advanced work on new head

18 files changed, 207 insertions, 97 deletions

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index d1239ce44..9ffb91e97 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -170,7 +170,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Drivers/I2C_Communication/WHS_Card/EEPROM|Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC|Drivers/I2C_Communication/WHS_Card/D_MAX11614|Drivers/I2C_Communication/WHS_Card/D_ADS122|Drivers/I2C_Communication/WHS_Card/D_AD5272|Drivers/I2C_Communication/WHS_Card/I2C_WHS_Fan_Mux.c|Drivers/I2C_Communication/WHS_Card/IO_Ports_TCA9555|Drivers/I2C_Communication/WHS_Card/D_TCA9546|Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan|Drivers/I2C_Communication/Head_Card/ADC/Head_ADC_old.c|src|EmbParam.cfg" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="Drivers/I2C_Communication/I2C_FIFO.c|Drivers/I2C_Communication/WHS_Card/EEPROM|Drivers/I2C_Communication/WHS_Card/D_Max5805_ADC|Drivers/I2C_Communication/WHS_Card/D_MAX11614|Drivers/I2C_Communication/WHS_Card/D_ADS122|Drivers/I2C_Communication/WHS_Card/D_AD5272|Drivers/I2C_Communication/WHS_Card/I2C_WHS_Fan_Mux.c|Drivers/I2C_Communication/WHS_Card/IO_Ports_TCA9555|Drivers/I2C_Communication/WHS_Card/D_TCA9546|Drivers/I2C_Communication/WHS_Card/D_EMC2302_Fan|Drivers/I2C_Communication/Head_Card/ADC/Head_ADC_old.c|src|EmbParam.cfg" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index 99debf806..f0258c8da 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -34,7 +34,7 @@ struct serialBuffer {
   size_t used;
   size_t size;
 } typedef SerialBuffer;
-#define SHORT_BUFFER_SIZE 200
+#define SHORT_BUFFER_SIZE 100
 char CommShortRxBuffer[10][SHORT_BUFFER_SIZE];
 char CommRxBuffer[2][COMM_MAX_BUFFER_SIZE];
 SerialBuffer inBuffer[12];
@@ -224,12 +224,12 @@ int32_t SetCommunicationPath(bool UARTorUSB)
     CommType = UARTorUSB;
     return OK;
 }
-/*#define  MAX_CONT_LOG 199
+#define  MAX_CONT_LOG 199
 
 uint16_t cSendSize[MAX_CONT_LOG+1] = {0};
 uint32_t cSendTime[MAX_CONT_LOG+1] = {0};
 uint16_t cSendindex = 0;
-*/
+
 /******************************************************************************
  *  ======== communicationTask ========
  *  Task for this function is created statically. See the project's .cfg file.
@@ -258,12 +258,12 @@ void communicationTxTask(UArg arg0, UArg arg1)
                 else if (CommType == isUART)
                     Uart_Tx(CommTxMessage.Buff, CommTxMessage.msgSize);
         }
-/*        cSendSize[cSendindex] = CommTxMessage.msgSize;
+        cSendSize[cSendindex] = CommTxMessage.msgSize;
         cSendTime[cSendindex] = msec_millisecondCounter;
 
         if (cSendindex++>=MAX_CONT_LOG)
             cSendindex = 0;
-*/
+
         if (diagnosticscontainer_buffer == CommTxMessage.Buff)
             diagnosticscontainer_buffer = 0;
         my_free(CommTxMessage.Buff);
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c
index f902277ae..21d6feed9 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.c
@@ -56,10 +56,14 @@ uint32_t Deactivate_Head_Card_Heaters(HEADCARD_HEATERS_ENUM Head_Heater_ID)
 uint32_t Write_Head_Card_Heaters_Commands()
 {
     uint32_t status= OK;
-    Semaphore_pend(I2C_Sem, BIOS_WAIT_FOREVER);
-    status = Head_Write_IO_Reg(0x40,LOW_AND_HIGH);
-    status = Head_Write_IO_Reg(0x42,LOW);
-    Semaphore_post(I2C_Sem);
+    if(Semaphore_pend(I2C_Sem, BIOS_NO_WAIT))
+    {
+        status = Head_Write_IO_Reg(0x40,LOW_AND_HIGH);
+        status = Head_Write_IO_Reg(0x42,LOW);
+        Semaphore_post(I2C_Sem);
+    }
+    else
+        Report(" Write_Head_Card_Heaters",__FILE__,__LINE__,255,RpWarning,0,0);
    return status;
 }
 
