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

18 files changed, 353 insertions, 90 deletions

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index 763ec6609..f81cf0c62 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -163,7 +163,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Drivers/I2C_Communication/I2C_Switch|Drivers/I2C_Communication/Previous_Code|Drivers/I2C_Communication/Previous_Code/TestI2C|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/I2C_Communication/Previous_Code|Drivers/L6470|Pin.c|ADCLogger.c|Drivers/I2C_Communication/Previous_Code/TestI2C|Flashstore.c|Profile.c|Drivers/I2C_Communication/I2C_Switch" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -431,7 +431,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Drivers/I2C_Communication/Previous_Code|Drivers/I2C_Communication/Previous_Code/TestI2C|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/I2C_Communication/Previous_Code|Drivers/L6470|Pin.c|ADCLogger.c|Drivers/I2C_Communication/Previous_Code/TestI2C|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
index cd6643c72..5d22b2d67 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
@@ -10,7 +10,7 @@
 #include <drivers/FPGA/FPGA_Comm.h>
 #include <DataDef.h>
 #include "drivers/FPGA/FPGA_SSI_Comm.h"
-#include "drivers/Danser_SSI/SSI_Comm.h"
+#include "drivers/SSI_Comm/SSI_Comm.h"
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h
index 168fa43a1..0efb9b8a2 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.h
@@ -8,7 +8,7 @@
 #ifndef DRIVERS_FPGA_FPGA_SSI_COMM_H_
 #define DRIVERS_FPGA_FPGA_SSI_COMM_H_
 
-#include "drivers/Danser_SSI/SSI_Comm.h"
+#include "drivers/SSI_Comm/SSI_Comm.h"
 
 typedef struct  // 24bit
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
index 085e09b6d..246090f4b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
@@ -96,7 +96,7 @@ uint32_t Write_NOP()
 
 uint8_t DAC_mV2Bits(VoutmV) // 0-8V
 {
-    //based on the function from acording to the shceme : VOUT=VIN+(VIN-0.2)*(9.76/4.12) - Vin 0-2.5V Vout 0-8V
+    //The function acording to the Orcad shceme : VOUT=VIN+(VIN-0.2)*(9.76/4.12) ( VIN 0-2.5V -> VOUT 0-8V)
     //=> Vin = (Vout + 0.4737)/3.3689
     //Vin is the VAmpin (VDACout)
     uint8_t Bits;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.h
index febaa6a4b..c6b69a697 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.h
@@ -24,7 +24,7 @@ uint32_t Turn_the_Blower_Off();
 
 #define AD5691R_DONT_CARE_DATA_BYTE            0x00
 
-#define Default_Voltage 2800 //3.058V the output voltage is 2.8V
+#define Default_Voltage 4000 //4V
 
