version 1.3.7.9

16 files changed, 148 insertions, 84 deletions

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 15e9fe828..5efeaa71d 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,3,7,88};
+TangoVersion_t _gTangoVersion = {1,3,7,9};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index 7599c10db..ecc70765b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -201,6 +201,7 @@ uint32_t MotorMovetoBreakSensor (TimerMotors_t _motorId,bool direction, uint32_t
 uint32_t MotorMovetoDancerPosition (TimerMotors_t _motorId,bool direction, uint32_t Freq,uint32_t DancerId,bool dancervaluedirection,  callback_fptr callback,uint32_t timeout);
 uint32_t MotorAbortMovetoLimitSwitch (TimerMotors_t _motorId);
 uint32_t MotorMoveToStopper (TimerMotors_t _motorId,bool direction, uint32_t Speed, callback_fptr callback,uint32_t backlash,uint32_t timeout);
+uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callback,uint32_t timeout);
 
 uint32_t MotorGoTo(TimerMotors_t _motorIdn, uint32_t Steps);
 #endif /* DRIVERS_MOTOR_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
index 6c692ed10..de2ceb698 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.c
@@ -84,6 +84,11 @@ uint32_t Read_Dryer_ENC_Position ()
     FPGA_SSI_Dryer_ENC_Transnit();
     return Dryer_ENC.Position;
 }
+uint32_t Control_Read_Dryer_Position(HardwareDancerType DancerId, uint32_t Parameter1)
+{
+    return Dryer_ENC.Position;
+    //return SSI_enc.Position;
+}
 
 void Loop_SSI()
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
index bc03b3e9e..7a843b1c1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Dancer/Dancer.h
@@ -12,6 +12,7 @@
 uint32_t Read_Dancer_Position (HardwareDancerType DancerId);
 uint32_t Control_Read_Dancer_Position(HardwareDancerType DancerId, uint32_t Parameter1, uint32_t Parameter2);
 uint32_t Read_Dryer_ENC_Position ();
+uint32_t Control_Read_Dryer_Position(uint32_t DryerID, uint32_t Parameter1, uint32_t Parameter2);
 
 void Loop_SSI();
 
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index ea7a370b8..89aff2c92 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -60,6 +60,7 @@ Program.global.timer1 = Hwi.create(37, "&MillisecInterrupt", hwi6Params);
 var hwi17Params = new Hwi.Params();
 hwi17Params.instance.name = "timer3";
 hwi17Params.arg = 3;
+hwi17Params.priority = 96;
 Program.global.timer3 = Hwi.create(51, "&ScrewTimerInterrupt", hwi17Params);
 
 /*
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 5fe242436..8e4a36e62 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -499,9 +499,9 @@ uint32_t MillisecLowLoop(uint32_t tick)
             //Read_MidTank_Pressure_Sensor(Disp_i);
         }
         FPGA_GetAllDispensersValveBusyOCD();
-        /*temp = Read_Fans_Tacho();
+        temp = Read_Fans_Tacho();
         DrawerFansStatus = temp & 0x1F;
-        SystemFansStatus = temp & 0xE0;*/
+        SystemFansStatus = temp & 0xE0;
         KeepAliveOneSecondCall();
         for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index e3f593924..425894857 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -254,6 +254,12 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
             else
                 Valve_Set(VALVE_MIXCHIP_WASTECH,0);
             break;
+        case INTERFACE_IOS__GPO_BLOWER_PWM:
+            if (request->value == true)
+                Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%();
+            else
+                Control_Dryer_Fan(STOP,0);//use START or STOP,  0 - 100%();
+            break;
         default:
             responseContainer.has_error = true;
             responseContainer.error = ERROR_CODE__GENERAL_ERROR;
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 3f62fc3b6..a6fbe3ebc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -782,6 +782,8 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
         if (readValue > HeaterCmd[index].targettemperatue)
         {
             DeActivateHeater(index);
+            HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0);
+            HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0);
         }
         return ERROR;
     }
@@ -795,6 +797,8 @@ uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
                     DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary);
                     DeActivateHeater(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain);
                     //Heaters OFF until coming into the proportional band
+                    HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain,0);
+                    HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary,0);
                     return OK;
                 }
 //        if (readValue < ((HeaterCmd[index].targettemperatue * (100-HeaterControl[index].outputproportionalband))/100))
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index d27fb7c56..e7e6f3ff6 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -31,7 +31,6 @@ void IDS_Dispenser_Set_Flow_Params (char DispenserId,double NanoLitterPerPulse,c
 void IDS_Dispenser_RefillStarted (char DispenserId);
 void IDS_Dispenser_RefillEnded (char DispenserId);
 void IDS_Dispenser_MovingDirection (char DispenserId, bool direction);
-uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);
 