@@ -68,17 +72,17 @@ bool Get_HeadCard_Heater_State(uint8_t Heater_ID)
     assert(Heater_ID<=HEADCARD_HIT_MIXER);
     return HeaterMap[Heater_ID];
 }
-uint8_t nop = 0;
+//uint8_t nop = 0;
 uint32_t HeadCard_Control_Heaters(HEADCARD_HEATERS_ENUM Heater_ID, bool Pwr_Cmd)//ON/OFF
 {
     uint32_t status = OK;
 
-    assert(Heater_ID<=HEADCARD_HIT_MIXER);
+    //assert(Heater_ID<=HEADCARD_HIT_MIXER);
     HeaterMap[Heater_ID] = Pwr_Cmd;
 
-    if(Pwr_Cmd == ON)
+/*    if(Pwr_Cmd == ON)
         nop++;
-
+*/
     switch(Heater_ID)
     {
         case HEADCARD_HIT_ZN1:
@@ -95,7 +99,7 @@ uint32_t HeadCard_Control_Heaters(HEADCARD_HEATERS_ENUM Heater_ID, bool Pwr_Cmd)
             break;
         case HEADCARD_HIT_ZN4:
                 Head_I2C_EXP1_0x40.bits.OUTPUT_SWON_ZN4  = Pwr_Cmd;
-                //status |= Head_Write_IO_Reg(0x40,LOW);
+               //status |= Head_Write_IO_Reg(0x40,LOW);
             break;
         case HEADCARD_HIT_ZN5:
                 Head_I2C_EXP1_0x40.bits.OUTPUT_SWON_ZN5  = Pwr_Cmd;
@@ -165,7 +169,21 @@ uint32_t HeadCard_Control_Heaters(HEADCARD_HEATERS_ENUM Heater_ID, bool Pwr_Cmd)
                 Head_I2C_EXP2_0x42.bits.OUTPUT_ON_MIX  = Pwr_Cmd;
                 //status |= Head_Write_IO_Reg(0x42,LOW);
             break;
+        case HEADCARD_All_12_ZONES:
+            if(Pwr_Cmd == 0x01)
+            {
+                Head_I2C_EXP1_0x40.uchar[0]  = 0XFF;
+                Head_I2C_EXP1_0x40.uchar[1]  = 0X0F;
+            }
+            else
+            {
+                Head_I2C_EXP1_0x40.uchar[0]  = 0;
+                Head_I2C_EXP1_0x40.uchar[1]  = 0;
+            }
+                //status |= Head_Write_IO_Reg(0x40,LOW_AND_HIGH);
+            break;
         default:
+            status = ERROR;
             break;
     }
     return status;
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.h
index ba8a72b43..fc3f88057 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/IO_Ports/Heaters/Head_Heaters.h
@@ -35,6 +35,7 @@ typedef enum
     HEADCARD_UPPER_HIT_OUT4,
 
     HEADCARD_HIT_MIXER,
+    HEADCARD_All_12_ZONES = 0X55,
 }HEADCARD_HEATERS_ENUM;
 
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c
index 2ee740d0e..91e504c10 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Head_Card/PT100/Head_PT100_ADC.c
@@ -86,6 +86,8 @@ uint32_t I2C_Write_SensorId(uint32_t I2C_ID, TEMPERATURE_SENSOR_ID_ENUM SensorId
 
