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

27 files changed, 363 insertions, 99 deletions

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index 81a1f510b..19f15e70d 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -280,7 +280,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="out" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="builds also the PMR" errorParsers="org.eclipse.rtsc.xdctools.parsers.ErrorParser;com.ti.ccstudio.errorparser.CoffErrorParser;com.ti.ccstudio.errorparser.LinkErrorParser;com.ti.ccstudio.errorparser.AsmErrorParser;org.eclipse.cdt.core.GmakeErrorParser" id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.87225697.838615887" name="debug_w_pmr" parent="com.ti.ccstudio.buildDefinitions.TMS470.Debug" postbuildStep="&quot;${CCS_INSTALL_ROOT}/utils/tiobj2bin/tiobj2bin&quot; &quot;${BuildArtifactFileName}&quot; &quot;${BuildArtifactFileBaseName}.bin&quot; &quot;${CG_TOOL_ROOT}/bin/armofd&quot; &quot;${CG_TOOL_ROOT}/bin/armhex&quot; &quot;${CCS_INSTALL_ROOT}/utils/tiobj2bin/mkhex4bin&quot;;" prebuildStep="&quot;../../../Visual_Studio/Build/Debug/proto-tc.exe&quot; -i ../../../PMR/Messages -o ../Communication/PMR -l C -c&quot;Common,Connection,Hardware,Printing,Debugging,Stubs&quot;;">
+				<configuration artifactExtension="out" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="builds also the PMR" errorParsers="org.eclipse.rtsc.xdctools.parsers.ErrorParser;com.ti.ccstudio.errorparser.CoffErrorParser;com.ti.ccstudio.errorparser.LinkErrorParser;com.ti.ccstudio.errorparser.AsmErrorParser;org.eclipse.cdt.core.GmakeErrorParser" id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.87225697.838615887" name="debug_w_pmr" parent="com.ti.ccstudio.buildDefinitions.TMS470.Debug" postbuildStep="&quot;${CCS_INSTALL_ROOT}/utils/tiobj2bin/tiobj2bin&quot; &quot;${BuildArtifactFileName}&quot; &quot;${BuildArtifactFileBaseName}.bin&quot; &quot;${CG_TOOL_ROOT}/bin/armofd&quot; &quot;${CG_TOOL_ROOT}/bin/armhex&quot; &quot;${CCS_INSTALL_ROOT}/utils/tiobj2bin/mkhex4bin&quot;;" prebuildStep="&quot;../../../Visual_Studio/Build/Debug/proto-tc.exe&quot; -i ../../../PMR/Messages -o ../Communication/PMR -l C -c&quot;Common,Connection,Diagnostics,Hardware,Printing,Debugging,Stubs&quot;;">
 					<folderInfo id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.87225697.838615887." name="/" resourcePath="">
 						<toolChain id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.exe.DebugToolchain.374121404" name="TI Build Tools" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.exe.DebugToolchain" targetTool="com.ti.ccstudio.buildDefinitions.TMS470_16.9.exe.linkerDebug.2015775392">
 							<option id="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS.1715586318" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS" valueType="stringList">
diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index cd5e6c034..10b496573 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -7,9 +7,9 @@
 #include <string.h>
 #include <stdint.h>
 #include <assert.h>
+#include <DataDef.h>
 #include <utils/ustdlib.h>
 
-#include "DataDef.h"
 
 typedef struct
 {
diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
index 88198353e..bd9336db3 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
@@ -40,9 +40,9 @@
 //
 //*****************************************************************************
 
+#include <DataDef.h>
 #include <stdbool.h>
 #include <stdint.h>
-#include "datadef.h"
 #include "inc/hw_gpio.h"
 #include "inc/hw_memmap.h"
 #include "inc/hw_types.h"
diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.h b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.h
index 94a9e8c0b..d97ab0e0a 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.h
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.h
@@ -54,7 +54,7 @@
 extern "C"
 {
 #endif
-#include "datadef.h"
+#include "../../DataDef.h"
 
 //*****************************************************************************
 //
diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c
index 9a2ecd5af..5798b01ee 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.c
@@ -38,7 +38,6 @@
 #include <stdint.h>
 #include <stdbool.h>
 
-#include "datadef.h"
 #include <inc/hw_types.h>
 #include <inc/hw_memmap.h>
 #include <inc/hw_gpio.h>
@@ -46,6 +45,7 @@
 #include <driverlib/pin_map.h>
 #include <driverlib/rom_map.h>
 #include <driverlib/gpio.h>
+#include <DataDef.h>
 
 #include "Common/Sys_PinOut_Config/Pin.h"
 
diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.h b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.h
index abdb85cbe..90cfe166c 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.h
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin.h
@@ -38,7 +38,7 @@
 #ifndef __PIN_H__
 #define __PIN_H__
 
-#include "datadef.h"
+#include "../../DataDef.h"
 
 #ifdef EVALUATION_BOARD
 extern void PortFunctionInit(void);
diff --git a/Software/Embedded_SW/Embedded/Common/report/filter.c b/Software/Embedded_SW/Embedded/Common/report/filter.c
index f6ce8fda4..b922e53bc 100644
--- a/Software/Embedded_SW/Embedded/Common/report/filter.c
+++ b/Software/Embedded_SW/Embedded/Common/report/filter.c
@@ -18,6 +18,7 @@
  *
  ******************************************************************************/
 