 
 #endif  //MODULES_IDS_IDS_H_
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index acaf19744..abfabe17d 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -62,10 +62,15 @@ uint32_t IdsGetMotorSpeed(uint32_t DispenserId)
 
 uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t ReadValue)
  {
+    uint32_t status;
     DispenserPrepareTime[DispenserId]+=DispenserPrepareTimeLag;
 
      if ((GetDispenserPressure(DispenserId)>=DispenserPreparePressure)||(DispenserPrepareTime[DispenserId]>=DispenserPrepareTimeout))
      {
+         if (DispenserPrepareTime[DispenserId]>=DispenserPrepareTimeout)
+             status = ERROR;
+         else
+             status = OK;
          if (SafeRemoveControlCallback(DispenserControlId[DispenserId], IDS_Dispenser_Build_Pressure_Callback )==OK)
              DispenserControlId[DispenserId] = 0xFF;
          else
@@ -76,11 +81,12 @@ uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t Re
 
          if (DispenserCallback[DispenserId])
          {
-             DispenserCallback[DispenserId](DispenserId,ReadValue);
+
+             DispenserCallback[DispenserId](DispenserId,status);
              DispenserCallback[DispenserId] = 0;
          }
      }
-     return OK;
+     return status;
 }
 
  uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback)
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index bf73ed7fa..b201e6611 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -39,6 +39,9 @@ uint32_t IDSSegmentState(void *JobDetails, int SegmentId);
 uint32_t IDSDistanceToSpoolState(void);
 uint32_t IDSEndState(void *JobDetails);
 
+uint32_t IDS_StartLubrication(void);
+uint32_t IDS_StopLubrication(void);
+
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request);
 uint32_t IDS_DispenserControlInit();
 
@@ -49,6 +52,7 @@ uint32_t IDS_Dispenser_Alarm_On (uint8_t deviceID);
 uint32_t IDS_Dispenser_Alarm_Off (uint8_t deviceID);
 
 uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id);
+uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);
 
 void IDS_Dispenser_SetTimeOutValues(uint32_t CloseTimeout, uint32_t OpenTimeout);
 void IDS_Dispenser_SetBackLashValues(double   initialdispenserpressure,   uint32_t initialdispensertimeout,   uint32_t initialdispensertimelag);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 2be233962..0a9d40a15 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -31,11 +31,12 @@ typedef struct
     PID_Config_Params   m_params;
 }DispenserControlConfig_t;
 HardwarePidControl *DispensersControl;// = (HardwarePidControl *)GENHWCFG_MAP_IN_FLASH + 0x4000;
-
+#define LUBRICANT_DISPENSER 7
+#define MAX_DYE_DISPENSERS 7
 int32_t DispenserSamples[MAX_SYSTEM_DISPENSERS][MAX_CONTROL_SAMPLES] = {0};
 int DispenserSamplePointer[MAX_SYSTEM_DISPENSERS] = {0};
 double DispenserNormalizedErrorCoEfficient[MAX_SYSTEM_DISPENSERS] = {0};
-
+double lubricant_speed = 0.0;
 HardwarePidControlType ThreadDispenserIdToControlId[MAX_SYSTEM_DISPENSERS] = {  HARDWARE_PID_CONTROL_TYPE__Dispenser1,HARDWARE_PID_CONTROL_TYPE__Dispenser2,HARDWARE_PID_CONTROL_TYPE__Dispenser3,HARDWARE_PID_CONTROL_TYPE__Dispenser4,HARDWARE_PID_CONTROL_TYPE__Dispenser5,HARDWARE_PID_CONTROL_TYPE__Dispenser6,HARDWARE_PID_CONTROL_TYPE__Dispenser7,HARDWARE_PID_CONTROL_TYPE__Dispenser8};
 
 bool    DispenserReady[MAX_SYSTEM_DISPENSERS] = {true};
@@ -160,6 +161,13 @@ void DispenserPrepareReady(void)
                          if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
                          {
                              DispenserUsedInJob[DispenserId] = true;
+                             if(DispenserId == LUBRICANT_DISPENSER)
+                             {
+                                lubricant_speed = JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond/
+                                                 JobTicket->segments[0]->brushstops[0]->dispensers[Dispenser_i]->nanoliterperpulse;
+                                REPORT_MSG (lubricant_speed*100, "LUBRICANT_SPEED*100");
+                             }
+
                          }
                      }//for dispenser
                  }//if dispensers
@@ -522,3 +530,18 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
 
