compilerRelease.494478037" name="ARM Compiler" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.3.library.compilerRelease">
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-									<listOptionValue builtIn="false" value="&quot;${PROJECT_ROOT}&quot;"/>
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-							</tool>
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-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
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-			<content-type-mapping configuration="" content-type="org.eclipse.cdt.core.cHeader" language="com.ti.ccstudio.core.TIGCCLanguage"/>
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diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.project b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.project
deleted file mode 100644
index 8736c1f5b..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.project
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<projectDescription>
-	<name>twine_graphicslib</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
-			<arguments>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-			</arguments>
-		</buildCommand>
-	</buildSpec>
-	<natures>
-		<nature>com.ti.ccstudio.core.ccsNature</nature>
-		<nature>org.eclipse.cdt.core.cnature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
-		<nature>org.eclipse.cdt.core.ccnature</nature>
-		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
-	</natures>
-	<linkedResources>
-		<link>
-			<name>drivers/frame.c</name>
-			<type>1</type>
-			<locationURI>SW_ROOT/examples/boards/dk-tm4c129x/drivers/frame.c</locationURI>
-		</link>
-		<link>
-			<name>drivers/kentec320x240x16_ssd2119.c</name>
-			<type>1</type>
-			<locationURI>SW_ROOT/examples/boards/dk-tm4c129x/drivers/kentec320x240x16_ssd2119.c</locationURI>
-		</link>
-	</linkedResources>
-	<variableList>
-		<variable>
-			<name>SW_ROOT</name>
-			<value>$%7BTI_PRODUCTS_DIR%7D/TivaWare_C_Series-2.1.4.178</value>
-		</variable>
-	</variableList>
-</projectDescription>
diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.cdt.codan.core.prefs b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.cdt.codan.core.prefs
deleted file mode 100644
index f653028c5..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.cdt.codan.core.prefs
+++ /dev/null
@@ -1,3 +0,0 @@
-eclipse.preferences.version=1
-inEditor=false
-onBuild=false
diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.cdt.debug.core.prefs b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.cdt.debug.core.prefs
deleted file mode 100644
index 2adc7b1dd..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.cdt.debug.core.prefs
+++ /dev/null
@@ -1,2 +0,0 @@
-eclipse.preferences.version=1
-org.eclipse.cdt.debug.core.toggleBreakpointModel=com.ti.ccstudio.debug.CCSBreakpointMarker
diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.core.resources.prefs b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.core.resources.prefs
deleted file mode 100644
index 3774f8b3e..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/.settings/org.eclipse.core.resources.prefs
+++ /dev/null
@@ -1,8 +0,0 @@
-eclipse.preferences.version=1
-encoding//Debug/drivers/subdir_rules.mk=UTF-8
-encoding//Debug/drivers/subdir_vars.mk=UTF-8
-encoding//Debug/makefile=UTF-8
-encoding//Debug/objects.mk=UTF-8
-encoding//Debug/sources.mk=UTF-8
-encoding//Debug/subdir_rules.mk=UTF-8
-encoding//Debug/subdir_vars.mk=UTF-8
diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/graphics_adapter.c b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/graphics_adapter.c
deleted file mode 100644
index dde30df95..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/graphics_adapter.c
+++ /dev/null
@@ -1,109 +0,0 @@
-/*
- * graphics_adapter.c
- *
- *  Created on: Sep 24, 2017
- *      Author: Roy
- */
-
-#include <stdbool.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include <string.h>
-#include "graphics_adapter.h"
-#include "grlib/grlib.h"
-//#include "drivers/frame.h"
-//#include "drivers/kentec320x240x16_ssd2119.h"
-
-#define LINE_HEIGHT 12
-#define MAX_POSITION 240
-int current_position = 0;
-char current_line[100];
-
-void init_graphics(uint32_t ui32SysClock)
-{
-#ifdef USE_GRAPHICS
-    // Initialize the display driver.
-    Kentec320x240x16_SSD2119Init(ui32SysClock);
-
-    // Initialize the graphics context.
-    GrContextInit(&g_sContext, &g_sKentec320x240x16_SSD2119);
-
-    clear();
-
-#endif
-}
-
-void draw_image(uint8_t* data)
-{
-#ifdef USE_GRAPHICS
-    GrImageDraw(&g_sContext, data, 0, 0);
-#endif
-}
-
-void draw_string(char* data, size_t length)
-{
-#ifdef USE_GRAPHICS
-    tRectangle backRect;
-                backRect.i16XMin = 100;
-                backRect.i16XMax = 300;
-                backRect.i16YMin = 100;
-                backRect.i16YMax = 80;
-
-                GrContextForegroundSet(&g_sContext, ClrBlack);
-                GrRectFill(&g_sContext, &backRect);
-
-
-    GrStringDraw(&g_sContext, data, length, 0, 0, true);
-#endif
-}
-
-void writeLine(char* text)
-{
-#ifdef USE_GRAPHICS
-    if (current_position >= MAX_POSITION)
-    {
-        clear();
-    }
-
-    strcpy(current_line, text);
-    GrStringDraw(&g_sContext, current_line, strlen(current_line), 0, current_position, true);
-    current_position += LINE_HEIGHT;
-#endif
-}
-
-void writeFloat(float num)
-{
-#ifdef USE_GRAPHICS
-    char num_buf[10];
-    ltoa(num, num_buf);
-    strcat(current_line, num_buf);
-    GrStringDraw(&g_sContext, current_line, strlen(current_line), 0, current_position - LINE_HEIGHT, true);
-#endif
-}
-
-void writeString(char* text)
-{
-#ifdef USE_GRAPHICS
-    strcat(current_line,text);
-    GrStringDraw(&g_sContext, current_line, strlen(current_line), 0, current_position - LINE_HEIGHT, true);
-#endif
-}
-
-void clear()
-{
-#ifdef USE_GRAPHICS
-    tRectangle backRect;
-                backRect.i16XMin = 0;
-                backRect.i16XMax = 340;
-                backRect.i16YMin = 240;
-                backRect.i16YMax = 0;
-
-                GrContextForegroundSet(&g_sContext, ClrBlack);
-                GrRectFill(&g_sContext, &backRect);
-
-                GrContextFontSet(&g_sContext, TEXT_FONT);
-                    GrContextForegroundSet(&g_sContext, ClrWhite);
-
-    current_position = 0;
-#endif
-}
diff --git a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/graphics_adapter.h b/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/graphics_adapter.h
deleted file mode 100644
index 3242f9068..000000000
--- a/Software/Embedded_SW/Embedded/Drivers/twine_graphicslib/graphics_adapter.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * graphics_adapter.h
- *
- *  Created on: Sep 24, 2017
- *      Author: Roy
- */
-
-#include <stdbool.h>
-#include <stdlib.h>
-#include <stdint.h>
-#include "grlib/grlib.h"
-//#include "drivers/frame.h"
-//#include "drivers/kentec320x240x16_ssd2119.h"
-
-//*****************************************************************************
-//
-// Graphics context used to show text on the color STN display.
-//
-//*****************************************************************************
-static tContext g_sContext;
-#define TEXT_FONT               g_psFontCmss12
-#define TEXT_HEIGHT             (GrFontHeightGet(TEXT_FONT))
-#define BUFFER_METER_HEIGHT     TEXT_HEIGHT
-#define BUFFER_METER_WIDTH      150
-
-void init_graphics(uint32_t ui32SysClock);
-void draw_image(uint8_t* data);
-void draw_string(char* data, size_t length);
-void writeLine(char* text);
-void writeFloat(float num);
-void writeString(char* text);
-void clear();
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index c247f2f1b..47710100f 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -17,7 +17,7 @@ var Task = xdc.useModule('ti.sysbios.knl.Task');
 