+#include <DataDef.h>
 #include "report.h"
 #include <stdio.h>
 #include <string.h>
@@ -27,7 +28,6 @@
 #include "filter.h"
 #include "distributor.h"	/* reportDistribute */
 
-#include <DataDef.h>
 
 //#define MAX_STRING_LEN 255
 
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 12f896c77..7e06853af 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -29,6 +29,15 @@ enum
 #define ENABLE  1
 #define DISABLE 0
 
+//Valves Directions:
+#define MidTank_Dispenser     1 //?
+#define Dispenser_Mixer       0 //?
+#define Cartridge_MidTank_ON  1
+#define Cartridge_MidTank_OFF 0
+#define Atm_MidTank_ON        1
+#define Atm_MidTank_OFF       0
+
+
 #define NEW  0
 #define USED 1
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
index 50b3d627e..3cd4c8f0d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
@@ -1,5 +1,4 @@
 #include "include.h"
-#include <DataDef.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdint.h>
@@ -10,6 +9,7 @@
 #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_Comm.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
index 49da97aa5..6cdf486e7 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_Comm.h
@@ -1405,6 +1405,21 @@ typedef union
     unsigned short ushort;
 }LS_DISPENSER_7_8;
 
+//F1_GPI_EXTWINDER_D
+typedef union
+{
+    struct
+    {
+        bool F1_GPI_EXTWINDER_3   :  1; //0
+        bool F1_GPI_EXTWINDER_2   :  1; //1
+        bool F1_GPI_EXTWINDER_1   :  1; //2
+        bool F1_GPI_TFEED_BREAK_2 :  1; //3
+        bool F1_GPI_TFEED_BREAK_1 :  1; //4
+        unsigned short RESERVE    : 11; //5-15
+
+    }bits;
+    unsigned short ushort;
+}GPI_EXTWINDER_TFEED_BREAK;
 
 //------------------------------ MOTOR DRIVER L_6470 ------------------------------
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index e848c1b94..e05979f6e 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -9,7 +9,6 @@
 #include <stdbool.h>
 #include <drivers/FPGA/FPGA_Comm.h>
 #include <DataDef.h>
-
 #include "modules/control/millisecTask.h"
 #include "modules/thread/thread.h"
 
@@ -30,11 +29,14 @@ void Read_FPGA_GPI_Rgisters()
     FPGA_Gpi.Reg.GPI_LS2_D = F1_GPI_LS2_D;
     FPGA_Gpi.Reg.GPI_LS3_D = F1_GPI_LS3_D;
 
+
     FPGA_Gpi.Reg.LS_01 = F2_LS_01_Direct;
     FPGA_Gpi.Reg.LS_01 = F2_LS_01_Direct;
     FPGA_Gpi.Reg.LS_01 = F2_LS_01_Direct;
     FPGA_Gpi.Reg.LS_01 = F2_LS_01_Direct;
 
+    FPGA_Gpi.Reg.GPI_EXTWINDER = F1_GPI_EXTWINDER_D;
+
    for(i=0;i<MAX_GPI;i++)
    {
        index_buf = i / Size;
@@ -56,30 +58,39 @@ if(FPGA_Gpi_Buf[GPI_LS_RLOADRAM_UP] == LIMIT)
 
 void test_fpga_gpi()
 {
-    bool nop = false;
+    int nop = 0;
 
+//while(1)
+//{
     Read_FPGA_GPI_Rgisters();
 
-    if(     FPGA_Gpi_Buf[GPI_LS_LPIVOT_UP]       |
-            FPGA_Gpi_Buf[GPI_LS_LPIVOT_DOWN]     |
-            FPGA_Gpi_Buf[GPI_LS_LLOADMOTOR_UP]   |
-            FPGA_Gpi_Buf[GPI_LS_LLOADMOTOR_DOWN] |
-            FPGA_Gpi_Buf[GPI_LS_LDANCER1_UP]     |
-            FPGA_Gpi_Buf[GPI_LS_LDANCER1_DOWN]   |
-
-            FPGA_Gpi_Buf[GPI_LS_RDANCER_LONG]    |
-            FPGA_Gpi_Buf[GPI_LS_RLOADMOTOR_UP]   |
-            FPGA_Gpi_Buf[GPI_LS_RLOADMOTOR_DOWN] |
-            FPGA_Gpi_Buf[GPI_LS_RDANCER_UP]      |
-            FPGA_Gpi_Buf[GPI_LS_RDANCER_DOWN]    |
-
-            FPGA_Gpi_Buf[GPI_LS_SCREW_RIGHT]     |
-            FPGA_Gpi_Buf[GPI_LS_SCREW_LEFT]
+    if(     //FPGA_Gpi_Buf[GPI_LS_LPIVOT_UP]       |
+//            FPGA_Gpi_Buf[GPI_LS_LPIVOT_DOWN]     |
+//            FPGA_Gpi_Buf[GPI_LS_LLOADMOTOR_UP]   |
+//            FPGA_Gpi_Buf[GPI_LS_LLOADMOTOR_DOWN] |
+//            FPGA_Gpi_Buf[GPI_LS_LDANCER1_UP]     |
+//            FPGA_Gpi_Buf[GPI_LS_LDANCER1_DOWN]   |
+//
+//            FPGA_Gpi_Buf[GPI_LS_RDANCER_LONG]    |
+//            FPGA_Gpi_Buf[GPI_LS_RLOADMOTOR_UP]   |
+//            FPGA_Gpi_Buf[GPI_LS_RLOADMOTOR_DOWN] |
+//            FPGA_Gpi_Buf[GPI_LS_RDANCER_UP]      |
+//            FPGA_Gpi_Buf[GPI_LS_RDANCER_DOWN]    |
+//
+//            FPGA_Gpi_Buf[GPI_LS_SCREW_RIGHT]     |
+            //FPGA_Gpi_Buf[GPI_LS_SCREW_LEFT]    //  |
+            FPGA_Gpi_Buf[GPI_F1_GPI_TFEED_BREAK_2]
                           == LIMIT)
     {
-        nop = true;
+        nop += 1;
+    }
+    else
+    {
+        nop += 2;
     }
 