     return OK;
 }
+uint32_t IDS_StartLubrication(void)
+{
+    IDS_Dispenser_Start_Motor_and_Open_Valve(LUBRICANT_DISPENSER,lubricant_speed,NULL);
+    Lubricant_2Way_Valve (START);
+    return OK;
+}
+uint32_t IDS_StopLubrication(void)
+{
+    if(DispenserUsedInJob[LUBRICANT_DISPENSER])
+    {
+        IDS_Dispenser_Close_Valve_And_Stop_Motor(LUBRICANT_DISPENSER,IDS_Valve_EndValveReady);
+        Lubricant_2Way_Valve (STOP);
+    }
+    return OK;
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index a82fe37e6..ff319918e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -38,21 +38,21 @@
 /*    typedef enum
     {
         0 THREAD_LOAD_INIT,
-        1 THREAD_LOAD_REDUCE_HEAT,  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
-        2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,//USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
-        3 THREAD_LOAD_CENTER_HEAD_ROCKERS,  //puthead cleaning rockers to middle position
-        4 THREAD_LOAD_OPEN_COVERS,  //OPEN DYEING HEAD COVER AND DRYER LID
+        1 THREAD_LOAD_REDUCE_HEAT,                           //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
+        2 THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,        //USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
+        3 THREAD_LOAD_CENTER_HEAD_ROCKERS,                   //puthead cleaning rockers to middle position
+        4 THREAD_LOAD_OPEN_COVERS,                           //OPEN DYEING HEAD COVER AND DRYER LID
         5 THREAD_LOAD_LIFT_DANCERS,
-        6 THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
-        7 THREAD_LOAD_INITIAL_TENSION,//CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
+        6 THREAD_LOAD_LIFT_ROCKERS,                          //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
+        7 THREAD_LOAD_INITIAL_TENSION,                       //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
         8 THREAD_LOAD_CLOSE_ROCKERS,
-        9 THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
+        9 THREAD_LOAD_CLOSE_DANCERS,                         //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
         10 THREAD_LOAD_CLOSE_LIDS,
         11 THREAD_LOAD_RESUME_HEATING,
-        12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
-        13 THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
-                                    //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
-        14 THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
+        12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,           //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+        13 THREAD_LOAD_DRYER_LOADING,                        //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
+                                                             //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
+        14 THREAD_LOAD_JOG_THREAD,                           //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
         15 THREAD_LOAD_END
     }THREAD_LOAD_STAGES_ENUM;*/
     THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT;
@@ -222,9 +222,9 @@
                 else
                 {
                     LoadStages++;
-                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
+                    if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call
                     {
-                        ThreadLoadStateMachine(LoadStages);
+                        //ThreadLoadStateMachine(LoadStages);
                     }
                 }
             }
@@ -340,7 +340,7 @@
         {
             Control_Dryer_Fan(START,75);//use START or STOP,  0 - 100%
             LoadStages++;
-            ThreadLoadStateMachine(LoadStages);
+            //ThreadLoadStateMachine(LoadStages);
         }
         return OK;
     }
@@ -371,7 +371,7 @@
                 LoadStages++;
                 if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this satge we should wait for user call
                 {
-                    ThreadLoadStateMachine(LoadStages);
+                    //ThreadLoadStateMachine(LoadStages);
                 }
             }
         }
@@ -417,7 +417,7 @@
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
-        //LoadArmInfo.LoadArmRounds = 0xFF;
+        LoadArmInfo.LoadArmRounds = 0xFF;
         FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath);
         return OK;
     }
@@ -428,7 +428,7 @@
         ControlId = 0xFF;
         ThreadAbortJoggingFunc();
         LoadStages++;
-        ThreadLoadStateMachine(LoadStages);
+        //ThreadLoadStateMachine(LoadStages);
         return OK;
     }
     uint32_t Thread_Load_Jog_Thread(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index c598e0c55..0277d1daa 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -40,6 +40,8 @@ void ScrewsStartControlTimer (void);
 bool     Winder_ScrewHoming = false;
 bool     ScrewCurrentDirection = false;  //holds current screw direction
 uint32_t ScrewDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
+uint32_t ScrewChangeCounter = 0;
+uint32_t ScrewChangeLimit = 0;
 uint32_t CalculationDirectionChangeCounter = 1; //holds the current number of runs of the screw  - will be used to build the cone
 uint16_t WinderMotorSpeed[MAX_WINDER_SPEED_CALCULATION];
 uint16_t WinderMotorSpeedCounter = 0;
@@ -196,13 +198,17 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
     double RotationsPerSecond;
     int32_t Averagewinderspeed = 0;
 