     I2C_ADC_ADS122C04_SLAVE_ADD = SensorId_To_SlaveAdd(SensorId);
     status |= I2C_Write(I2C_ID, I2C_ADC_ADS122C04_SLAVE_ADD, I2C_Write_buf, No_BytesToWrite);
+    if (status)
+        Report("I2C_Write_SensorId error", __FILE__,Task_self(),status, RpMessage,SensorId, 0);
 
     return status;
 }
@@ -191,9 +193,9 @@ uint32_t Data_ADC_Head = 0;
 uint32_t HeadADCPT100_SendReadDataCommand(TEMPERATURE_SENSOR_ID_ENUM SensorId)
 {
     uint32_t Status = OK;
-    uint8_t Write_Buf[1];
+    uint8_t Write_Buf[1]= 0;
 
-    uint8_t temp[3] = {0,0.0};
+    uint8_t temp[3] = {0,0,0};
 
     if((SensorId < HEAD_PT100_ZONE_1_0X80_0) || (SensorId > MAX_HEAD_CARD_TEMP_SENS_ID))
         Status = ERROR;
@@ -208,6 +210,8 @@ uint32_t HeadADCPT100_SendReadDataCommand(TEMPERATURE_SENSOR_ID_ENUM SensorId)
     //Status |= I2C_Write(I2C_ID_HEAD_CARD, I2C_ADC_ADS122C04_SLAVE_ADD, Write_Buf, 1);
 
     Status |= I2C_Read_SensorId(I2C_ID_HEAD_CARD, SensorId, temp, 3);
+    if (Status)
+        Report("HeadADCPT100_SendReadDataCommand error", __FILE__,Task_self(),Status, RpMessage,SensorId, 0);
 
     //First send the MSB so we need to reorder the bytes
     Data_ADC_Head = temp[0];
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c
index aaaee1b5d..38f7d0494 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.c
@@ -16,7 +16,7 @@
 #include "driverlib/rom_map.h"
 #include "driverlib/sysctl.h"
 #include "driverlib/i2c.h"
-
+#include "i2c.h"
 
 uint8_t Main_Mux_Flag = UNKNOWN;
 
@@ -68,6 +68,8 @@ void Configuring_Master_I2C2(/*uint32_t ui32SysClock*/)
     #else
         I2CMasterInitExpClk(I2C2_BASE, ui32SysClock, false);//The last parameter sets the I2C data transfer rate: false for 100kbps and true for 400kbps
     #endif
+
+    //I2CMasterTimeoutSet(I2C2_BASE, I2C_BUSY_DELAY);
 }
 
 //--------------------------------------------------------------
@@ -121,6 +123,8 @@ void Configuring_Master_I2C3(/*uint32_t ui32SysClock*/)
         I2CMasterInitExpClk(I2C3_BASE, ui32SysClock, false);//The last parameter sets the I2C data transfer rate: false for 100kbps and true for 400kbps
     #endif
 
+    //I2CMasterTimeoutSet(I2C3_BASE, I2C_BUSY_DELAY);
+
 }
 
 
@@ -174,6 +178,7 @@ void Configuring_Master_I2C4(/*uint32_t ui32SysClock*/)
         I2CMasterInitExpClk(I2C4_BASE, ui32SysClock, false);//The last parameter sets the I2C data transfer rate: false for 100kbps and true for 400kbps
     #endif
 
+    //I2CMasterTimeoutSet(I2C4_BASE, I2C_BUSY_DELAY);
 }
 
 void Init_All_I2C()
@@ -221,7 +226,7 @@ void Write_I2C(uint32_t I2C_BASE,uint32_t Slave_Add, uint8_t Byte2Write)
     {
         I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_SEND_START);
     }
-    SysCtlDelay(3000);
+    SysCtlDelay(I2C_BUSY_DELAY);
 }
 