+//}
+
 }
 
 LS_LEFT LS_Left;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
index e1de68cbb..7ac15de5b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
@@ -136,6 +136,24 @@ typedef enum
     GPI_LS_04_Direct_BIT14,      //110
     GPI_LS_04_Direct_BIT15,      //111
 
+    //F1_GPI_EXTWINDER_Direct
+    GPI_F1_GPI_EXTWINDER_3,      //112
+    GPI_F1_GPI_EXTWINDER_2,      //113
+    GPI_F1_GPI_EXTWINDER_1,      //114
+    GPI_F1_GPI_TFEED_BREAK_2,    //115
+    GPI_F1_GPI_TFEED_BREAK_1,    //116
+    GPI_EXTWINDER_Direct_BIT05,  //117
+    GPI_EXTWINDER_Direct_BIT06,  //118
+    GPI_EXTWINDER_Direct_BIT07,  //119
+    GPI_EXTWINDER_Direct_BIT08,  //120
+    GPI_EXTWINDER_Direct_BIT09,  //121
+    GPI_EXTWINDER_Direct_BIT10,  //122
+    GPI_EXTWINDER_Direct_BIT11,  //123
+    GPI_EXTWINDER_Direct_BIT12,  //124
+    GPI_EXTWINDER_Direct_BIT13,  //125
+    GPI_EXTWINDER_Direct_BIT14,  //126
+    GPI_EXTWINDER_Direct_BIT15,  //127
+
     //-----------------------
     MAX_GPI
 }FPGA_GPI_ENUM;
@@ -151,6 +169,7 @@ typedef union
         unsigned short LS_02;
         unsigned short LS_03;
         unsigned short LS_04;
+        unsigned short GPI_EXTWINDER;
     }Reg;
     unsigned short Buf[MAX_GPI/sizeof(unsigned short)];
 }FPGA_GPI;
@@ -159,6 +178,7 @@ extern bool FPGA_Gpi_Buf[MAX_GPI];
 
 void Read_FPGA_GPI_Rgisters();
 bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch);
+void FPGA_Read_limit_Switches_Registers();
 
 
 
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 9fc17fa37..cec8b74af 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -13,6 +13,7 @@
 #include "PMR/Hardware/HardwareDancerType.pb-c.h"
 
 extern TempSensorResponseStruct TempSensorResponse[MAX_TEMPERATURE_SENSOR_ID];
+void FPGA_SetMotStop(TimerMotors_t _motorId);
 #include <drivers/FPGA/FPGA_SSI_Comm.h>
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -294,9 +295,34 @@ int MotorSendFPGARequest(TimerMotors_t MotorId,uint32_t Data, uint32_t Length)
     //    return ERROR;
 }
 
+typedef enum
+{
+    MOTOR_CONFIG_INIT,
+    MOTOR_CONFIG_HARD_HIZ,
+    MOTOR_CONFIG_ACC,
+    MOTOR_CONFIG_DEC,
+    MOTOR_CONFIG_MAX_SPEED,
+    MOTOR_CONFIG_STEP_MODE,
+    MOTOR_CONFIG_CONFIG,
+    MOTOR_CONFIG_KVAL_HOLD,
+    MOTOR_CONFIG_KVAL_RUN,
+    MOTOR_CONFIG_KVAL_ACC,
+    MOTOR_CONFIG_KVAL_DEC,
+    MOTOR_CONFIG_ST_SLP,
+    MOTOR_CONFIG_INT_SPD,
+    MOTOR_CONFIG_FN_SLP_ACC,
+    MOTOR_CONFIG_FN_SLP_DEC,
+    MOTOR_CONFIG_OCD_TH,
+    MOTOR_CONFIG_STALL_TH,
+    MOTOR_CONFIG_K_THERM,
+    MOTOR_CONFIG_END
+}MOTOR_CONFIG_STAGES_ENUM;
+MOTOR_CONFIG_STAGES_ENUM ConfigStages[NUM_OF_MOTORS] = {MOTOR_CONFIG_INIT};
 
 void FPGA_SetMotorsInit()
 {
+    uint8_t i=0;
+
     //LOW logic level resets the logic and puts the device into Standby mode.
     F1_Moto_Driver_NSTBYRST1 = 0;
     F1_Moto_Driver_NSTBYRST2 = 0;
@@ -310,6 +336,12 @@ void FPGA_SetMotorsInit()
     F2_Moto_Driver_NSTBYRST1 = 0xFFFF;
     F3_Moto_Driver_NSTBYRST1 = 0xFFFF;
 