 BIOS.heapSize = 30767;   // bios heapmem
 //Memory.defaultHeapSize = 48767;
-Program.heap = 16767;  //sysmem
+Program.heap = 30767;  //sysmem
 
 Clock.timerId = 7;
 
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index cb8755a68..18852e3fa 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -19,13 +19,13 @@
 #include "Common/Sys_PinOut_Config/Pin_config.h"
 #include "Common/utilities/idle_task.h"
 #include "Drivers/ADC_Sampling/ADC.h"
-#include "Drivers/Peripheral_GPIO/GPIO.h"
+
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"
 
 #include "Communication/CommunicationTask.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 #include <drivers/Flash_Memory/Flash_Memory.h>
 #include <DataDef.h>
 #include "Sys_PinOut_Config/MCU_MAIN_pinout.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 1d0d3a205..c859bd778 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -38,6 +38,7 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/FPGA/Moters_Driver/L6470.h"
+#include "drivers/Motors/Motor.h"
 #include "drivers/Heater/TemperatureSensor.h"
 
 
@@ -157,9 +158,36 @@ AlarmHandlingItem  AlarmItem[MAX_SYSTEM_ALARMS]={
 {100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6OverTemperature,NULL},
 {100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7OverTemperature,NULL},
 {100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_TH_SD,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8OverTemperature,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDryerUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorFeederUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorScrewUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorWinderUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorPoolerUnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser1UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser2UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser3UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser4UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser5UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser6UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser7UnderVoltage,NULL},
+//{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_UVLO,true,DEBUG_LOG_CATEGORY__Error,0xFF,4,0,false,EVENT_TYPE__MotorDispenser8UnderVoltage,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDryerStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorFeederStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorScrewStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_WINDER,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorWinderStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorPoolerStall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser1Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser2Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser3Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser4Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser5Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser6Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser7Stall,NULL},
+{100,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8,x_STATUS_STEP_LOSS_A,true,DEBUG_LOG_CATEGORY__Error,0xFF,8,0,false,EVENT_TYPE__MotorDispenser8Stall,NULL},
 };
 char TestMessage[5]="Test";
 
+bool EventsNotificationRequestAccepted = false;
 //read dispensers limit switches. 25 - send warning. up - stop job and send alarm
 //Cone missing
 //Dyeing head over temperature
@@ -192,7 +220,7 @@ uint32_t AlarmHandlingConsequentActions(EventType EventId, DebugLogCategory Seve
         if (JobIsActive())
         {
             JobEndReason = JOB_OTHER_ALARM;
-            EndState(NULL,event_type__descriptor.name[EventId]);
+            //EndState(NULL,event_type__descriptor.name[EventId]);
         }
 //Stop Job
         break;
@@ -200,7 +228,7 @@ uint32_t AlarmHandlingConsequentActions(EventType EventId, DebugLogCategory Seve
         if (JobIsActive())
         {
             JobEndReason = JOB_OTHER_ALARM;
-            EndState(NULL,event_type__descriptor.name[EventId]);
+            //EndState(NULL,event_type__descriptor.name[EventId]);
         }
         watchdogCriticalAlarm = true;
         //stop job
@@ -255,9 +283,11 @@ uint32_t AlarmHandlingEmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 uint32_t AlarmHandlingStart(void)
 {
 
+    if (EventsNotificationRequestAccepted == false)
+        return ERROR;
     if ( AlarmHandlingActive == false)
     {
-    //        AlarmHandlingActive = true;  Disabled in running version
+            AlarmHandlingActive = true;
             AlarmHandlingControlId = AddControlCallback(AlarmHandling_ControlTrigger,eTenMillisecond,AlarmHandlingEmptyCBFunction,0,0,0);
     }
     return OK;
@@ -499,8 +529,8 @@ uint32_t StartEventsNotificationRequestFunc(MessageContainer* requestContainer)
 
 //    ReportInitParams InitParams;
     //ControlStart();
-    //EventsNotificationRequestAccepted = true;
-    AlarmHandlingStart();
+    EventsNotificationRequestAccepted = true;
+    //AlarmHandlingStart();
 
     StartEventsNotificationRequest* request = start_events_notification_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     ustrncpy (AlarmHandlingToken, requestContainer->token,36);
@@ -518,7 +548,7 @@ uint32_t StopEventsNotificationRequestFunc(MessageContainer* requestContainer)
 
     AlarmHandlingStop();
 
-    //EventsNotificationRequestAccepted = false;
+    EventsNotificationRequestAccepted = false;
 
     responseContainer = createContainer(MESSAGE_TYPE__StopEventsNotificationResponse,  requestContainer->token, false, &response, &stop_events_notification_response__pack, &stop_events_notification_response__get_packed_size);
     responseContainer.continuous = false;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 6aa8fd7a1..bb7bbaa92 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -51,7 +51,7 @@
 #include <inc/hw_ints.h>
 
 #include "drivers/adc_sampling/adc.h"
-#include "Drivers/Peripheral_GPIO/GPIO.h"
+
 #include "control.h"
 #include "MillisecTask.h"
 /******************** Definitions  ********************************************/
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 222b47b57..bb8da0b2e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -21,24 +21,11 @@
 #include  <PMR/Diagnostics/DispenserAbortHomingRequest.pb-c.h>
 #include  <PMR/Diagnostics/DispenserAbortHomingResponse.pb-c.h>
 
-#include  <PMR/Diagnostics/DispenserJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/DispenserJoggingResponse.pb-c.h>
-#include  <PMR/Diagnostics/DispenserAbortJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/DispenserAbortJoggingResponse.pb-c.h>
-
 #include  <PMR/Diagnostics/MotorHomingRequest.pb-c.h>
 #include  <PMR/Diagnostics/MotorHomingResponse.pb-c.h>
 #include  <PMR/Diagnostics/MotorAbortHomingRequest.pb-c.h>
 #include  <PMR/Diagnostics/MotorAbortHomingResponse.pb-c.h>
 
-#include  <PMR/Diagnostics/MotorJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/MotorJoggingResponse.pb-c.h>
-#include  <PMR/Diagnostics/MotorAbortJoggingRequest.pb-c.h>
-#include  <PMR/Diagnostics/MotorAbortJoggingResponse.pb-c.h>
-
-#include  <PMR/Diagnostics/SetComponentValueRequest.pb-c.h>
-#include  <PMR/Diagnostics/SetComponentValueResponse.pb-c.h>
-
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/Valves/Valve.h"
@@ -287,220 +274,4 @@ uint32_t DispenserAbortHomingRequestFunc(MessageContainer* requestContainer)
 