 #define DAC_I2C_BASE 2
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
new file mode 100644
index 000000000..514ba7134
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
@@ -0,0 +1,91 @@
+/*
+ * Dancer.c
+ *
+ *  Created on: Aug 5, 2018
+ *      Author: avi
+ */
+
+
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "inc/hw_memmap.h"
+#include "driverlib/gpio.h"
+#include "driverlib/pin_map.h"
+#include "driverlib/ssi.h"
+#include "driverlib/sysctl.h"
+#include "utils/uartstdio.h"
+
+#include <driverlib/rom.h>
+#include <driverlib/rom_map.h>
+#include <DataDef.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
+#include "driverlib/uart.h"
+
+#include "drivers/FPGA/FPGA_SSI_Comm.h"
+#include "PMR/Hardware/HardwareDancerType.pb-c.h"
+
+
+
+extern SSI_DANCER_ENC DANCER_ENC[NUM_OF_ROTENC];
+
+typedef struct  // 24bit
+{
+    unsigned short Position:14;
+    unsigned char Gen_status:2;
+    unsigned char Det_status:8;
+}SSI_ENC;
+
+SSI_ENC SSI_enc;
+
+uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2)
+{
+    return DANCER_ENC[DancerId].Position;
+    //return SSI_enc.Position;
+}
+
+
+uint32_t Read_Dancer_Position (HardwareDancerType DancerId)
+{
+    #ifdef EVALUATION_BOARD
+        uint32_t ENC_SSI_Data = 0;
+
+        SSIEnable(SSI1_BASE);
+
+        ENC_SSI_Data = Write_Dummy_Byte();
+
+
+        //SSI_enc.Det_status = ENC_SSI_Data & 0xFF;
+        //ENC_SSI_Data = ENC_SSI_Data >> 8;
+        SSI_enc.Det_status = 0;
+
+        SSI_enc.Gen_status = ENC_SSI_Data & 0x3;
+        ENC_SSI_Data = ENC_SSI_Data >> 2;
+        SSI_enc.Position =   ENC_SSI_Data & 0x3FFF; // up 11130 down 8747
+
+        SSIDisable(SSI1_BASE);
+        return SSI_enc.Position;
+    #else
+        // must call FPGA_SSI_Transmit first!
+        HardwareDancerType Dancer_Id = (HardwareDancerType)DancerId;//to remove warning
+        FPGA_SSI_Receive(Dancer_Id);
+        FPGA_SSI_Transmit(Dancer_Id);
+        return DANCER_ENC[Dancer_Id].Position;
+    #endif
+}
+
+void Loop_SSI()
+{
+    while(1)
+    {
+        Read_Dancer_Position(HARDWARE_DANCER_TYPE__RightDancer);
+        SysCtlDelay(1000); // Min 1000 (Pause time > 20uSec)
+    }
+
+}
+
+
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
new file mode 100644
index 000000000..8d21de87b
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
@@ -0,0 +1,20 @@
+/*
+ * Dancer.h
+ *
+ *  Created on: Aug 5, 2018
+ *      Author: avi
+ */
+
+#ifndef DRIVERS_SSI_COMM_DANCER_DANCER_H_
+#define DRIVERS_SSI_COMM_DANCER_DANCER_H_
+
+uint32_t Read_Dancer_Position (HardwareDancerType DancerId);
+uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2);
+uint32_t Read_Speed_Sensor (void);
+
+void Loop_SSI();
+
+
+
+
+#endif /* DRIVERS_SSI_COMM_DANCER_DANCER_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.c
index a7b4519eb..7f35ead98 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.c
@@ -46,23 +46,22 @@ up
 #include <driverlib/rom.h>
 #include <driverlib/rom_map.h>
 #include <DataDef.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 #include "driverlib/uart.h"
 
-#include "SSI_Comm.h"
-
 #include "drivers/FPGA/FPGA_SSI_Comm.h"
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 
 
-
-extern SSI_DANCER_ENC DANCER_ENC[NUM_OF_ROTENC];
-
-typedef struct  // 24bit
-{
-    unsigned short Position:14;
-    unsigned char Gen_status:2;
-    unsigned char Det_status:8;
-}SSI_ENC;
+//
+//extern SSI_DANCER_ENC DANCER_ENC[NUM_OF_ROTENC];
+//
+//typedef struct  // 24bit
+//{
+//    unsigned short Position:14;
+//    unsigned char Gen_status:2;
+//    unsigned char Det_status:8;
+//}SSI_ENC;
 
 /*
 typedef enum
@@ -77,7 +76,7 @@ typedef enum
        {LDANCER2_ROTENC2,"LDANCER2_ROTENC2"},
        {RDANCER_ROTENC2,"RDANCER_ROTENC2"},
 */
-SSI_ENC SSI_enc;
+
 
 void SSI1_Init()
 {
@@ -202,55 +201,3 @@ uint32_t Write_Dummy_Byte()
     //return (RByte & 0xffffff);// 24 bytes
     return (RByte & 0xffff);//14 bit position + 2 bit general status
 }
-uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2)
-{
-    return DANCER_ENC[DancerId].Position;
-    //return SSI_enc.Position;
-}
-
-
-uint32_t Read_Dancer_Position (HardwareDancerType DancerId)
-{
-    #ifdef EVALUATION_BOARD
-        uint32_t ENC_SSI_Data = 0;
-
-        SSIEnable(SSI1_BASE);
-
-        ENC_SSI_Data = Write_Dummy_Byte();
-
-
-        //SSI_enc.Det_status = ENC_SSI_Data & 0xFF;
-        //ENC_SSI_Data = ENC_SSI_Data >> 8;
-        SSI_enc.Det_status = 0;
-
-        SSI_enc.Gen_status = ENC_SSI_Data & 0x3;
-        ENC_SSI_Data = ENC_SSI_Data >> 2;
-        SSI_enc.Position =   ENC_SSI_Data & 0x3FFF; // up 11130 down 8747
-
-        SSIDisable(SSI1_BASE);
-        return SSI_enc.Position;
-    #else
-        // must call FPGA_SSI_Transmit first!
-        HardwareDancerType Dancer_Id = (HardwareDancerType)DancerId;//to remove warning
-        FPGA_SSI_Receive(Dancer_Id);
-        FPGA_SSI_Transmit(Dancer_Id);
-        return DANCER_ENC[Dancer_Id].Position;
-    #endif
-}
-uint32_t Read_Speed_Sensor ()
-{
-    FPGA_SSI_Speed_Sensor_Transnit();
-    FPGA_SSI_Speed_Sensor_Receive();
-    return SpeedSensorResponseS.Speed;
-}
-void Loop_SSI()
-{
-    while(1)
-    {
-        Read_Dancer_Position(HARDWARE_DANCER_TYPE__RightDancer);
-        SysCtlDelay(1000); // Min 1000 (Pause time > 20uSec)
-    }
-
-}
-
-
diff --git a/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.h
index 220f607f8..9028de45b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Danser_SSI/SSI_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/SSI_Comm.h
@@ -25,11 +25,6 @@
 