 
@@ -230,12 +235,12 @@ uint8_t Read_I2C(uint32_t I2C_BASE,uint32_t Slave_Add)
     // Start Read from configured slave
     I2CMasterSlaveAddrSet(I2C_BASE, Slave_Add, true);
     I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START);
-    SysCtlDelay(3000);
+    SysCtlDelay(I2C_BUSY_DELAY);
 
     uint8_t get = I2CMasterDataGet(I2C_BASE);
 
     I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
-    SysCtlDelay(3000);
+    SysCtlDelay(I2C_BUSY_DELAY);
 
     //uint8_t get1 = I2CMasterDataGet(I2C4_BASE);
 
@@ -265,7 +270,7 @@ uint8_t Write_Single_I2C(uint32_t I2C_BASE,uint32_t Slave_Add, uint8_t Byte2Writ
 
     I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_SINGLE_SEND);
 
-    SysCtlDelay(3000);
+    SysCtlDelay(I2C_BUSY_DELAY);
 
     return OK;
 }
@@ -276,7 +281,7 @@ uint8_t Read_Single_I2C(uint32_t I2C_BASE,uint32_t Slave_Add)
     I2CMasterSlaveAddrSet(I2C_BASE, Slave_Add, true);
 
     I2CMasterControl(I2C_BASE,    I2C_MASTER_CMD_SINGLE_RECEIVE);
-    SysCtlDelay(3000);
+    SysCtlDelay(I2C_BUSY_DELAY);
 
     uint8_t get = I2CMasterDataGet(I2C_BASE);
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
index c2de36571..acd001091 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
@@ -9,6 +9,9 @@
 #define DRIVERS_I2C_COMMUNICATION_I2C_H_
 
 
+
+#define I2C_BUSY_DELAY 3000//15000
+
 uint32_t I2C_control(uint32_t I2C_ID, uint32_t Slave_Add, bool RW,uint32_t Byte2Write );
 void Init_All_I2C();
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c
index 490376710..26b0c86c9 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Comm.c
@@ -18,24 +18,57 @@
 #include "driverlib/rom_map.h"
 #include "driverlib/sysctl.h"
 #include "driverlib/i2c.h"
-
+#include "inc/hw_i2c.h"
 
 #include "i2c.h"
 
+
+
+
+
+//*****************************************************************************
+//! Indicates whether or not the I2C bus has timed out.
+//!
+//! \param ui32Base is the base address of the I2C module.
+//!
+//! This function returns an indication of whether or not the I2C bus has time
+//!  out.  The I2C Master Timeout Value must be set.
+//!
+//! \return Returns \b true if the I2C bus has timed out; otherwise, returns
+//! \b false.
+//*****************************************************************************
+bool I2CMasterTimeout(uint32_t ui32Base)
+{
+    // Return the bus timeout status
+    if(HWREG(ui32Base + I2C_O_MCS) & I2C_MCS_CLKTO)
+    {
+        return(true);
+    }
+    else
+    {
+       return(false);
+    }
+}
+
 uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data, unsigned int len)
 {
     uint32_t status = OK;
 
+    if (I2CMasterBusy(I2C_BASE))
+    {
+        Report("I2C_WriteBuff busy", __FILE__,__LINE__,status, RpMessage,Task_self(), 0);
+        return 0xFF;
+    }
     I2CMasterSlaveAddrSet(I2C_BASE, addr, false);
     I2CMasterDataPut(I2C_BASE, *data);
     if (len == 1)
     {
         I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_SINGLE_SEND);
-//        while(I2CMasterBusy(I2C_BASE));
+        //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
 //
 //        return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE;
-        status = I2CMasterErr(I2C_BASE);
-        SysCtlDelay(3000);
+        status |= I2CMasterErr(I2C_BASE);
+        SysCtlDelay(I2C_BUSY_DELAY);
     }
     else
     {
@@ -43,11 +76,11 @@ uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* dat
 