 return OK;
 }
-/********************************************************************************
- * Motor Jogging
- ********************************************************************************/
-
-uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
-{
-    uint32_t status = OK;
-
-    MessageContainer responseContainer;
-
-    MotorJoggingRequest* request = motor_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    MotorJoggingResponse response = MOTOR_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
-    bool direction;
-    int speed = request->speed;
-    if (speed == 0) speed = 150;
-
-    if (MotorId <= NUM_OF_MOTORS)
-    {
-        if (JobIsActive() == false)
-        {
-            {
-                switch (request->direction)
-                {
-                    case MOTOR_DIRECTION__Forward:
-                        direction = MotorsCfg[MotorId].directionthreadwize;
-                        break;
-                    case MOTOR_DIRECTION__Backward:
-                        direction = 1-MotorsCfg[MotorId].directionthreadwize;
-                        break;
-                }
-                MotorSetDirection(MotorId,direction);
-                MotorSetSpeed(MotorId, speed);
-            }
-        }
-        else
-        {
-            status = ERROR;
-        }
-    }
-    else
-    {
-        status = ERROR;
-    }
-
-    responseContainer = createContainer(MESSAGE_TYPE__MotorJoggingResponse,  requestContainer->token, false, &response, &motor_jogging_response__pack, &motor_jogging_response__get_packed_size);
-    if (status!= OK)
-    {
-        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
-        responseContainer.errormessage = "JOb Active or incorrect parameters";
-    }
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-
-uint32_t MotorAbortJoggingRequestFunc(MessageContainer* requestContainer)
-{
-
-    MessageContainer responseContainer;
-
-    MotorAbortJoggingRequest* request = motor_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    MotorAbortJoggingResponse response = MOTOR_ABORT_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
-
-    MotorStop(MotorId,Hard_Hiz);
-
-    responseContainer = createContainer(MESSAGE_TYPE__MotorAbortJoggingResponse,  requestContainer->token, false, &response, &motor_abort_jogging_response__pack, &motor_abort_jogging_response__get_packed_size);
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-
-/********************************************************************************
- * Dispenser Jogging
- ********************************************************************************/
-
-uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
-{
-    uint32_t status = OK;
-
-    MessageContainer responseContainer;
-
-    DispenserJoggingRequest* request = dispenser_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    DispenserJoggingResponse response = DISPENSER_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
-    int speed = request->speed;
-    if (speed == 0) speed = 150;
-
-    bool direction;
-
-    if (MotorId <= NUM_OF_MOTORS)
-    {
-        if (JobIsActive() == false)
-        {
-            switch (request->direction)
-            {
-                case MOTOR_DIRECTION__Forward:
-                    Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                    direction = MotorsCfg[MotorId].directionthreadwize;
-                    break;
-                case MOTOR_DIRECTION__Backward:
-                    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                    direction = 1-MotorsCfg[MotorId].directionthreadwize;
-                    break;
-            }
-            MotorSetDirection(MotorId,direction);
-            MotorSetSpeed(MotorId, speed);
-        }
-        else
-        {
-            status = ERROR;
-        }
-    }
-    else
-    {
-        status = ERROR;
-    }
-
-    responseContainer = createContainer(MESSAGE_TYPE__DispenserJoggingResponse,  requestContainer->token, false, &response, &dispenser_jogging_response__pack, &dispenser_jogging_response__get_packed_size);
-    if (status!= OK)
-    {
-        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
-        responseContainer.errormessage = "JOb Active or incorrect parameters";
-    }
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer)
-{
-
-    MessageContainer responseContainer;
-
-    DispenserAbortJoggingRequest* request = dispenser_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-    DispenserAbortJoggingResponse response = DISPENSER_ABORT_JOGGING_RESPONSE__INIT;
-
-    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
-    MotorStop(MotorId,Hard_Hiz);
-    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-
-    responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortJoggingResponse,  requestContainer->token, false, &response, &dispenser_abort_jogging_response__pack, &dispenser_abort_jogging_response__get_packed_size);
-    responseContainer.continuous = false;
-    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-
-    return OK;
-}
-
-/********************************************************************************
- *Blower Diagnostic
- ********************************************************************************/
-uint32_t SetComponentValueRequestRequestFunc(MessageContainer* requestContainer)
-{
-    MessageContainer responseContainer;
-    uint8_t* container_buffer;
-    uint32_t status = 0;
-    uint32_t intvoltage;
-    SetComponentValueRequest* request = set_component_value_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-
-
-
-    SetComponentValueResponse response = SET_COMPONENT_VALUE_RESPONSE__INIT;
-
-    responseContainer = createContainer(MESSAGE_TYPE__SetComponentValueResponse, requestContainer->token, true, &response, &set_component_value_response__pack, &set_component_value_response__get_packed_size);
-    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
-
-
-    switch (request->component)
-    {
-        case VALUE_COMPONENT__BlowerVoltage:
-              blowervolatgedisplay = true;
-              voltage = request->value;
-              if (voltage == 0.0)
-                  Turn_the_Blower_Off();
-              else
-              {
-                  Turn_the_Blower_On();
-                  intvoltage = voltage;
-                  Control_Voltage_To_Blower(intvoltage);
-              }
-            break;
-        default:
-            break;
-    }
-
-    size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    free(responseContainer.data.data);
-    SendChars(container_buffer, container_size);
-    //free(container_buffer);
-    //free(requestContainer);
-    set_component_value_request__free_unpacked(request,NULL);
-
-    return OK;
-}
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
new file mode 100644
index 000000000..cf341b9a9
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsJogging.c
@@ -0,0 +1,262 @@
+/*
+ * DiagnosticsJogging.c
+ *
+ *  Created on: 16 aug 2018
+ *      Author: shlomo
+ */
+/*
+ * DiagnosticsHoming.c
+
+ *
+ *  Created on: July 29 2018
+ *      Author: shlomo
+ */
+#include <DataDef.h>
+#include "include.h"
+
+#include <inc/hw_ints.h>
+#include <Container.h>
+
+#include "diagnostics.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/FPGA/FPGA.h"
+
+#include  <PMR/Diagnostics/DispenserJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/DispenserJoggingResponse.pb-c.h>
+#include  <PMR/Diagnostics/DispenserAbortJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/DispenserAbortJoggingResponse.pb-c.h>
+
+#include  <PMR/Diagnostics/MotorJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/MotorJoggingResponse.pb-c.h>
+#include  <PMR/Diagnostics/MotorAbortJoggingRequest.pb-c.h>
+#include  <PMR/Diagnostics/MotorAbortJoggingResponse.pb-c.h>
+
+#include  <PMR/Diagnostics/SetComponentValueRequest.pb-c.h>
+#include  <PMR/Diagnostics/SetComponentValueResponse.pb-c.h>
+
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "drivers/Motors/Motor.h"
+#include "drivers/Valves/Valve.h"
+#include "Drivers/I2C_Communication/DAC/blower.h"
+
+#include "StateMachines/Printing/PrintingSTM.h"
+
+/********************************************************************************
+ * Motor Jogging
+ ********************************************************************************/
+
+uint32_t MotorJoggingRequestFunc(MessageContainer* requestContainer)
+{
+    uint32_t status = OK;
+
+    MessageContainer responseContainer;
+
+    MotorJoggingRequest* request = motor_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    MotorJoggingResponse response = MOTOR_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
+    bool direction;
+    int speed = request->speed;
+    if (speed == 0) speed = 150;
+
+    if (MotorId <= NUM_OF_MOTORS)
+    {
+        if (JobIsActive() == false)
+        {
+            {
+                switch (request->direction)
+                {
+                    case MOTOR_DIRECTION__Forward:
+                        direction = MotorsCfg[MotorId].directionthreadwize;
+                        break;
+                    case MOTOR_DIRECTION__Backward:
+                        direction = 1-MotorsCfg[MotorId].directionthreadwize;
+                        break;
+                }
+                MotorSetDirection(MotorId,direction);
+                MotorSetSpeed(MotorId, speed);
+            }
+        }
+        else
+        {
+            status = ERROR;
+        }
+    }
+    else
+    {
+        status = ERROR;
+    }
+
+    responseContainer = createContainer(MESSAGE_TYPE__MotorJoggingResponse,  requestContainer->token, false, &response, &motor_jogging_response__pack, &motor_jogging_response__get_packed_size);
+    if (status!= OK)
+    {
+        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
+        responseContainer.errormessage = "JOb Active or incorrect parameters";
+    }
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+
+uint32_t MotorAbortJoggingRequestFunc(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    MotorAbortJoggingRequest* request = motor_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    MotorAbortJoggingResponse response = MOTOR_ABORT_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
+
+    MotorStop(MotorId,Hard_Hiz);
+
+    responseContainer = createContainer(MESSAGE_TYPE__MotorAbortJoggingResponse,  requestContainer->token, false, &response, &motor_abort_jogging_response__pack, &motor_abort_jogging_response__get_packed_size);
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+
+/********************************************************************************
+ * Dispenser Jogging
+ ********************************************************************************/
+
+uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
+{
+    uint32_t status = OK;
+
+    MessageContainer responseContainer;
+
+    DispenserJoggingRequest* request = dispenser_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    DispenserJoggingResponse response = DISPENSER_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+    int speed = request->speed;
+    if (speed == 0) speed = 150;
+
+    bool direction;
+
+    if (MotorId <= NUM_OF_MOTORS)
+    {
+        if (JobIsActive() == false)
+        {
+            switch (request->direction)
+            {
+                case MOTOR_DIRECTION__Forward:
+                    Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                    direction = MotorsCfg[MotorId].directionthreadwize;
+                    break;
+                case MOTOR_DIRECTION__Backward:
+                    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+                    direction = 1-MotorsCfg[MotorId].directionthreadwize;
+                    break;
+            }
+            MotorSetDirection(MotorId,direction);
+            MotorSetSpeed(MotorId, speed);
+        }
+        else
+        {
+            status = ERROR;
+        }
+    }
+    else
+    {
+        status = ERROR;
+    }
+
+    responseContainer = createContainer(MESSAGE_TYPE__DispenserJoggingResponse,  requestContainer->token, false, &response, &dispenser_jogging_response__pack, &dispenser_jogging_response__get_packed_size);
+    if (status!= OK)
+    {
+        responseContainer.error = ERROR_CODE__INVALID_PROCESS_ID;
+        responseContainer.errormessage = "JOb Active or incorrect parameters";
+    }
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+uint32_t DispenserAbortJoggingRequestFunc(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    DispenserAbortJoggingRequest* request = dispenser_abort_jogging_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    DispenserAbortJoggingResponse response = DISPENSER_ABORT_JOGGING_RESPONSE__INIT;
+
+    TimerMotors_t MotorId = (request->index)+HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
+    MotorStop(MotorId,Hard_Hiz);
+    Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+
+    responseContainer = createContainer(MESSAGE_TYPE__DispenserAbortJoggingResponse,  requestContainer->token, false, &response, &dispenser_abort_jogging_response__pack, &dispenser_abort_jogging_response__get_packed_size);
+    responseContainer.continuous = false;
+    uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+
+    return OK;
+}
+
+/********************************************************************************
+ *Blower Diagnostic
+ ********************************************************************************/
+uint32_t SetComponentValueRequestRequestFunc(MessageContainer* requestContainer)
+{
+    MessageContainer responseContainer;
+    uint8_t* container_buffer;
+    uint32_t status = 0;
+    uint32_t intvoltage;
+    SetComponentValueRequest* request = set_component_value_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+
+
+    SetComponentValueResponse response = SET_COMPONENT_VALUE_RESPONSE__INIT;
+
+    responseContainer = createContainer(MESSAGE_TYPE__SetComponentValueResponse, requestContainer->token, true, &response, &set_component_value_response__pack, &set_component_value_response__get_packed_size);
+    container_buffer = malloc(message_container__get_packed_size(&responseContainer));
+
+
+    switch (request->component)
+    {
+        case VALUE_COMPONENT__BlowerVoltage:
+              blowervolatgedisplay = true;
+              voltage = request->value;
+              if (voltage == 0.0)
+                  Turn_the_Blower_Off();
+              else
+              {
+                  Turn_the_Blower_On();
+                  intvoltage = voltage;
+                  Control_Voltage_To_Blower(intvoltage);
+              }
+            break;
+        default:
+            break;
+    }
+
+    size_t container_size = message_container__pack(&responseContainer, container_buffer);
+    free(responseContainer.data.data);
+    SendChars(container_buffer, container_size);
+    //free(container_buffer);
+    //free(requestContainer);
+    set_component_value_request__free_unpacked(request,NULL);
+
+    return OK;
+}
+
+
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index e8fe8783d..dc9d89766 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -107,7 +107,7 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     }
 