+    for(i=0;i<NUM_OF_MOTORS;i++)
+    {
+        MotorDriverRequest[i].Stop = Hard_Hiz;
+        FPGA_SetMotStop((HardwareMotorType)i);
+    }
+
     //TODO Prescaler settings for SPI
     //F1_Prescaler1_reg3 = //3bit spi moto low  duty cycle value for pmw
     //F1_Prescaler1_reg4 = //3bit spi moto high duty cycle value for pmw
@@ -318,30 +350,7 @@ void FPGA_SetMotorsInit()
     //F3_Prescaler1_reg3 = //3bit spi moto low  duty cycle value for pmw
     //F3_Prescaler1_reg4 = //3bit spi moto high duty cycle value for pmw
 }
-typedef enum
-{
-    MOTOR_CONFIG_INIT,
-    MOTOR_CONFIG_HARD_HIZ,
-    MOTOR_CONFIG_ACC,
-    MOTOR_CONFIG_DEC,
-    MOTOR_CONFIG_MIN_SPEED,
-    MOTOR_CONFIG_MAX_SPEED,
-    MOTOR_CONFIG_STEP_MODE,
-    MOTOR_CONFIG_CONFIG,
-    MOTOR_CONFIG_KVAL_HOLD,
-    MOTOR_CONFIG_KVAL_RUN,
-    MOTOR_CONFIG_KVAL_ACC,
-    MOTOR_CONFIG_KVAL_DEC,
-    MOTOR_CONFIG_ST_SLP,
-    MOTOR_CONFIG_INT_SPD,
-    MOTOR_CONFIG_FN_SLP_ACC,
-    MOTOR_CONFIG_FN_SLP_DEC,
-    MOTOR_CONFIG_OCD_TH,
-    MOTOR_CONFIG_STALL_TH,
-    MOTOR_CONFIG_K_THERM,
-    MOTOR_CONFIG_END
-}MOTOR_CONFIG_STAGES_ENUM;
-MOTOR_CONFIG_STAGES_ENUM ConfigStages[NUM_OF_MOTORS] = {MOTOR_CONFIG_INIT};
+
 uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
 {
     char MultiStep[8] = {1,2,4,8,16,32,64,128};
@@ -566,10 +575,12 @@ void FPGA_SetMotSpeed(TimerMotors_t _motorId)//Run
     temp |= MotorDriverRequest[_motorId].Speed;
      MillisecSetMotorSpeed(_motorId, temp, 4, NULL);
 
-    //Fpga_Spi[_motorId].TX_MOSI = temp;//<<8;
-    //Fpga_Spi[_motorId].AMT_OF_Words = 4;
 
-    //FPGA_SPI_Transnit(_motorId);
+///--------------------------------------------
+//    Fpga_Spi[_motorId].TX_MOSI = temp;//<<8;
+    //Fpga_Spi[_motorId].AMT_OF_Words = 4;
+//    FPGA_SPI_Transnit(_motorId);
+//-----------------------------------------------------
 }
 void FPGA_SetMotMaxSpeed(TimerMotors_t _motorId)//Mov
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
index 29fe18b1a..b543e01f4 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Heater/Heater.c
@@ -2,7 +2,6 @@
  * Heater.c
  * Heater Driver
  **************************************************************************************************************************/
-#include <DataDef.h>
 #include <stdbool.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -20,6 +19,7 @@
 #include "driverlib/sysctl.h"
 
 #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.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 9dce895b9..2f4afed73 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -48,21 +48,22 @@ MotorDriverRequestStruct MotorDriverRequest[NUM_OF_MOTORS];
 
 //MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS];
 TimerMotors_t FastMotorToMotorId[4] = {HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,HARDWARE_MOTOR_TYPE__MOTO_WINDER};
-callback_fptr MotorMoveModuleCallback = 0;
-callback_fptr MotorSetSpeedModuleCallback = 0;
-callback_fptr MotorMovetoLimitSwitchCallback = 0;
+callback_fptr MotorMoveModuleCallback[NUM_OF_MOTORS];
+callback_fptr MotorSetSpeedModuleCallback[NUM_OF_MOTORS];
+callback_fptr MotorMovetoLimitSwitchCallback[NUM_OF_MOTORS];
 
 uint32_t ControlCallBackFunction(uint32_t deviceID, uint32_t ReadValue);
 uint32_t MotorMoveCallBackFunction(uint32_t deviceId, uint32_t BusyFlag);
 uint32_t MotorSetSpeedCallBackFunction(uint32_t deviceId, uint32_t BusyFlag);
-uint32_t MotorMoveControlId = 0;
-uint32_t MotorSetSpeedControlId = 0;
-uint32_t MotorMovetoLimitSwitchControlId[NUM_OF_MOTORS] = {0};
+uint32_t MotorMoveControlId[NUM_OF_MOTORS];
+uint32_t MotorSetSpeedControlId[NUM_OF_MOTORS];
+uint32_t MotorMovetoLimitSwitchControlId[NUM_OF_MOTORS];
 
 
 //initialize general motors driver database
 uint32_t MotorsInit(void)
 {
+    int i = 0;
     #ifdef EVALUATION_BOARD
         //MOTOR Driver L6470 SPI
         SPI2_Init();
@@ -76,6 +77,16 @@ uint32_t MotorsInit(void)
     #else
         FPGA_SetMotorsInit();
     #endif
+        for (i=0;i<NUM_OF_MOTORS;i++)
+        {
+            MotorMoveControlId[i] = 0xFF;
+            MotorSetSpeedControlId[i] = 0xFF;
+            MotorMovetoLimitSwitchControlId[i] = 0xFF;
+            MotorMoveModuleCallback[i] = 0;
+            MotorSetSpeedModuleCallback[i] = 0;
+            MotorMovetoLimitSwitchCallback[i] = 0;
+        }
+
 
     return OK;
 }
@@ -347,23 +358,23 @@ uint32_t MotorMoveWithCallback (TimerMotors_t _motorId,bool direction, uint32_t
 