         // Start sending consecutive data
         I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_SEND_START);
-    //    while(I2CMasterBusy(I2C_BASE));
+        //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
     //    if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE)
     //        return false;
-        status = I2CMasterErr(I2C_BASE);
-        SysCtlDelay(3000);
+        status |= I2CMasterErr(I2C_BASE);
+        SysCtlDelay(I2C_BUSY_DELAY);
         len--;
         data++;
 
@@ -56,11 +89,11 @@ uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* dat
         while(len > 1){
             I2CMasterDataPut(I2C_BASE, *data);
             I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_SEND_CONT);
-    //        while(I2CMasterBusy(I2C_BASE));
+            //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
     //        if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE)
     //            return false;
-            status = I2CMasterErr(I2C_BASE);
-            SysCtlDelay(3000);
+            status |= I2CMasterErr(I2C_BASE);
+            SysCtlDelay(I2C_BUSY_DELAY);
             len--;
             data++;
         }
@@ -68,11 +101,11 @@ uint32_t I2C_WriteBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* dat
         // Send last piece of data
         I2CMasterDataPut(I2C_BASE, *data);
         I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);
-    //    while(I2CMasterBusy(I2C_BASE));
+        //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
     //
     //    return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE;
-        status = I2CMasterErr(I2C_BASE);
-        SysCtlDelay(3000);
+        status |= I2CMasterErr(I2C_BASE);
+        SysCtlDelay(I2C_BUSY_DELAY);
     }
 
     return status;
@@ -84,29 +117,34 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data
 {
     uint32_t status = OK;
 
+    if (I2CMasterBusy(I2C_BASE))
+    {
+        Report("I2C_ReadBuff busy", __FILE__,__LINE__,status, RpMessage,Task_self(), 0);
+        return 0xFF;
+    }
     I2CMasterSlaveAddrSet(I2C_BASE, addr, true);
     if (len == 1)
     {
         I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_SINGLE_RECEIVE);
-        //while(I2CMasterBusy(I2C_BASE));
-        SysCtlDelay(3000);
+        //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
+        SysCtlDelay(I2C_BUSY_DELAY);
         *data = I2CMasterDataGet(I2C_BASE);
 
         //return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE;
 
-        status = I2CMasterErr(I2C_BASE);
+        status |= I2CMasterErr(I2C_BASE);
     }
     else
     {
 
         // Start receiving consecutive data
         I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_START);
-        //while(I2CMasterBusy(I2C_BASE));
-        SysCtlDelay(3000);
+        //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
+        SysCtlDelay(I2C_BUSY_DELAY);
         *data = I2CMasterDataGet(I2C_BASE);
     //    if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE)
     //        return false;
-        status = I2CMasterErr(I2C_BASE);
+        status |= I2CMasterErr(I2C_BASE);
 
         len--;
         data++;
@@ -115,12 +153,12 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data
         // Continue receiving consecutive data
         while(len > 1){
             I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_CONT);
-            //while(I2CMasterBusy(I2C_BASE));
-            SysCtlDelay(3000);
+            //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
+           SysCtlDelay(I2C_BUSY_DELAY);
             *data = I2CMasterDataGet(I2C_BASE);
     //        if (I2CMasterErr(I2C_BASE) != I2C_MASTER_ERR_NONE)
     //            return false;
-            status = I2CMasterErr(I2C_BASE);
+            status |= I2CMasterErr(I2C_BASE);
 
             len--;
             data++;
@@ -128,12 +166,12 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data
 
         // Receive last piece of data
         I2CMasterControl(I2C_BASE, I2C_MASTER_CMD_BURST_RECEIVE_FINISH);
-        //while(I2CMasterBusy(I2C_BASE));
-        SysCtlDelay(3000);
+        //while ( I2CMasterBusy(I2C_BASE) && !I2CMasterTimeout( I2C_BASE) );
+        SysCtlDelay(I2C_BUSY_DELAY);
         *data = I2CMasterDataGet(I2C_BASE);
 