 #define NUM_OF_ROTENC HARDWARE_DANCER_TYPE__RightDancer+1
 void SSI1_Init();
-uint32_t Read_Dancer_Position (HardwareDancerType DancerId);
-uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2);
-uint32_t Read_Speed_Sensor (void);
-
-void Loop_SSI();
 
 
 #endif  //DRIVERS_DANCER_SSI_SSI_COMM_H_
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
new file mode 100644
index 000000000..fc831da41
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
@@ -0,0 +1,118 @@
+/*
+ * Speed_Sensor.c
+ *
+ *  Created on: Aug 2, 2018
+ *      Author: avi
+ *
+ * The speed sensor, RMB14SC12BC59N , is 12bit SSI encoder.
+ * According to the data sheet, It has an internal IC : AM4096.
+ *
+ */
+#include <stdbool.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "inc/hw_memmap.h"
+#include "driverlib/gpio.h"
+#include "driverlib/pin_map.h"
+#include "driverlib/ssi.h"
+#include "driverlib/sysctl.h"
+#include "utils/uartstdio.h"
+
+#include <driverlib/rom.h>
+#include <driverlib/rom_map.h>
+#include <DataDef.h>
+#include <Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
+#include "driverlib/uart.h"
+
+#include "drivers/FPGA/FPGA_SSI_Comm.h"
+
+/*
+SSReg0 SSREG_RW_ADR_49;
+SSReg1 SSREG_RW_ADR_50;
+SSReg2 SSREG_RW_ADR_51;
+SSReg3 SSREG_RW_ADR_52;
+
+
+void Init_Speed_Sensor_Registers()
+{
+    SSREG_RW_ADR_49.bits.Pdint   = 0; //0 = on, 1 = off
+    SSREG_RW_ADR_49.bits.AGCdis  = 1; //0 = AGC on, 1 = AGC off
+    SSREG_RW_ADR_49.bits.Slowint = 1; //0 = on, 1 = off - It must always be set to 1
+    SSREG_RW_ADR_49.bits.Pdtr    = 0; //00 = 1:128, 01 = 1:256, 10 = 1:512, 11 = 1:1024
+    SSREG_RW_ADR_49.bits.Pdie    = 0; //0 = disabled, 1 = enabled
+    SSREG_RW_ADR_49.bits.Reg35   = 0; //0 = 3 V, 1 = 3.3 V ??? 5v
+    SSREG_RW_ADR_49.bits.Addr    = 0; //0 to 127 Default address is set to 0.
+
+    SSREG_RW_ADR_50.bits.Abridis = 1;
+    SSREG_RW_ADR_50.bits.Bufsel  = 0;
+    SSREG_RW_ADR_50.bits.Monsel  = 0; //must be set to 0
+    SSREG_RW_ADR_50.bits.Sign    = 0;
+    SSREG_RW_ADR_50.bits.Zin     = 0;
+
+    SSREG_RW_ADR_51.bits.Daa     = 0;
+    SSREG_RW_ADR_51.bits.Hist    = 0;
+    SSREG_RW_ADR_51.bits.Nfil    = 0; //must be set to 0
+
+    SSREG_RW_ADR_52.bits.Dact    = 1;
+    SSREG_RW_ADR_52.bits.Dac     = 0;
+    SSREG_RW_ADR_52.bits.SSIcfg  = 0; // SSI ring config ???????
+    SSREG_RW_ADR_52.bits.Sth     = 0x07;
+    SSREG_RW_ADR_52.bits.UVW     = 0;
+    SSREG_RW_ADR_52.bits.Res     = 0;
+
+}
+
+*/
+
+uint32_t Read_Speed_Sensor () // //The speed sensor, RMB14SC12BC59N , is 12bit SSI encoder
+{
+    FPGA_SSI_Speed_Sensor_Transnit();
+    FPGA_SSI_Speed_Sensor_Receive();
+    return SpeedSensorResponseS.Speed;
+}
+
+uint32_t Calculate_Speed_Sensor_Velocity( void ) // Call the function every 100mSec
+{
+
+    /*
+     * Velocity = 2*Phi*n/Nt
+        Where:
+        Velocity = angular speed (rad/s)
+        n = number of pulses
+        t = sampling period (s)
+        N = pulses per rotation
+     */
+
+    static uint32_t Prev_Enc_Position = 0;
+    uint32_t Enc_Position = Read_Speed_Sensor();
+