     //call driver action to device id with the parameter
     //SetMotorSpeed (deviceId, parameter);
-    MotorMoveModuleCallback = callback;
+    MotorMoveModuleCallback[_motorId] = callback;
 
     MotorStop(_motorId,2 );
     MotorMove(_motorId,direction,Steps );
-    MotorMoveControlId = AddControlCallback( MotorMoveCallBackFunction,  eTenMilliSecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+_motorId), _motorId, 0 );
-    return MotorMoveControlId;
+    MotorMoveControlId[_motorId] = AddControlCallback( MotorMoveCallBackFunction,  eTenMilliSecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+_motorId), _motorId, 0 );
+    return MotorMoveControlId[_motorId];
 }
 
 uint32_t MotorSetSpeedWithCallback (TimerMotors_t _motorId, uint32_t _freq, callback_fptr callback) //TODO
 {
     assert (callback);
-    MotorSetSpeedModuleCallback = callback;
+    MotorSetSpeedModuleCallback[_motorId] = callback;
 
-    MotorSetSpeedControlId = AddControlCallback( MotorSetSpeedCallBackFunction,  eTenMilliSecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+_motorId), _motorId, 0 );
+    MotorSetSpeedControlId[_motorId] = AddControlCallback( MotorSetSpeedCallBackFunction,  eTenMilliSecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+_motorId), _motorId, 0 );
     MotorSetSpeed(_motorId, _freq);
 
-    return MotorSetSpeedControlId;
+    return MotorSetSpeedControlId[_motorId];
 }
 
 uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
@@ -379,12 +390,13 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
        if (BusyFlag == NOTBUSY)
        {
            //stop this control loop
-           RemoveControlCallback(MotorMoveControlId, MotorMoveCallBackFunction );
+           RemoveControlCallback(MotorMoveControlId[MotorId], MotorMoveCallBackFunction );
            //possibly: start regular control (speed etc)
            //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+_motorId), deviceId, Parameter );
 
            //call the module callback
-           MotorMoveModuleCallback(MotorId,BusyFlag);
+           if (MotorMoveModuleCallback[MotorId])
+               MotorMoveModuleCallback[MotorId](MotorId,BusyFlag);
 
        }
    return OK;
@@ -403,12 +415,13 @@ uint32_t MotorSetSpeedCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TO
        if (BusyFlag == 1)
        {
            //stop this control loop
-           RemoveControlCallback(MotorSetSpeedControlId, MotorSetSpeedCallBackFunction );
+           RemoveControlCallback(MotorSetSpeedControlId[MotorId], MotorSetSpeedCallBackFunction );
            //possibly: start regular control (speed etc)
            //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+_motorId), deviceId, Parameter );
 
            //call the module callback
-           MotorMoveModuleCallback(MotorId,BusyFlag);
+           if (MotorSetSpeedModuleCallback[MotorId])
+               MotorSetSpeedModuleCallback[MotorId](MotorId,BusyFlag);
 
        }
    return OK;
@@ -436,8 +449,8 @@ uint32_t MotorMoveToLimitSwitchCallBackFunction(uint32_t IfIndex, bool LimitSwit
        //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+_motorId), deviceId, Parameter );
 
        //call the module callback
-       if (MotorMovetoLimitSwitchCallback)
-           MotorMovetoLimitSwitchCallback(MotorId,LimitSwitch);
+       if (MotorMovetoLimitSwitchCallback[MotorId])
+           MotorMovetoLimitSwitchCallback[MotorId](MotorId,LimitSwitch);
 
    }
    return OK;
@@ -455,7 +468,7 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t _motorId,bool direction, uint32_t
     if (MotorMovetoLimitSwitchControlId[_motorId] != 0xFF)
         return ERROR;
     MotorMovetoLimitSwitchControlId[_motorId] = AddControlCallback( MotorMoveToLimitSwitchCallBackFunction, eOneMillisecond , FPGA_Read_limit_Switches,(IfTypeMotors*0x100+_motorId), LimitSwitchId, 0 );
-    MotorMovetoLimitSwitchCallback = callback;
+    MotorMovetoLimitSwitchCallback[_motorId] = callback;
 
     return MotorMoveControlId;
 }
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 5013bbc16..8b375b311 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -18,6 +18,8 @@
 #include "drivers/FPGA/FPGA_Comm.h"
 #include <Drivers/Valves/Valve.h>
 
+#include "Modules/Control/Control.h"
+
 VALVE_GPO_REG Valve_GPO_Reg;
 F1_GPO_REG F1_GPO_Reg;
 DISPENSER_VALVE_GPO_REG Dispenser_Valve_GPO_Reg;
@@ -41,13 +43,28 @@ typedef struct
 ValveRequestStruct ValveRequest[NUM_OF_VALVES];
 ValveResponseStruct ValveRsponse[NUM_OF_VALVES];
 