     ControlStart();
-    //AlarmHandlingStart();
+    AlarmHandlingStart();
     //ThreadInitialTestStub(request);
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
index 6cb67542f..e386df88c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
@@ -7,7 +7,7 @@
 #include "driverlib/gpio.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 void Stub_CalculateRequest(MessageContainer* requestContainer)
 {
@@ -15,10 +15,6 @@ void Stub_CalculateRequest(MessageContainer* requestContainer)
 
     CalculateRequest* request = calculate_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("Calculate Request: ");
-    writeFloat(request->a);
-    writeString(" + ");
-    writeFloat(request->b);
 
     CalculateResponse response = CALCULATE_RESPONSE__INIT;
     response.sum = request->a + request->b;
@@ -26,9 +22,6 @@ void Stub_CalculateRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__CalculateResponse, requestContainer->token, true, &response, &calculate_response__pack, &calculate_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-    writeFloat(response.sum);
-
 //    free(request);
 
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index e38abdab3..919e84582 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -29,8 +29,6 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
         uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
         size_t container_size = message_container__pack(&responseContainer, container_buffer);
         free(responseContainer.data.data);
-        //writeLine("Sending Progress: ");
-        //writeFloat(response.progress);
         SendChars((char*)container_buffer, container_size);
         //free(container_buffer);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index fbfb0ed85..997d67973 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -25,7 +25,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.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 49c7d0d3b..581a27f1f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -12,7 +12,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 
@@ -25,10 +25,6 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 
 	//request->cartridgeid
 
-    writeLine("cartridge Request: ");
-
-    writeFloat(request->cartridgeid);
-
     StubCartridgeReadResponse response =   STUB_CARTRIDGE_READ_RESPONSE__INIT;
 	
 	response.cartridgeid = request->cartridgeid;
@@ -48,18 +44,6 @@ void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
 	
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.cartridgeid);
-    writeString(", ");
-    writeFloat(response.cartridgecolor);
-    writeString(", ");
-    writeFloat(response.cartridgeversion);
-    writeString(", ");
-    writeFloat(response.cartridgedata);
-    writeString(", ");
-    writeFloat(response.cartridgeused);
-    writeString(", ");
 
     Write_status_response(status);
 
@@ -88,17 +72,6 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 	//request->cartridgedata
 	//request->cartridgeused
 
-    writeLine("Cartridge Request: ");
-
-    writeFloat(request->cartridgeid);
-    writeString(", ");
-    writeFloat(request->cartridgecolor);
-    writeString(", ");
-    writeFloat(request->cartridgeversion);
-    writeString(", ");
-    writeFloat(request->cartridgedata);
-    writeString(", ");
-    writeFloat(request->cartridgeused);
 	
     StubCartridgeWriteResponse response =   STUB_CARTRIDGE_WRITE_RESPONSE__INIT;
 	
@@ -111,12 +84,6 @@ void Stub_CartridgeWriteRequest(MessageContainer* requestContainer)
 //    response.has_statusword = true;
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.cartridgeid);
-    writeString(", ");
-//    writeFloat(response.statusword);
-//    WRITELINESTATUS;
     Write_status_response(status);
 
     responseContainer = createContainer(MESSAGE_TYPE__StubCartridgeWriteResponse, requestContainer->token, true, &response, &stub_cartridge_write_response__pack, &stub_cartridge_write_response__get_packed_size);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
index 499f227a9..b7f6a387f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dancer.c
@@ -22,7 +22,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.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 2d121faa7..0bcc9f7c9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -10,7 +10,7 @@
 #include "Drivers/USB_Communication/USBCDCD.h"
 #include "drivers/adc_sampling/adc.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 #include <math.h>
@@ -40,17 +40,6 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
 	//request->setmicrostepdivision
 	//request->setspeed
 
-    writeLine("Dispenser Request: ");
-
-    writeFloat(request->dispenserid);
-    writeString(", ");
-    writeFloat(request->start);
-    writeString(", ");
-    writeFloat(request->setdirection);
-    writeString(", ");
-    writeFloat(request->setmicrostepdivision);
-    writeString(", ");
-    writeFloat(request->setspeed);
 