+    uint32_t number_of_pulses = Enc_Position - Prev_Enc_Position;
+
+    uint32_t sampling_period_mSec = 100;
+
+    uint32_t pulses_per_rotation = 0x0FFF;// ???
+
+    float temp = 2 * 3.14159265; // 2 *Phi
+
+    temp *=number_of_pulses;//2 *Phi*n
+
+    temp *=1000; //msec to sec;
+
+    temp /= pulses_per_rotation;
+
+    temp /= sampling_period_mSec;
+
+    uint32_t velocity = (uint32_t) temp; // Rad/Sec
+
+    Prev_Enc_Position = Enc_Position;
+
+    //1 Rad/Sec = 9.5493 RPM
+
+    return velocity;
+}
+
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.h
new file mode 100644
index 000000000..d3eae1129
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.h
@@ -0,0 +1,95 @@
+/*
+ * Speed_Sensor.h
+ *
+ *  Created on: Aug 2, 2018
+ *      Author: avi
+ */
+
+#ifndef DRIVERS_SSI_COMM_SPEED_SENSOR_H_
+#define DRIVERS_SSI_COMM_SPEED_SENSOR_H_
+
+/*
+
+#define EEPROM_RW_ADR_0    0x00
+#define EEPROM_RW_ADR_1    0x01
+#define EEPROM_RW_ADR_2    0x02
+#define EEPROM_RW_ADR_3    0x03
+
+#define REGISTER_R_ADR_32  0x20
+#define REGISTER_R_ADR_33  0x21
+#define REGISTER_R_ADR_34  0x22
+#define REGISTER_R_ADR_35  0x23
+
+#define REGISTER_RW_ADR_48 0x30
+#define REGISTER_RW_ADR_49 0x31
+#define REGISTER_RW_ADR_50 0x32
+#define REGISTER_RW_ADR_51 0x33
+
+
+//REGISTER_R_ADR_32 , REGISTER_RW_ADR_48
+typedef union
+{
+    struct
+    {
+        uint8_t Addr         : 7; //0-6
+        bool    Spare_Bit7   : 1; //7
+        bool    Reg35        : 1; //8
+        bool    Pdie         : 1; //9
+        uint8_t Pdtr         : 2; //10-11
+        bool    Slowint      : 1; //12
+        bool    Spare_Bit13  : 1; //13
+        bool    AGCdis       : 1; //14
+        bool    Pdint        : 1; //15
+
+    }bits;
+    unsigned short ushort;
+}SSReg0;
+
+//EEPROM_RW_ADR_1 , REGISTER_RW_ADR_49
+typedef union
+{
+    struct
+    {
+        uint16_t Zin         : 12;//0-11
+        bool     Sign        : 1; //12
+        bool     Monsel      : 1; //13
+        bool     Bufsel      : 1; //14
+        bool     Abridis     : 1; //15
+    }bits;
+    unsigned short ushort;
+}SSReg1;
+
+//EEPROM_RW_ADR_2 , REGISTER_RW_ADR_50
+typedef union
+{
+    struct
+    {
+        uint8_t Hist         : 7; //0-6
+        bool    Daa          : 1; //7
+        uint8_t Nfil         : 8; //8-15
+    }bits;
+    unsigned short ushort;
+}SSReg2;
+
+//EEPROM_RW_ADR_3 , REGISTER_RW_ADR_51
+typedef union
+{
+    struct
+    {
+        uint8_t Res          : 3; //0-2
+        uint8_t UVW          : 3; //3-5
+        uint8_t Sth          : 3; //6-8
+        bool    Spare_Bits9  : 1; //9
+        bool    Spare_Bits10 : 1; //10
+        uint8_t SSIcfg       : 2; //11-12
+        uint8_t Dac          : 2; //13-14
+        bool    Dact         : 1; //15
+    }bits;
+    unsigned short ushort;
+}SSReg3;
+
+*/
+
+uint32_t Calculate_Speed_Sensor_Velocity( void );
+
+#endif /* DRIVERS_SSI_COMM_SPEED_SENSOR_H_ */
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index e6a39721a..662426d41 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -44,7 +44,7 @@
 extern Semaphore_Handle sdCardSem;
 