+typedef enum
+{
+    IfValvesTypeNone,
+    IfTypeMidTankToManif,
+    IfTypeCartToMidTank,
+    IfTypeWasteTank,
+    IfTypeMixchipWastech,
+    IfTypeDisopenser,
+    MAX_INTERFACE_VALVES_TYPES
+}SYSTEM_INTERFACE_VALVES_TYPES_ID_ENUM;
+
+#define Number_Of_Disopensers 8
+callback_fptr Valve3WayModuleCallback[Number_Of_Disopensers] = {0, 0, 0, 0, 0, 0, 0, 0,};
+uint32_t Valve3WayControlId[Number_Of_Disopensers] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
+
 void Valve_Command(Valves_t Valve_Id)
 {
 
     switch(Valve_Id)
     {
     //Dry air Valves
-    case VALVE_MIDTANK_To_MANIF_4_2:
+        case VALVE_MIDTANK_To_MANIF_4_2:
                 Valve_GPO_Reg.bits.MIDTANK2MANIF4_VALVE_2 = ValveRequest[Valve_Id].Direction;
             break;
         case VALVE_MIDTANK_To_MANIF_4_1:
@@ -139,7 +156,7 @@ void Valve_Command(Valves_t Valve_Id)
     {
         F1_gpo_01 |= F1_GPO_Reg.ushort;
     }
-    else if((Valve_Id >= VALVE_DISPENSER_1) | (Valve_Id <= VALVE_DISPENSER_8))
+    else if(/*(Valve_Id >= VALVE_DISPENSER_1) |*/ (Valve_Id <= VALVE_DISPENSER_8))
     {
         F2_DISPENSER_VALVE_OUT |= Dispenser_Valve_GPO_Reg.ushort;
     }
@@ -162,7 +179,7 @@ void SetAllDispensersValves(bool Direction)
     }
 }
 
-void FPGA_GetDispenserValveBusyOCD()
+void FPGA_GetDispenserValveBusyOCD() // MillisecLoop
 {
     uint8_t i;
 
@@ -263,3 +280,62 @@ void EnableDisableAllDispensersValves(bool EnableOrDisable )
     }
 
 }
+
+void Valve_Set(Valves_t Valve_Id, bool Direction)
+{
+    ValveRequest[Valve_Id].Direction = Direction;
+    Valve_Command( Valve_Id);
+}
+
+//------------------------------------------------------------------------------------------------------------------------
+bool Valve3WayGetBusyState(uint32_t _ValveId, uint32_t parameter)
+{
+
+    return ValveRsponse[_ValveId].Busy;
+}
+
+//Internal handling
+uint32_t Valve3WayCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    uint32_t ValveId;
+    if (IfIndex>>8 != IfTypeDisopenser)
+    {
+        LOG_ERROR (IfIndex, "Wrong 3Way Valve Interface type");
+        return 0xFFFFFFFF;
+    }
+    ValveId = IfIndex&0xFF;
+
+       if (BusyFlag == NOTBUSY)
+       {
+           //stop this control loop
+           RemoveControlCallback(Valve3WayControlId[ValveId], Valve3WayCallBackFunction );
+
+           //call the module callback
+           Valve3WayModuleCallback[ValveId](ValveId,BusyFlag);
+
+       }
+   return OK;
+}
+
+//External call
+uint32_t Control3WayValvesWithCallback (Valves_t _ValveId, bool direction, callback_fptr callback) //direction: MidTank_Dispenser or Dispenser_Mixer
+{
+    uint8_t delay;
+    assert (callback);
+
+    Valve3WayModuleCallback[_ValveId] = callback;
+
+    EnableDisableDispenserValve(_ValveId, ENABLE);
+
+    for(delay=0;delay<100;delay++);//Need Small delay (0.1-1)ms
+
+    Valve_Set(_ValveId, direction);
+
+    Valve3WayControlId[_ValveId] = AddControlCallback( Valve3WayCallBackFunction,  eTenMilliSecond, FPGA_GetDispenserValveBusyOCD,(IfTypeDisopenser*0x100+_ValveId), _ValveId, 0 );
+
+    EnableDisableDispenserValve(_ValveId, DISABLE);
+
+    return Valve3WayControlId[_ValveId];
+}
+
+
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
index ff27b3d65..7af24aed7 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.h
@@ -11,6 +11,17 @@
 
 typedef enum
 {
+    //Dispenser Valves
+    // must be from ubdex 0-7 in order to use Valve3WayModuleCallback and Valve3WayControlId as array of 8 !
+    VALVE_DISPENSER_1,
+    VALVE_DISPENSER_2,
+    VALVE_DISPENSER_3,
+    VALVE_DISPENSER_4,
+    VALVE_DISPENSER_5,
+    VALVE_DISPENSER_6,
+    VALVE_DISPENSER_7,
+    VALVE_DISPENSER_8,
+
     //Dry air Valves
     VALVE_MIDTANK_To_MANIF_4_2,
     VALVE_MIDTANK_To_MANIF_4_1,
@@ -35,20 +46,11 @@ typedef enum
     VALVE_WASTE_TANK,
     VALVE_MIXCHIP_WASTECH,
 
-    //Dispenser Valves
-    VALVE_DISPENSER_1,
-    VALVE_DISPENSER_2,
-    VALVE_DISPENSER_3,
-    VALVE_DISPENSER_4,
-    VALVE_DISPENSER_5,
-    VALVE_DISPENSER_6,
-    VALVE_DISPENSER_7,
-    VALVE_DISPENSER_8,
-
     NUM_OF_VALVES,
 } Valves_t;
 
 void Valve_Command(Valves_t Valve_Id);
+void Valve_Set(Valves_t Valve_Id, bool Direction);
 void SetAllDispensersValves(bool Direction);
 void FPGA_GetDispenserValveBusyOCD();// OCD - Over Current Detection
 