     StubDispenserResponse response =   STUB_DISPENSER_RESPONSE__INIT;
 
@@ -68,14 +57,6 @@ void Stub_DispenserRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.dispenserid);
-    writeString(", ");
-    writeFloat(response.dispenserposition);
-    writeString(", ");
-    writeFloat(response.inkworninglevel);
-    writeString(", ");
 
     Write_status_response(status);
 
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 d75ce8663..f478e9428 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
@@ -23,7 +23,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 
@@ -48,16 +48,6 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
     WriteBuf[3] = request->wordtowrite4;
     WriteBuf[4] = request->wordtowrite5;
     
-    writeLine("ExtFlash Request: ");
-    writeFloat(request->wordtowrite1);
-    writeString(", ");
-    writeFloat(request->wordtowrite2);
-    writeString(", ");
-    writeFloat(request->wordtowrite3);
-    writeString(", ");
-    writeFloat(request->wordtowrite4);
-    writeString(", ");
-    writeFloat(request->wordtowrite5);
 
     Ext_Flash_Operation(0X00,TX, Max_words, WriteBuf, NULL );
 
@@ -67,7 +57,6 @@ void Stub_ExtFlashWriteRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashWriteResponse, requestContainer->token, true, &response, &stub_ext_flash_write_response__pack, &stub_ext_flash_write_response__get_packed_size);
 
-    writeLine("Sending Response: ");
 
     Write_status_response(status);
 
@@ -105,9 +94,6 @@ void Stub_ExtFlashReadRequest(MessageContainer* requestContainer)
 
     Ext_Flash_Operation(0X00,RX, No_Words, NULL, ReadBuf );
 
-    writeLine("ExtFlash Request: ");
-    writeFloat(request->number_of_words);
-    
 
     StubExtFlashReadResponse response =   STUB_EXT_FLASH_READ_RESPONSE__INIT;
 
@@ -143,20 +129,6 @@ void Stub_ExtFlashReadRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashReadResponse, requestContainer->token, true, &response, &stub_ext_flash_read_response__pack, &stub_ext_flash_read_response__get_packed_size);
     //clear();
-    writeLine("Sending Response: ");
-
-    Write_status_response(status);
-    writeString(", ");
-    writeFloat(response.readword_1);
-    writeString(", ");
-    writeFloat(response.readword_2);
-    writeString(", ");
-    writeFloat(response.readword_3);
-    writeString(", ");
-    writeFloat(response.readword_4);
-    writeString(", ");
-    writeFloat(response.readword_5);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
@@ -337,9 +309,6 @@ void Stub_ExtFlashWriteWordsRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubExtFlashWriteWordsResponse, requestContainer->token, true, &response, &stub_ext_flash_write_words_response__pack, &stub_ext_flash_write_words_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    Write_status_response(status);
 
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
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 bd8f38db5..2fd85db09 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
@@ -16,7 +16,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
index eef70ee37..7fad9ffce 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
@@ -13,7 +13,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
@@ -30,11 +30,6 @@ void Stub_FPGAReadBackRegRequest(MessageContainer* requestContainer)
 
     StubFPGAReadBackRegRequest* request = stub_fpgaread_back_reg_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
-    writeFloat(request->fpgaid);
-    writeString(", ");
-    writeFloat(request->value);
 
     status = FPGA_Test_ReadBack((unsigned char) request->fpgaid, (unsigned short) request->value, &ReadBack_Value);
 
@@ -49,14 +44,6 @@ void Stub_FPGAReadBackRegRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubFPGAReadBackRegResponse, requestContainer->token, true, &response, &stub_fpgaread_back_reg_response__pack, &stub_fpgaread_back_reg_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.fpgaid);
-    writeString(", ");
-    writeFloat(response.readbackvalue);
-    writeString(", ");
-
-    Write_status_response(status);
 
     //free(request);
     stub_fpgaread_back_reg_request__free_unpacked(request,NULL);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
index bf287325b..935b3d476 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
@@ -13,7 +13,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
@@ -32,9 +32,6 @@ void Stub_FPGAReadVersionRequest(MessageContainer* requestContainer)
 
     StubFPGAReadVersionRequest* request = stub_fpgaread_version_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
-    writeFloat(request->fpgaid);
 
     status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
 
@@ -55,21 +52,6 @@ void Stub_FPGAReadVersionRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubFPGAReadVersionResponse, requestContainer->token, true, &response, &stub_fpgaread_version_response__pack, &stub_fpgaread_version_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.fpgaid);
-    writeString(", ");
-    writeFloat(response.day);
-    writeString(", ");
-    writeFloat(response.month);
-    writeString(", ");
-    writeFloat(response.year);
-    writeString(", ");
-    writeFloat(response.ver_num);
-    writeString(", ");
-
-    Write_status_response(status);
-
     //free(request);
     stub_fpgaread_version_request__free_unpacked(request,NULL);
     //-------------------------------------------------------------------------------------------
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 ed3fd6512..a05c04f6e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
@@ -25,8 +25,6 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include <Modules/Stubs_Handler/User_Leds.h>
 
 #include "Stub_Status.h"
@@ -38,14 +36,6 @@ void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer)
 
     StubGPIOWriteBitRequest* request =  stub_gpiowrite_bit_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->pinid);
-    writeString(", ");
-    writeFloat(request->bittowrite);
-
 
               uint8_t PinId = 0;
               uint32_t PortId = 0;
@@ -169,8 +159,7 @@ void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer)
                       break;
 
                   default:
-                      writeLine("Unsupported Port ID: ");
-                      writeString(request->portid);
+                      LOG_ERROR (request->portid," Unsupported Port ID ");
                       break;
               }
 
@@ -205,16 +194,6 @@ void Stub_GPIOWriteBitRequest(MessageContainer* requestContainer)
 
 			  status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-			  writeLine("Sending Response: ");
-
-			  writeString(response.portid);
-			  writeString(", ");
-			  writeFloat(response.pinid);
-			  writeString(", ");
-
-			  Write_status_response(status);
-
-
               responseContainer = createContainer(MESSAGE_TYPE__StubGPIOWriteBitResponse, requestContainer->token, true, &response, &stub_gpiowrite_bit_response__pack, &stub_gpiowrite_bit_response__get_packed_size);
 
               //-------------------------------------------------------------------------------------------
@@ -237,10 +216,6 @@ void Stub_GPIOReadByteRequest(MessageContainer* requestContainer)
 
     StubGPIOReadByteRequest* request =  stub_gpioread_byte_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-
     char Port = request->portid[0];
     uint32_t PortId = 0;
 
@@ -332,8 +307,7 @@ void Stub_GPIOReadByteRequest(MessageContainer* requestContainer)
             break;
 
         default:
-            writeLine("Unsupported Port ID: ");
-            writeString(request->portid);
+            LOG_ERROR (request->portid," Unsupported Port ID ");
             break;
     }
 
@@ -347,15 +321,6 @@ void Stub_GPIOReadByteRequest(MessageContainer* requestContainer)
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeString(response.portid);
-    writeString(", ");
-    writeFloat(response.bytevalue);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadByteResponse, requestContainer->token, true, &response, &stub_gpioread_byte_response__pack, &stub_gpioread_byte_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -376,12 +341,6 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
 
     StubGPIOReadBitRequest* request = stub_gpioread_bit_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->pinid);
-
     uint8_t PinId = 0;
     uint32_t PortId = 0;
 
@@ -504,8 +463,7 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
             break;
 
         default:
-            writeLine("Unsupported Port ID: ");
-            writeString(request->portid);
+            LOG_ERROR (request->portid," Unsupported Port ID ");
             break;
     }
 