-    TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
-    WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
-    TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
-    if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
+    ScrewChangeCounter++;
+    if ((ScrewChangeCounter>3)&&(ScrewChangeCounter<(ScrewChangeLimit-2))) //do not take the winder speed near the limits
     {
-        WinderMotorSpeedCounter=0;
-        WinderMotorSpeedRollOver=true;
+        TotalWinderSpeed-=WinderMotorSpeed[WinderMotorSpeedCounter];
+        WinderMotorSpeed[WinderMotorSpeedCounter] = CurrentControlledSpeed[WINDER_MOTOR];
+        TotalWinderSpeed+=WinderMotorSpeed[WinderMotorSpeedCounter];
+        if (WinderMotorSpeedCounter++>=MAX_WINDER_SPEED_CALCULATION)
+        {
+            WinderMotorSpeedCounter=0;
+            WinderMotorSpeedRollOver=true;
+        }
     }
 
     if (ScrewDirectionChangeCounter == CalculationDirectionChangeCounter)
@@ -260,7 +266,7 @@ uint32_t Screw100msecDirectionChange(uint32_t deviceID, uint32_t BusyFlag)
         //Report(TempScrewStr,__FILE__,__LINE__,0,RpWarning,0, 0);
         //Report(ScrewStr,__FILE__,__LINE__,ScrewCurrentDirection,RpWarning,CalculationDirectionChangeCounter, 0);
         //REPORT_MSG(temp , "new winder speed");
-        Report("new winder speed",__FILE__,__LINE__,temp,RpWarning,ScrewSpeed,0);
+        Report("new winder speed",__FILE__,ScrewNumberOfSteps,temp,RpWarning,ScrewSpeed,0);
     }
 
     /********************************************************************************/
@@ -397,6 +403,7 @@ void ScrewsStartControlTimer (void)
     //ROM_TimerConfigure(Screw_timerBase, TIMER_CFG_PERIODIC);   // 32 bits Timer
     TimerEnable(Screw_timerBase, TIMER_A);
     ROM_IntEnable(INT_TIMER3A);
+    //IntPrioritySet(Screw_timerBase, 0x40);
     ROM_TimerIntEnable(Screw_timerBase, TIMER_TIMA_TIMEOUT);
     ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)1200000/*10 millisec*/ );
     Report("ScrewsStartControlTimer direction,speed ", __FILE__,__LINE__,ScrewCurrentDirection, RpMessage, ScrewSpeed, 0);
@@ -410,9 +417,11 @@ void ScrewTimerInterrupt(int ARG0)
 
     if (SCREW_TimerActivated == true)
     {
+        ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
         MotorSetDirection (HARDWARE_MOTOR_TYPE__MOTO_SCREW, ScrewCurrentDirection);
         MotorSetSpeedDirect(HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-        ROM_TimerLoadSet(Screw_timerBase, TIMER_A,(int)ScrewRunningTime);
+        ScrewChangeCounter = 0;
+        ScrewChangeLimit = ScrewRunningTime/12000000;
         ScrewDirectionChangeCounter++;
     }
     else
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 6a8474438..f4dc6a170 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -30,6 +30,7 @@
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "modules/heaters/heaters.h"
 #include "modules/General/process.h"
+#include "modules/ids/ids_ex.h"
 #include "Modules/AlarmHandling/AlarmHandling.h"
 #include "Control/MillisecTask.h"
 
@@ -708,6 +709,7 @@ uint32_t ThreadPreSegmentState(void *JobDetails, uint32_t SegmentId)
             MotorSetDirection((TimerMotors_t)HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize);
             MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
         }
+        IDS_StartLubrication();
     }
     // activate control fr all motors
     //set speed for both rocker motors
@@ -807,7 +809,7 @@ char Endstr[150];
      }
      MotorStop(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,Hard_Hiz);
      MotorStop(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,Hard_Hiz);
-
+     IDS_StopLubrication();
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 8c3d127ab..05ed98abd 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -587,70 +587,73 @@ void JobRequestFunc(MessageContainer* requestContainer)
     ErrorCode error = ERROR_CODE__NONE;
     JobEndReasonEnum JobAlarmReason = JOB_OK;
 