 
-#include "drivers/Danser_SSI/SSI_Comm.h"
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 #include "drivers/SPI/SPI_Comm.h"
 #include "drivers/Uart_Comm/Uart.h"
 
@@ -193,7 +193,7 @@ int main(void)
     //-----------------------------------------------------------
 #ifndef EVALUATION_BOARD
 
-	Turn_the_Blower_On();
+	Turn_the_Blower_On();//Turn on with the Default_Voltage
 
 	DeActivateAllSSR();
 
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 9337676e4..0ea10bafc 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -11,13 +11,13 @@
 
 #include "AlarmHandling.h"
 #include <driverlib/timer.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 #include <inc/hw_ints.h>
 
 #include "drivers/adc_sampling/adc.h"
 #include "Control/control.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/SSI_Comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index a29eea480..e2ff16d5a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -20,13 +20,13 @@
 
 #include "MillisecTask.h"
 #include <driverlib/timer.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 #include <inc/hw_ints.h>
 
 #include "drivers/adc_sampling/adc.h"
 #include "control.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/SSI_Comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index c2d79bb69..38c33ca38 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -13,9 +13,9 @@
 #include "Control/control.h"
 
 #include <Container.h>
+#include <Drivers/SSI_Comm/SSI_Comm.h>
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/SSI_Comm.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index b70c5a744..9760b1715 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -170,7 +170,7 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
                 Valve_Set((Valves_t) (request->index+VALVE_2W_MID_AIR_LF), Atm_MidTank_ON);
 
 
-                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, /*request->speed*/1200,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
+                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, /*request->speed*/1000,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
                 ustrncpy (HomingToken[MotorId], requestContainer->token,36);
                 return OK;
             }
@@ -254,20 +254,17 @@ uint32_t DispenserJoggingRequestFunc(MessageContainer* requestContainer)
     {
         if (JobIsActive() == false)
         {
-            if (request->has_direction)
+            switch (request->direction)
             {
-                switch (request->direction)
-                {
                 case MOTOR_DIRECTION__Forward:
                     Control3WayValvesWithCallback ((Valves_t) request->index, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
                     break;
                 case MOTOR_DIRECTION__Backward:
                     Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
                     break;
-                }
-                MotorSetDirection(MotorId,request->direction);
-                MotorSetSpeed(MotorId, /*request->speed*/150);
             }
+            MotorSetDirection(MotorId,request->direction);
+            MotorSetSpeed(MotorId, /*request->speed*/150);
         }
         else
         {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
index 3a0b25ba8..d37015b61 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread.h
@@ -2,6 +2,7 @@
 #ifndef MODULES_THREAD_THREAD_H_
 #define MODULES_THREAD_THREAD_H_
 
+#include "../../Drivers/SSI_Comm/SSI_Comm.h"
 #include "PMR/common/MessageContainer.pb-c.h"
 #include "PMR/Hardware/HardwareMotor.pb-c.h"
 #include "PMR/Hardware/HardwareMotorType.pb-c.h"
@@ -13,8 +14,6 @@
 #include "PMR/Printing/JobSpoolType.pb-c.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
-
 #include "thread_ex.h"
 
 typedef struct
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index d56ff34cf..89a85221d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -20,7 +20,8 @@
 #include "StateMachines/Printing/PrintingSTM.h"
 
 #include "drivers/Motors/Motor.h"
-#include "drivers/Danser_SSI/ssi_comm.h"
+//#include "drivers/SSI_Comm/ssi_comm.h"
+#include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Heater/Heater.h"
 #include "drivers/Motors/Motor.h"