@@ -545,17 +503,6 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
 
         status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-        writeLine("Sending Response: ");
-
-        writeString(response.portid);
-        writeString(", ");
-        writeFloat(response.pinid);
-        writeString(", ");
-        writeFloat(response.bitvalue);
-        writeString(", ");
-
-        Write_status_response(status);
-
         responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadBitResponse, requestContainer->token, true, &response, &stub_gpioread_bit_response__pack, &stub_gpioread_bit_response__get_packed_size);
 
 ///////////////////////////////////////////-----------------------------------------------------------------------------
@@ -592,17 +539,6 @@ void Stub_GPIOReadBitRequest(MessageContainer* requestContainer)
     response.status = OK;
     response.has_status = true;
 
-    writeLine("Sending Response: ");
-
-    writeString(response.portid);
-    writeString(", ");
-    writeFloat(response.pinid);
-    writeString(", ");
-    writeFloat(response.bitvalue);
-    writeString(", ");
-    writeFloat(response.status);
-    WRITELINESTATUS;
-
     responseContainer = createContainer(MESSAGE_TYPE__StubGPIOReadBitResponse, requestContainer->token, true, &response, &stub_gpioread_bit_response__pack, &stub_gpioread_bit_response__get_packed_size);
 */
     //-------------------------------------------------------------------------------------------
@@ -624,12 +560,6 @@ void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer)
 
     StubGPIOWriteByteRequest* request = stub_gpiowrite_byte_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->datatowrite);
-
     uint32_t PortId = 0;
 
     char Port = request->portid[0];
@@ -721,8 +651,7 @@ void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer)
             break;
 
         default:
-            writeLine("Unsupported Port ID: ");
-            writeString(request->portid);
+            LOG_ERROR (request->portid," Unsupported Port ID ");
             break;
     }
 
@@ -742,13 +671,6 @@ void Stub_GPIOWriteByteRequest(MessageContainer* requestContainer)
     }
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeString(response.portid);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubGPIOWriteByteResponse, requestContainer->token, true, &response, &stub_gpiowrite_byte_response__pack, &stub_gpiowrite_byte_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -770,16 +692,6 @@ void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer)
 
     StubGPIOInputSetupRequest* request =  stub_gpioinput_setup_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("GPIO Request: ");
-
-    writeString(request->portid);
-    writeString(", ");
-    writeFloat(request->pinid);
-    writeString(", ");
-    writeFloat(request->setinput);
-    writeString(", ");
-    writeFloat(request->setpullup);
-
 
               uint8_t PinId = 0;
               uint32_t PortId = 0;
@@ -903,8 +815,7 @@ void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer)
                       break;
 
                   default:
-                      writeLine("Unsupported Port ID: ");
-                      writeString(request->portid);
+                      LOG_ERROR (request->portid," Unsupported Port ID ");
                       break;
               }
 
@@ -937,15 +848,6 @@ void Stub_GPIOInputSetupRequest(MessageContainer* requestContainer)
 
               status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-              writeLine("Sending Response: ");
-
-              writeString(response.portid);
-              writeString(", ");
-              writeFloat(response.pinid);
-              writeString(", ");
-
-              Write_status_response(status);
-
               responseContainer = createContainer(MESSAGE_TYPE__StubGPIOInputSetupResponse, requestContainer->token, true, &response, &stub_gpioinput_setup_response__pack, &stub_gpioinput_setup_response__get_packed_size);
 
               //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
index fee7782fc..09244364a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
@@ -13,7 +13,6 @@
 #include "inc/hw_uart.h"
 #include "driverlib/gpio.h"
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.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 317a8c540..47e1bda34 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
@@ -16,7 +16,7 @@
 #include "driverlib/gpio.h"
 
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 #include "Drivers/Heater/Heater.h"
@@ -35,12 +35,6 @@ void Stub_HeaterRequest(MessageContainer* requestContainer)
 	request->heatergroupon
     */
 
-    writeLine("Heater Request: ");
-
-    writeFloat(request->heatergroupid);
-    writeString(", ");
-    writeFloat(request->heatergroupon);
-
     if (request->heatergroupon )
         status = ActivateHeater(request->heatergroupid);
     else
@@ -55,15 +49,6 @@ void Stub_HeaterRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 	
-    writeLine("Sending Response: ");
-
-    writeFloat(response.heatergroupid);
-    writeString(", ");
-    writeFloat(response.heatertemperaturesensor);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubHeaterResponse, requestContainer->token, true, &response, &stub_heater_response__pack, &stub_heater_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
index 9539be0f9..e749b41ec 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_I2C.c
@@ -23,7 +23,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 #include "drivers/I2C_Communication/I2C.h"
@@ -63,11 +63,6 @@ void Stub_I2CRequest(MessageContainer* requestContainer)
 */
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-//
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubI2CResponse, requestContainer->token, true, &response, &stub_i2_cresponse__pack, &stub_i2_cresponse__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -126,11 +121,6 @@ void Stub_I2CWriteBytesRequest(MessageContainer* requestContainer)
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-//
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubI2CWriteBytesResponse, requestContainer->token, true, &response, &stub_i2_cwrite_bytes_response__pack, &stub_i2_cwrite_bytes_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
@@ -184,11 +174,6 @@ void Stub_I2CReadBytesRequest(MessageContainer* requestContainer)
 
     status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-//
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubI2CReadBytesResponse, requestContainer->token, true, &response, &stub_i2_cread_bytes_response__pack, &stub_i2_cread_bytes_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
index 85d7468bc..d9d35f363 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_IntADC.c
@@ -20,8 +20,6 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include "MessageContainer.pb-c.h"
 
 #include "Stub_Status.h"
@@ -38,10 +36,6 @@ void Stub_IntADCReadRequest(MessageContainer* requestContainer)
 
     StubIntADCReadRequest* request = stub_int_adcread_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
-    writeFloat(request->adc_device);
-
     ADCAcquireInit();
     SysCtlDelay(10000);
     ADCAcquireStart(0,1);
@@ -76,17 +70,6 @@ void Stub_IntADCReadRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubIntADCReadResponse, requestContainer->token, true, &response, &stub_int_adcread_response__pack, &stub_int_adcread_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.adc_device);
-    writeString(", ");
-    writeFloat(response.sampling_in_bits);
-    writeString(", ");
-    writeFloat(response.voltage_sampling_mv);
-    writeString(", ");
-
-    Write_status_response(status);
-
     stub_int_adcread_request__free_unpacked(request,NULL);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
index 9381515f1..b85b45a21 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
@@ -12,8 +12,6 @@
 #include "inc/hw_types.h"
 #include "inc/hw_uart.h"
 
-#include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.h"
 
@@ -76,10 +74,6 @@ void Stub_L6470DriverRequest(MessageContainer* requestContainer)
     TestUint32_5 = request->testuint32_5;
     TestUint32_6 = request->testuint32_6;
 
-    writeLine("L6470 Request: ");
-
-    writeFloat(request->run_value);
-
     //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
     SPI_Control(INIT);
 
@@ -104,22 +98,6 @@ void Stub_L6470DriverRequest(MessageContainer* requestContainer)
 */
     responseContainer = createContainer(MESSAGE_TYPE__StubL6470DriverResponse, requestContainer->token, true, &response, &stub_l6470_driver_response__pack, &stub_l6470_driver_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.run_value);
-    /*
-    writeString(", ");
-    writeFloat(response.day);
-    writeString(", ");
-    writeFloat(response.month);
-    writeString(", ");
-    writeFloat(response.year);
-    writeString(", ");
-    writeFloat(response.ver_num);
-    writeString(", ");
-*/
-    Write_status_response(status);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index 47048196b..c0f0954ed 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -30,7 +30,6 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.h"
 
@@ -87,19 +86,14 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
     MotorDriverConfig.maxchangeslope = request->acc;
     MotorDriverConfig.maxchangeslope = request->dec;
     MotorDriverConfig.maxfrequency = request->max_speed;
-    MotorDriverConfig.has_setmicrostep = request->has_micro_steps;
 