-    JobRequest* request = job_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
-    if (request != NULL)
+    if (JobActive == false)
     {
-        ustrncpy (JobToken, requestContainer->token,36);
-        previousJobLength = 0.0;
-        JobTicket *Ticket = request->jobticket;
-        int TicketSize = job_ticket__get_packed_size(Ticket);
-        if (TicketSize >= MAX_TICKET_SIZE)
+        JobRequest* request = job_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
+        if (request != NULL)
         {
-            LOG_ERROR (TicketSize, "job ticket message too long");
-            status = FAILED;
-            error = ERROR_CODE__BAD_CRC;
-            usnprintf(ErrorMsg, 100, "job ticket message too long");
-        }
-        else
-        {
-            //memcpy(CurrentJob, Ticket,TicketSize);
-            CurrentJob = Ticket;
-            if (CurrentRequest!= NULL)
-                job_request__free_unpacked(CurrentRequest,NULL);
-            CurrentRequest = request;
-
-            status  = PASSED;
-            JobEndReason = JOB_OK;
-            JobAlarmReason = AlarmHandlingPrepareJob(CurrentJob);
-            if (JobAlarmReason ==OK)
+            ustrncpy (JobToken, requestContainer->token,36);
+            previousJobLength = 0.0;
+            JobTicket *Ticket = request->jobticket;
+            int TicketSize = job_ticket__get_packed_size(Ticket);
+            if (TicketSize >= MAX_TICKET_SIZE)
             {
-#warning Process parameters in job request are not handled. push separately for now
-                if (Ticket->processparameters)
+                LOG_ERROR (TicketSize, "job ticket message too long");
+                status = FAILED;
+                error = ERROR_CODE__BAD_CRC;
+                usnprintf(ErrorMsg, 100, "job ticket message too long");
+            }
+            else
+            {
+                //memcpy(CurrentJob, Ticket,TicketSize);
+                CurrentJob = Ticket;
+                if (CurrentRequest!= NULL)
+                    job_request__free_unpacked(CurrentRequest,NULL);
+                CurrentRequest = request;
+
+                status  = PASSED;
+                JobEndReason = JOB_OK;
+                JobAlarmReason = AlarmHandlingPrepareJob(CurrentJob);
+                if (JobAlarmReason ==OK)
                 {
-                    if (HandleProcessParameters(Ticket->processparameters)!= OK)
+    #warning Process parameters in job request are not handled. push separately for now
+                    if (Ticket->processparameters)
                     {
-                        status = FAILED;
-                        error = ERROR_CODE__INVALID_PARAMETER;
-                        usnprintf(ErrorMsg, 100, "Hardware Parameters Not Set");
+                        if (HandleProcessParameters(Ticket->processparameters)!= OK)
+                        {
+                            status = FAILED;
+                            error = ERROR_CODE__INVALID_PARAMETER;
+                            usnprintf(ErrorMsg, 100, "Hardware Parameters Not Set");
+                        }
                     }
-                }
-                REPORT_MSG(0,"Process parameters in job request are not handled. push separately for now");
-                if (Ticket->spool)
-                {
-                    if (InternalWindingConfigMessage(Ticket->spool)!= OK)
+                    REPORT_MSG(0,"Process parameters in job request are not handled. push separately for now");
+                    if (Ticket->spool)
                     {
-                        status = FAILED;
-                        error = ERROR_CODE__INVALID_PARAMETER;
-                        usnprintf(ErrorMsg, 100, "spool parameters error");
+                        if (InternalWindingConfigMessage(Ticket->spool)!= OK)
+                        {
+                            status = FAILED;
+                            error = ERROR_CODE__INVALID_PARAMETER;
+                            usnprintf(ErrorMsg, 100, "spool parameters error");
+                        }
                     }
-                }
 
+                }
+                else
+                {
+                    status = FAILED;
+                    error = JobError_to_ErrorCode[JobAlarmReason];
+                    usnprintf(ErrorMsg, 100, "Existing alarms prevent running");
+                }
             }
-            else
+            if (status == PASSED)
             {
-                status = FAILED;
-                error = JobError_to_ErrorCode[JobAlarmReason];
-                usnprintf(ErrorMsg, 100, "Existing alarms prevent running");
+                Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,Ticket->n_segments, Ticket->intersegmentlength);
+                StartJob(CurrentJob);
             }
         }
-        if (status == PASSED)
-        {
-            Report("Job Request ",__FILE__,__LINE__,Ticket->processparameters->dyeingspeed,RpWarning,Ticket->n_segments, Ticket->intersegmentlength);
-            StartJob(CurrentJob);
-        }
+        else
+            status = FAILED;
     }
-    else
-        status = FAILED;
 
     JobResponse response = JOB_RESPONSE__INIT;
     JobStatus jobStatus = JOB_STATUS__INIT;