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 01470c3de..8ec2008a7 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -27,7 +27,6 @@
 #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 5ec7c6b16..e8779d265 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -23,6 +23,14 @@
 #include "drivers/FPGA/FPGA.h"
 
 #include "modules/thread/thread_ex.h"
+#include  <PMR/Diagnostics/StartDiagnosticsRequest.pb-c.h>
+#include  <PMR/Diagnostics/StartDiagnosticsResponse.pb-c.h>
+#include  <PMR/Diagnostics/StopDiagnosticsRequest.pb-c.h>
+#include  <PMR/Diagnostics/StopDiagnosticsResponse.pb-c.h>
+
+char DiagnosticsToken[36] = {0};
+bool DiagnosticsActive = false;
+
 
 Task_Handle AlarmHandling_Task_Handle;
 Mailbox_Handle          AlarmHandlingMsgQ = NULL;
@@ -33,6 +41,7 @@ Mailbox_Handle          AlarmHandlingMsgQ = NULL;
 typedef enum
 {
     AlarmHandlingTrigger,
+    AlarmHandlingSendDiagnostics
 }AlarmHandlingMessages;
 
 typedef struct AlarmHandlingMessage{
@@ -44,6 +53,42 @@ typedef struct AlarmHandlingMessage{
 
 /******************** CODE  ********************************************/
 //**********************************************************************
+uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer)
+{
+    uint32_t status = NOT_SUPPORTED;
+    //MessageContainer responseContainer;
+
+//    ReportInitParams InitParams;
+
+    StartDiagnosticsRequest* request = start_diagnostics_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+    strcpy (DiagnosticsToken, requestContainer->token);
+    DiagnosticsActive = true;
+
+    start_diagnostics_request__free_unpacked(request,NULL);
+    return status;
+}
+uint32_t StopDiagnosticsRequestFunc(MessageContainer* requestContainer)
+{
+
+    MessageContainer responseContainer;
+
+    StopDiagnosticsRequest* request = stop_diagnostics_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+
+    StopDiagnosticsResponse response = STOP_DIAGNOSTICS_RESPONSE__INIT;
+
+    DiagnosticsActive = false;
+
+    responseContainer = createContainer(MESSAGE_TYPE__StopDiagnosticsResponse,  requestContainer->token, false, &response, &stop_diagnostics_response__pack, &stop_diagnostics_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);
+    //USBCDCD_sendData(container_buffer, container_size,10);
+    SendChars(container_buffer, container_size);
+    //free (container_buffer);
+
+return OK;
+}
 
 void AlarmHandlingInit(void)
 {
@@ -72,11 +117,58 @@ void AlarmHandlingIterate(UArg arg0)
 
     return ;
 }
+void AlarmHandler_SendDiagnostics(void)
+{
+    AlarmHandlingMessageStruc Message;
 
+    //send message to the Millisec task
+    Message.messageId = AlarmHandlingSendDiagnostics;
+    Message.tick = UsersysTickGet();
+    Message.msglen = sizeof(AlarmHandlingMessageStruc);
+    if (AlarmHandlingMsgQ != NULL)
+        Mailbox_post(AlarmHandlingMsgQ , &Message, BIOS_NO_WAIT);
+
+
+    return ;
+}
 uint32_t AlarmHandlingLoop(uint32_t tick)
 {
     return OK;
 }
+void SendDiagnostics(void)
+{
+    MessageContainer responseContainer;
+
+    StartDiagnosticsResponse response = START_DIAGNOSTICS_RESPONSE__INIT;
+
+    if (DiagnosticsActive == false)
+        return;
+
+    /*DiagnosticsMonitors *monitors;
+    size_t n_digitalpins;
+    DigitalPin **digitalpins;
+    extern bool FPGA_Gpi_Buf[MAX_GPI];
+
+void Read_FPGA_GPI_Rgisters();
+bool FPGA_Read_limit_Switches(FPGA_GPI_ENUM Limit_Switch);
+
+    size_t n_componentsstates;
+    ValueComponentState **componentsstates;
+    size_t n_events;
+    Event **events;*/
+
+
+    responseContainer = createContainer(MESSAGE_TYPE__StartDiagnosticsResponse,  DiagnosticsToken, false, &response, &start_diagnostics_response__pack, &start_diagnostics_response__get_packed_size);
+    responseContainer.continuous = true;
+
+    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);
+    //USBCDCD_sendData(container_buffer, container_size,10);
+//    SendChars(container_buffer, container_size);
+    //free (container_buffer);
+
+}
 /******************************************************************************
  *  ======== messageTsk ========
  *  Task for this function is created statically. See the project's .cfg file.
@@ -99,6 +191,8 @@ void AlarmHandlingTask(UArg arg0, UArg arg1)
             case AlarmHandlingTrigger:
                 AlarmHandlingLoop(Message.tick);
                 break;
+            case AlarmHandlingSendDiagnostics:
+                SendDiagnostics();
             default:
                 break;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
index c5eb88660..9e1be07e2 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.h
@@ -9,7 +9,7 @@
 #define MODULES_ALARMHANDLING_ALARMHANDLING_H_
 
 
-
+void AlarmHandler_SendDiagnostics(void);
 
 
 #endif /* MODULES_ALARMHANDLING_ALARMHANDLING_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 312f970d6..67de0271f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -16,6 +16,7 @@
 ///////////////////////////////////////////////////////////////////////////////////////////
 #include "include.h"
 #include "Modules/General/GeneralHardware.h"
+#include "Modules/AlarmHandling/AlarmHandling.h"
 