         //return I2CMasterErr(I2C_BASE) == I2C_MASTER_ERR_NONE;
-        status = I2CMasterErr(I2C_BASE);
+        status |= I2CMasterErr(I2C_BASE);
     }
     return status;
 }
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
index bfae7e3f6..c5c0363a9 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
@@ -25,7 +25,9 @@ typedef enum
     Midtank_Pressure_Reading,
     Heater_Current_Reading,
     PT100_Reading,
-    HeaterWriting
+    HeaterWriting,
+    Inputs_Reading,// I/O
+    Outputs_Writing,
 }I2C_ReadingMessages;
 
 typedef struct I2C_ReadingMessage{
@@ -70,7 +72,7 @@ void Trigger_MidTank_Pressure_Read(void)
 void Trigger_PT100_Read(void)
 {
     I2C_ReadingMessageStruc I2C_ReadingMessage;
-    uint8_t Midtank_i;
+    //uint8_t Midtank_i;
 
     I2C_ReadingMessage.messageId = PT100_Reading;
     if (I2C_ReadingMsgQ != NULL)
@@ -81,7 +83,7 @@ void Trigger_PT100_Read(void)
 void Trigger_HeaterWriting(void)
 {
     I2C_ReadingMessageStruc I2C_ReadingMessage;
-    uint8_t Midtank_i;
+    //uint8_t Midtank_i;
 
     I2C_ReadingMessage.messageId = HeaterWriting;
     if (I2C_ReadingMsgQ != NULL)
@@ -115,14 +117,25 @@ void I2C_ReadingTask(UArg arg0, UArg arg1)
            Read_Heaters_Current(I2C_ReadingMessage.parameter);
 #endif
         break;
+
+#ifdef Use_Head_Card
+
         case PT100_Reading:
             Set_HeadCard_PT100();
             break;
         case HeaterWriting:
             Write_Head_Card_Heaters_Commands();
             break;
+        case Inputs_Reading:
+            Head_Read_IO_Reg(0x46, HIGH);//READ HEAD CARD LS
+            break;
+        case Outputs_Writing:
+
+            break;
+#endif
         default:
             break;
         }
     }
 }
+
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 3c81a0382..4a75e7366 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -111,7 +111,7 @@ Program.global.FPGALoad = Task.create("&FPGALoadTask", FPGALoad);
 var I2C_Reading = new Task.Params();
 I2C_Reading.instance.name = "I2C_Reading";
 I2C_Reading.stackSize = 2048;
-I2C_Reading.priority = 3;
+I2C_Reading.priority = 8;
 Program.global.I2C_Reading = Task.create("&I2C_ReadingTask", I2C_Reading);
 
 var ControlTaskParams = new Task.Params();
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 5cccc5b45..cd40afd9c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -648,7 +648,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         for (Sensor_i = 0;Sensor_i < MAX_MAIN_CARD_TEMP_SENS_ID;Sensor_i++)
 #endif
         {
-            MillisecReadFromTempSensor(Sensor_i, NULL);
+  //          MillisecReadFromTempSensor(Sensor_i, NULL);
         }
     }
     if (Hundred_msTick)
@@ -691,7 +691,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
         DispensersCollectionCall();
 
 #ifdef Use_Head_Card
-    Head_Read_IO_Reg(0x46, HIGH);//READ HEAD CARD LS
+    //Head_Read_IO_Reg(0x46, HIGH);//READ HEAD CARD LS
 #endif
 