-    if ( MotorDriverConfig.has_setmicrostep)
-        MotorDriverConfig.microstep = request->micro_steps;
+    MotorDriverConfig.microstep = request->micro_steps;
 //    else
 //        MotorDriverConfig.Microstep = 2;
     //MotorDriverConfig.HasConfigWord = false;
 
 
-    MotorDriverConfig.has_configword =  request->has_config;
     MotorDriverConfig.configword =  request->config;
-    MotorDriverConfig.has_lowspeedoptimization =  request->has_min_speed_lspd_opt;
-    MotorDriverConfig.lowspeedoptimization =  request->has_min_speed_lspd_opt;
     MotorDriverConfig.kvalhold =  request->kval_hold;
     MotorDriverConfig.kvalrun =   request->kval_run;
     MotorDriverConfig.kvalacc =    request->kval_acc;
@@ -167,15 +161,6 @@ void Stub_MotorInitRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorInitResponse, requestContainer->token, true, &response, &stub_motor_init_response__pack, &stub_motor_init_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-    writeString(", ");
-	writeFloat(response.status);
-  
-    //writeString(", ");
-    //
-    //Write_status_response(status);
 
     //free(request);
     //-------------------------------------------------------------------------------------------
@@ -257,15 +242,6 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorRunResponse, requestContainer->token, true, &response, &stub_motor_run_response__pack, &stub_motor_run_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-  
-    //writeString(", ");
-    //writeFloat(response.day);
-    
-    //Write_status_response(status);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
@@ -299,14 +275,6 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
     MotorStop(Motor_Id, Stop_Command);
 #endif
 	
-
-
-
-
-    //writeLine("L6470 Request: ");
-
-    //writeFloat(request->run_value);
-
     //status = FPGA_ReadVersion((unsigned char)request->fpgaid, &Version, &Year, &Month, &Day);
 
 
@@ -332,14 +300,6 @@ void Stub_MotorStopRequest(MessageContainer* requestContainer)
 #endif
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorStopResponse, requestContainer->token, true, &response, &stub_motor_stop_response__pack, &stub_motor_stop_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-  
-    //writeString(", ");
-    //writeFloat(response.day);
-    
-    //Write_status_response(status);
 
     //free(request);
     //-------------------------------------------------------------------------------------------
@@ -454,10 +414,6 @@ void Stub_MotorStatusRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorStatusResponse, requestContainer->token, true, &response, &stub_motor_status_response__pack, &stub_motor_status_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
- 
 
     //free(request);
     //-------------------------------------------------------------------------------------------
@@ -687,11 +643,6 @@ void Stub_MotorRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubMotorResponse, requestContainer->token, true, &response, &stub_motor_response__pack, &stub_motor_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motor_id);
-
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
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 6e763a825..ad463c38f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
@@ -17,7 +17,6 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Stub_Status.h"
 
@@ -34,12 +33,6 @@ void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer)
 	request->limitswitchrdisable
     */
 
-    writeLine("OptLimit Switch Request: ");
-
-    writeFloat(request->limitswitchrid);
-    writeString(", ");
-    writeFloat(request->limitswitchrdisable);
-              
     StubOptLimitSwitchResponse response =   STUB_OPT_LIMIT_SWITCH_RESPONSE__INIT;
 	
 	response.limitswitchrid = request->limitswitchrid;
@@ -50,15 +43,6 @@ void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.limitswitchrid);
-    writeString(", ");
-    writeFloat(response.limitswitchditection);
-    writeString(", ");
-
-    Write_status_response(status);
-
     responseContainer = createContainer(MESSAGE_TYPE__StubOptLimitSwitchResponse, requestContainer->token, true, &response, &stub_opt_limit_switch_response__pack, &stub_opt_limit_switch_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
index c10afb070..b21e6a9ce 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
@@ -21,7 +21,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
@@ -40,8 +40,6 @@ void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer)
 
     StubReadEmbeddedVersionRequest* request = stub_read_embedded_version_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
-    writeLine("ReadBack Request: ");
-
     StubReadEmbeddedVersionResponse response =   STUB_READ_EMBEDDED_VERSION_RESPONSE__INIT;
 
     GetTangoVersion(&buffer);
@@ -58,9 +56,6 @@ void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer)
     response.verpatch = buffer[2];
     response.verbuild = buffer[3];
 
-    writeLine("Sending Response: ");
-
-
     responseContainer = createContainer(MESSAGE_TYPE__StubReadEmbeddedVersionResponse, requestContainer->token, true, &response, &stub_read_embedded_version_response__pack, &stub_read_embedded_version_response__get_packed_size);
 
     //free(request);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
index a71ce8d98..a433be2ce 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SpeedSensor.c
@@ -22,9 +22,6 @@
 #include "inc/hw_types.h"
 #include "inc/hw_uart.h"
 
-#include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
-
 #include "MessageContainer.pb-c.h"
 
 #include "Stub_Status.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c
index 00299c74c..b657b6274 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Status.c
@@ -1,11 +1,6 @@
 
 #include "include.h"
-/*#include <graphics_adapter.h>
-#include <stdbool.h>
-#include <stdint.h>
-#include "Stub_Status.h"
-#include <Stubs_Handler/DataDef.h>*/
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 int status_response(uint32_t Rstatus,char *status[20],uint32_t *statusword ,protobuf_c_boolean *has_statusword)
 {
@@ -36,23 +31,5 @@ int status_response(uint32_t Rstatus,char *status[20],uint32_t *statusword ,prot
 
 int Write_status_response(uint32_t Rstatus)
 {
-    writeFloat(Rstatus);
-
-    if(Rstatus==PASSED)
-    {
-        writeLine("PASSED");
-    }
-    else if(Rstatus==VERIFIED)
-    {
-        writeLine("PASSED (VERIFIED)");
-    }
-    else if(Rstatus==NOT_SUPPORTED)
-    {
-        writeLine("NOT_SUPPORTED");
-    }
-    else
-    {
-        writeLine("FAILED");
-    }
     return 0;
 }
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 d628e5d4a..dcb61dcde 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
@@ -17,7 +17,7 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "Stub_Status.h"
 
@@ -29,17 +29,6 @@ void Stub_SteperMotorRequest(MessageContainer* requestContainer)
     StubSteperMotorRequest* request = stub_steper_motor_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
 
-	writeLine("Steper Motor Request: ");
-
-    writeFloat(request->motorid);
-    writeString(", ");
-    writeFloat(request->start);
-    writeString(", ");
-    writeFloat(request->setdirection);
-    writeString(", ");
-    writeFloat(request->setmicrostepdivision);
-    writeString(", ");
-    writeFloat(request->setspeed);
     /*
 	request->motorid
 	request->start
@@ -58,16 +47,6 @@ void Stub_SteperMotorRequest(MessageContainer* requestContainer)
 	
 	status_response(status,&response.status, &response.statusword ,&response.has_statusword);
 
-    writeLine("Sending Response: ");
-
-    writeFloat(response.motorid);
-    writeString(", ");
-    writeFloat(response.motorversion);
-    writeString(", ");
-
-    Write_status_response(status);
-
-
     responseContainer = createContainer(MESSAGE_TYPE__StubSteperMotorResponse, requestContainer->token, true, &response, &stub_steper_motor_response__pack, &stub_steper_motor_response__get_packed_size);
 
     //-------------------------------------------------------------------------------------------
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
index cf8f79a02..8c17787fc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TempSensor.c
@@ -21,7 +21,7 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
+
 
 #include "MessageContainer.pb-c.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
index ee4aca19d..35aca3c7d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_TivaReg.c
@@ -22,7 +22,6 @@
 #include "inc/hw_uart.h"
 
 #include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "MessageContainer.pb-c.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 af46e4193..759d76a43 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -17,7 +17,6 @@
 #include "Drivers/USB_Communication/USBCDCD.h"
 #include "drivers/Valves/Valve.h"
 