 #include "MillisecTask.h"
 #include <driverlib/timer.h>
@@ -342,6 +343,7 @@ uint32_t MillisecLoop(uint32_t tick)
     {
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
             MillisecReadFromTempSensor(Sensor_i, NULL);
+        AlarmHandler_SendDiagnostics();
     }
 
     if (O900Millisecond_Tick)
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index ff9b92ae0..b988e6238 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -21,7 +21,6 @@
 #include "include.h"
 #include <driverlib/timer.h>
 #include <DataDef.h>
-
 #include "heaters_ex.h"
 #include "heaters.h"
 #include "Drivers/Heater/Heater.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
index fbfb0ed85..ed4d44491 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/StubRealTimeUsage.c
@@ -16,7 +16,6 @@
 
 #include <Container.h>
 #include <DataDef.h>
-
 #include <PMR/Stubs/StubRealTimeUsageResponse.pb-c.h>
 #include <PMR/Stubs/StubRealTimeUsageRequest.pb-c.h>
 
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 cef0e1270..ff545b516 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -200,7 +200,7 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
     StubMotorRunRequest* request = stub_motor_run_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
    float  temp =  (float)request->speed;
-    Run_Value = SpdCalc(temp);
+    Run_Value = /*SpdCalc*/(temp);
     Direction = request->direction;
 #ifdef EVALUATION_BOARD
 	//SPI_Control(SKIP_INIT);
@@ -214,7 +214,7 @@ void Stub_MotorRunRequest(MessageContainer* requestContainer)
 #else
     TimerMotors_t Motor_Id  = (TimerMotors_t)request->motor_id; //to remove warning
 
-    FPGA_GetBusy();
+    //FPGA_GetBusy();
 
     MotorSetDirection(Motor_Id,Direction);
     MotorSetSpeed(Motor_Id, Run_Value);
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 b357155ce..c10afb070 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ReadEmbeddedVersion.c
@@ -7,6 +7,7 @@
 
 #include <Container.h>
 #include <DataDef.h>
+#include <DataDef.h>
 #include <PMR/Stubs/StubReadEmbeddedVersionResponse.pb-c.h>
 #include <PMR/Stubs/StubReadEmbeddedVersionRequest.pb-c.h>
 
@@ -29,7 +30,6 @@
 
 #include "Common/SW_Info/SW_Info.h"
 
-#include "DataDef.h"
 
 void Stub_ReadEmbeddedVersionRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index e99d3df0b..3505ff3c6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -111,7 +111,7 @@ uint32_t ScrewDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     if (BusyfirstCall)
     {
         BusyfirstCall = false;
-        return;
+        return OK;
     }
     //ScrewCurrentDirection: false moves out, true moves home
     if (BusyFlag == NOTBUSY)
@@ -182,7 +182,8 @@ uint32_t Winder_End(void)
 {
     //stop screw
     ScrewNumberOfSteps = 0;
-    RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
+    if (ScrewControlId != 0xFF)
+        RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
     return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 1e862128f..e3405689e 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -54,8 +54,9 @@ Mailbox_Handle JobmsgQ = NULL;
 
 
 #define MAX_TICKET_SIZE  10000
-char CurrentJobBuffer[MAX_TICKET_SIZE];
-JobTicket *CurrentJob = (JobTicket *)CurrentJobBuffer;
+//char CurrentJobBuffer[MAX_TICKET_SIZE];
+JobTicket *CurrentJob = NULL;//(JobTicket *)CurrentJobBuffer;
+JobRequest *CurrentJobRequest  = NULL;
 //char PreviousJobBuffer[MAX_TICKET_SIZE];
 //JobTicket *PreviousJob = (JobTicket *)PreviousJobBuffer;
 
@@ -275,6 +276,11 @@ void JobAbortFunc(MessageContainer* requestContainer)
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
     abort_job_request__free_unpacked(request,NULL);
+    //We keep the job request until it is done
+    job_request__free_unpacked(CurrentJobRequest,NULL);
+    CurrentJob = NULL;
+    CurrentJobRequest = NULL;
+
 
 }
 
@@ -286,6 +292,9 @@ void JobRequestFunc(MessageContainer* requestContainer)
     uint8_t* container_buffer;
 
 
+    if (CurrentJobRequest!= NULL)
+        job_request__free_unpacked(CurrentJobRequest,NULL);
+
     JobRequest* request = job_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
     strcpy (JobToken, requestContainer->token);
@@ -298,7 +307,10 @@ void JobRequestFunc(MessageContainer* requestContainer)
     }
     else
     {
-        memcpy(CurrentJob, Ticket,TicketSize);
+        //memcpy(CurrentJob, Ticket,TicketSize);
+        CurrentJob = Ticket;
+        CurrentJobRequest = request;
+
         status  = PASSED;
         HandleProcessParameters(Ticket->processparameters);
         InternalWindingConfigMessage(Ticket->spool);
@@ -346,7 +358,8 @@ void JobRequestFunc(MessageContainer* requestContainer)
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
     free(responseContainer.data.data);
     SendChars((char*)container_buffer, container_size);
-    job_request__free_unpacked(request,NULL);
+    //We keep the job request until it is done
+    //    job_request__free_unpacked(request,NULL);
 
     //free(container_buffer);
     //free(requestContainer);