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 598c5df8a..960cbaa42 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -369,7 +369,7 @@ uint32_t GenHWInitCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
 {
     uint32_t status  = 0;
-    int Dancer_i, Dispenser_i,PID_i;
+    int Dancer_i, Dispenser_i,PID_i,tempheaterId;
 
     if (UploadRequest == NULL)
     {
@@ -428,7 +428,16 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
         for (PID_i = 0; PID_i < request->n_pidcontrols ; PID_i++)
         {
             if (isHeater(request->pidcontrols[PID_i]->hardwarepidcontroltype))
+            {
                 status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]);
+                if ((request->pidcontrols[PID_i]->hardwarepidcontroltype>=HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1)&&
+                        (request->pidcontrols[PID_i]->hardwarepidcontroltype<=HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6))
+                {
+                    tempheaterId = (request->pidcontrols[PID_i]->hardwarepidcontroltype-HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1+HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ7);
+                    request->pidcontrols[PID_i]->hardwarepidcontroltype = tempheaterId;
+                    status += HeaterConfigRequestMessage(request->pidcontrols[PID_i]);
+                }
+            }
             else if ((request->pidcontrols[PID_i]->hardwarepidcontroltype >= HARDWARE_PID_CONTROL_TYPE__MotorDryer)&&
                     (request->pidcontrols[PID_i]->hardwarepidcontroltype < HARDWARE_PID_CONTROL_TYPE__Dispenser1))
                 status += MotorPidRequestMessage(request->pidcontrols[PID_i]);
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 4305fac0e..e376a99fe 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -109,53 +109,65 @@ uint32_t HandleProcessParameters(ProcessParameters* ProcessParams,bool saveData)
                 HARDWARE_PID_CONTROL_TYPE__MixerHeater, false,
                 ProcessParams->mixertemp);
     if (ProcessParams->headzone1temp>1)
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, true,
-                ProcessParams->headzone1temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, true,ProcessParams->headzone1temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ7, true,ProcessParams->headzone1temp);
+    }
     else
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false,
-                ProcessParams->headzone1temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1, false,ProcessParams->headzone1temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ7, false,ProcessParams->headzone1temp);
+    }
     if (ProcessParams->headzone2temp>1)
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, true,
-                ProcessParams->headzone2temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, true,ProcessParams->headzone2temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ8, true,ProcessParams->headzone2temp);
+    }
     else
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false,
-                ProcessParams->headzone2temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2, false,ProcessParams->headzone2temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ8, false,ProcessParams->headzone2temp);
+    }
     if (ProcessParams->headzone3temp>1)
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, true,
-                ProcessParams->headzone3temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, true,ProcessParams->headzone3temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ9, true,ProcessParams->headzone3temp);
+    }
     else
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false,
-                ProcessParams->headzone3temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3, false,ProcessParams->headzone3temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ9, false,ProcessParams->headzone3temp);
+    }
     if (ProcessParams->headzone4temp>1)
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, true,
-                ProcessParams->headzone4temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, true,ProcessParams->headzone4temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ10, true,ProcessParams->headzone4temp);
+    }
     else
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, false,
-                ProcessParams->headzone4temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4, false,ProcessParams->headzone4temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ10, false,ProcessParams->headzone4temp);
+    }
     if (ProcessParams->headzone5temp>1)
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, true,
-                ProcessParams->headzone5temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, true,ProcessParams->headzone5temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ11, true,ProcessParams->headzone5temp);
+    }
     else
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, false,
-                ProcessParams->headzone5temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5, false,ProcessParams->headzone5temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ11, false,ProcessParams->headzone5temp);
+    }
     if (ProcessParams->headzone6temp>1)
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, true,
-                ProcessParams->headzone6temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, true,ProcessParams->headzone6temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ12, true,ProcessParams->headzone6temp);
+    }
     else
-        status |= HeaterCommandRequestMessage(
-                HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, false,
-                ProcessParams->headzone6temp);
+    {
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6, false,ProcessParams->headzone6temp);
+        status |= HeaterCommandRequestMessage(HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ12, false,ProcessParams->headzone6temp);
+    }
     if (ProcessParams->dryerzone1temp>1)
         status |= HeaterCommandRequestMessage(
                 HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature, true,
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 50796d3c9..f748c9e51 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -459,10 +459,12 @@ int GetFilteredHeaterRead(int HeaterId)
  * initialized all global data
  *************************************************************************************/
 bool HeaterRestarted[HEATER_TYPE_MAX_HEATERS] = {false,false,false,false,false,false,false,false,false,false};
-uint32_t  HeaterCommandRequestMessage(int HeaterId, bool OnOff, int Temperature)
+uint32_t  HeaterCommandRequestMessage(int HeaterNum, bool OnOff, int Temperature)
 {
     //uint32_t status = NOT_SUPPORTED;
     //MessageContainer responseContainer;
+    int HeaterId = getHeaterId(HeaterNum);
+
     if (HeaterControl[HeaterId].configured == false)
     {
         ReportWithPackageFilter(HeatersFilter,"HeaterControl not configured",__FILE__,__LINE__,HeaterId,RpError, 0,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
index 15117e616..aaa5978bb 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
@@ -402,8 +402,7 @@ uint32_t MidTankReading(void)
     MidTankCounter = 0;
     if (IFS_info.Ink.time_out > 0)
         return ERROR;
-    MidTankReadControlId = AddControlCallback( MidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
-
+    MidTankReadControlId = AddControlCallback( "MidTankRead", MidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
     return OK;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 013d22968..ea2ad594a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -30,6 +30,8 @@
 #include <Drivers/I2C_Communication/Head_Card/IO_Ports/Head_IO.h>
 #include "drivers/adc_sampling/adc.h"
 