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 #include "Stub_Status.h"
 
@@ -33,13 +32,6 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
 	request->inkflow
 	request->valveon
     */
-    writeLine("Valve Request: ");
-    writeFloat(request->valveid);
-    writeString(", ");
-    writeFloat(request->inkflow);
-    writeString(", ");
-    writeFloat(request->valveon);
-
     Control3WayValvesWithCallback (request->valveid, request->valveon, NULL);
     //test_valve_3_way(request->valveid, request->valveon);
 
@@ -49,10 +41,6 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
 
     responseContainer = createContainer(MESSAGE_TYPE__StubValveResponse, requestContainer->token, true, &response, &stub_valve_response__pack, &stub_valve_response__get_packed_size);
 
-    writeLine("Sending Response: ");
-
-    Write_status_response(status);
-
     //free(request);
     //-------------------------------------------------------------------------------------------
     uint8_t* container_buffer = malloc(message_container__get_packed_size(&responseContainer));
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c
index 994f6d84f..33db0d045 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/temperature_sensor.c
@@ -76,8 +76,6 @@
 #include "utils/uartstdio.c"
 #include <string.h>
 
-#include "Drivers/USB_Communication/USBCDCD.h"
-#include "drivers/twine_graphicslib/graphics_adapter.h"
 
 //*****************************************************************************
 //
@@ -146,18 +144,12 @@ int temperature_main(){
         //
         // Display the setup on the console.
         //
-        UARTprintf("ADC ->\n");
+        /*UARTprintf("ADC ->\n");
         UARTprintf("  Type: Internal Temperature Sensor\n");
         UARTprintf("  Samples: One\n");
         UARTprintf("  Update Rate: 250ms\n");
         UARTprintf("  Input Pin: Internal temperature sensor\n\n");
-
-        writeLine("ADC ->\n");
-        writeLine("  Type: Internal Temperature Sensor\n");
-        writeLine("  Samples: One\n");
-        writeLine("  Update Rate: 250ms\n");
-        writeLine("  Input Pin: Internal temperature sensor\n\n");
-
+*/
         //
         // The ADC0 peripheral must be enabled for use.
         //
@@ -246,9 +238,6 @@ int temperature_main(){
             UARTprintf("Temperature = %3d*C or %3d*F\r", TempValueC,
                     TempValueF);
 
-            writeLine("Temperature(Celsius): ");
-            writeFloat(TempValueC);
-
             //
             // This function provides a means of generating a constant length
             // delay.  The function delay (in cycles) = 3 * parameter.  Delay
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 2aa0b220a..a725468e9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -13,7 +13,6 @@
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/SSI_Comm/ssi_comm.h"
 
 #include "thread_ex.h"
 
@@ -39,7 +38,7 @@ extern HardwarePidControlType ThreadMotorIdToControlId[MAX_THREAD_MOTORS_NUM];
 extern bool BreakSensorenabled;
 extern int32_t BreakSensordebouncetimemilli;
 
-extern HardwareMotor                MotorsCfg[NUM_OF_MOTORS];
+//extern MotorDriverConfigStruc                MotorsCfg[NUM_OF_MOTORS];
 extern HardwarePidControl           MotorsControl[MAX_THREAD_MOTORS_NUM];
 //extern InternalWinderConfigStruc    InternalWinderCfg;
 extern HardwareDancer               DancersCfg[MAX_SYSTEM_DANCERS];
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index f4242be2b..92fd9549e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -6,7 +6,7 @@
  */
 #include"include.h"
 #include "thread.h"
-#include "Drivers/Peripheral_GPIO/GPIO.h"
+
 #include "drivers/Motors/Motor.h"
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "Modules/Control/Control.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index e4a5b362c..41daa4002 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -12,7 +12,7 @@
 #include "PMR/common/MessageContainer.pb-c.h"
 
 #include "thread.h"
-HardwareMotor  MotorsCfg[NUM_OF_MOTORS]={0};
+MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS]={0};
 HardwarePidControl MotorsControl[MAX_THREAD_MOTORS_NUM] = {0};
 
 int32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES] = {0};
@@ -32,22 +32,32 @@ uint32_t MotorsConfigMessage(HardwareMotor * request)
     uint32_t status = PASSED;
     TimerMotors_t Motor_i;
     Motor_i = request->hardwaremotortype;
-    /*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
-    {
-        if (ThreadMotorIdToControlId[i] == request->hardwarepidcontroltype)
-        {
-            Motor_i = i;
-            break;
-        }
-    }
-    if (Motor_i == 0)
-    {
-        LOG_ERROR(request->hardwarepidcontroltype,"ERROR Control Id");
-        return ERROR;
-    }*/
-    //if (Motor_i< MAX_THREAD_MOTORS_NUM)
-    //{
-        memcpy (&MotorsCfg[Motor_i],request,sizeof(HardwareMotor));
+        MotorsCfg[Motor_i].configword = request->configword;
+        MotorsCfg[Motor_i].hardwaremotortype = request->hardwaremotortype;
+        MotorsCfg[Motor_i].minfrequency = request->minfrequency;
+        MotorsCfg[Motor_i].maxfrequency = request->maxfrequency;
+        MotorsCfg[Motor_i].setmicrostep = request->setmicrostep;
+        MotorsCfg[Motor_i].microstep = request->microstep;
+        MotorsCfg[Motor_i].maxchangeslope = request->maxchangeslope;
+        MotorsCfg[Motor_i].highlengthmicrosecond = request->highlengthmicrosecond;
+        MotorsCfg[Motor_i].speedmaster = request->speedmaster;
+        MotorsCfg[Motor_i].pulseperround = request->pulseperround;
+        MotorsCfg[Motor_i].pulleyradius = request->pulleyradius;
+        MotorsCfg[Motor_i].configword = request->configword;
+        MotorsCfg[Motor_i].directionthreadwize = request->directionthreadwize;
+        MotorsCfg[Motor_i].kvalhold = request->kvalhold;
+        MotorsCfg[Motor_i].kvalrun = request->kvalrun;
+        MotorsCfg[Motor_i].kvalacc = request->kvalacc;
+        MotorsCfg[Motor_i].kvaldec = request->kvaldec;
+        MotorsCfg[Motor_i].overcurrentthreshold = request->overcurrentthreshold;
+        MotorsCfg[Motor_i].stallthreshold = request->stallthreshold;
+        MotorsCfg[Motor_i].thermalcompensationfactor = request->thermalcompensationfactor;
+        MotorsCfg[Motor_i].lowspeedoptimization = request->lowspeedoptimization;
+        MotorsCfg[Motor_i].stslp = request->stslp;
+        MotorsCfg[Motor_i].intspd = request->intspd;
+        MotorsCfg[Motor_i].fnslpacc = request->fnslpacc;
+        MotorsCfg[Motor_i].fnslpdec = request->fnslpdec;
+        MotorsCfg[Motor_i].fsspd = request->fsspd;
 
         status = MotorConfig( Motor_i,  &MotorsCfg[Motor_i]);
 //        if (Motor_i == MOTOR_RDRIVING)
author	Shlomo Hecht <shlomo@twine-s.com>	2018-08-16 13:30:16 +0300
committer	Shlomo Hecht <shlomo@twine-s.com>	2018-08-16 13:30:16 +0300
commit	081feb3a75a5aa9eb30ce9bf6f4f279de30f8335 (patch)
tree	93904958b607e96d6cafeaf7655079fe0f41c255 /Software/Embedded_SW/Embedded
parent	013c584cf6dcf1dd61fa52f5841f500a4bfee459 (diff)
download	Tango-081feb3a75a5aa9eb30ce9bf6f4f279de30f8335.tar.gz Tango-081feb3a75a5aa9eb30ce9bf6f4f279de30f8335.zip