+extern double NumberOfRotationPerPassage;  // how many rotations per spool passage
+
 //#include "graphics_adapter.h"
 extern uint8_t Input_Voltage;
 extern uint8_t Test_Read_Buf[4];
@@ -124,10 +126,14 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
                         {
                             Disconnect_Mixer_and_12_Heaters_Latch();
                             HeadCard_Control_Heaters((request -> delay & 0xFF00)>>8, TRUE);
+                            //Write_Head_Card_Heaters_Commands();
                             Connect_Mixer_and_12_Heaters_Latch();
                         }
                         else
+                        {
                             HeadCard_Control_Heaters((request -> delay & 0xFF00)>>8, FALSE);
+                            //Write_Head_Card_Heaters_Commands();
+                        }
                     }
 
     }
@@ -293,7 +299,7 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
     if(request->amount == 0xF1)
     {
         LOG_ERROR(request->delay,"NumberOfRotationPerPassage");
-        NumberOfRotationPerPassage = (float)(request->delay)/1000;
+        //NumberOfRotationPerPassage = (float)(request->delay)/1000;
     }
     else
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
index a058d54f9..de385a32f 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
@@ -97,7 +97,7 @@ void Stub_FpgaWriteRegRequest(MessageContainer* requestContainer)
         ptr = (volatile short *) (request->address);
         if (request->address == (FPGA3_BASE | 0x3D0))
         {
-            ctlId = AddControlCallback( ResetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,ptr,ptr, 0 );
+            ctlId = AddControlCallback( "Reset_MCU", ResetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,ptr,ptr, 0 );
         }
         else
             *ptr = (request->value & 0xFFFF);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
index 1fb77a540..b9180625c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
@@ -653,7 +653,7 @@ uint32_t AbortPowerDownFunc(MessageContainer* requestContainer)
     SendChars((char*)container_buffer, container_size);
     PowerDownUpdate(POWER_OFF_CANCELLED);
 
-    ctlId = AddControlCallback( AbortPowerDownResetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    ctlId = AddControlCallback("PoweOff", AbortPowerDownResetCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     Report("HWSystemResetRequest", __FILE__,__LINE__,0, RpMessage, 2, 0);