Version 1.4.0.4: Improved memory handling, handles SW crash after a job failure

18 files changed, 139 insertions, 106 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 6c0262f66..c424320ff 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -109,7 +109,7 @@ uint32_t    FileUploadRequestFunc(MessageContainer* requestContainer)
             }
             else
             {
-                free (UploadFileHandle);
+                my_free (UploadFileHandle);
                 UploadFileHandle = 0;
             }
 
@@ -172,7 +172,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
             {
                 REPORT_MSG (FileReceivedLength,"file upload ended successfully");
                 f_close(ReceivedFileHandle);
-                free (UploadFileHandle);
+                my_free (UploadFileHandle);
+                UploadFileHandle = 0;
                 FileReceivedLength = 0;
                 FileDone = true;
             }
@@ -182,7 +183,8 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
                 {
                     REPORT_MSG (FileReceivedLength,"file upload too much data!");
                     f_close(ReceivedFileHandle);
-                    free (UploadFileHandle);
+                    my_free (UploadFileHandle);
+                    UploadFileHandle = 0;
                     FileReceivedLength = 0;
                     FileDone = true;
                 }
@@ -206,7 +208,7 @@ uint32_t    FileChunkUploadRequestFunc(MessageContainer* requestContainer)
     responseContainer.continuous = false;
     uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
     size_t container_size = message_container__pack(&responseContainer, container_buffer);
-    my_free(request->buffer.data);
+    //my_free(request->buffer.data);
     file_chunk_upload_request__free_unpacked(request,NULL);
     my_free(responseContainer.data.data);
     SendCharsWithType(container_buffer, container_size,MESSAGE_TYPE__FileChunkUploadResponse);
@@ -301,7 +303,7 @@ uint32_t    FileChunkDownloadRequestFunc(MessageContainer* requestContainer)
             {
                 REPORT_MSG (FileSentLength,"file download ended successfully");
                 f_close(SentFileHandle);
-                free (DownloadFileHandle);
+                my_free (DownloadFileHandle);
                 FileSentLength = 0;
             }
             else
@@ -310,7 +312,7 @@ uint32_t    FileChunkDownloadRequestFunc(MessageContainer* requestContainer)
                 {
                     REPORT_MSG (FileSentLength,"file download too much data!");
                     f_close(SentFileHandle);
-                    free (DownloadFileHandle);
+                    my_free (DownloadFileHandle);
                     FileSentLength = 0;
                 }
             }
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index 01a30c21a..3bae023db 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -102,7 +102,8 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
 
     ustrncpy (ActivateToken, requestContainer->token,36);
 
-    strcpy (SWUpgradePath,request->path);
+    strncpy (SWUpgradePath,request->path,99);
+    SWUpgradePath[99] = NULL;
     strcat(SWUpgradePath,"/package.cfg");
 
     Fresult = FileRead(SWUpgradePath, &Bytes, &buffer);
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 bee894585..05864303f 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 = {1,4,0,3};
+TangoVersion_t _gTangoVersion = {1,4,0,4};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
index 341a43704..3871acb94 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
@@ -15,12 +15,12 @@
 
 //*****************************************************************************
 
-#define MAX_MEM_LOG 100
+/*#define MAX_MEM_LOG 100
 int freeIndex=0,malloc_index=0;
 uint32_t malloc_size[MAX_MEM_LOG+1];
 uint32_t malloc_time[MAX_MEM_LOG+1];
 void * malloc_addr[MAX_MEM_LOG+1];
-void * free_addr[MAX_MEM_LOG+1];
+void * free_addr[MAX_MEM_LOG+1];*/
 //uint32_t total_allocated = 0;
 void  *my_malloc(size_t _size)
 {
@@ -43,14 +43,14 @@ void  *my_malloc(size_t _size)
         malloc_time[malloc_index] = msec_millisecondCounter;
     }
     */
-    if ((addr)&&(_size>400))
+    /*if ((addr)&&(_size>400))
     {
         malloc_addr[malloc_index] = addr;
         malloc_size[malloc_index] = _size;
         malloc_time[malloc_index] = msec_millisecondCounter;
         if (malloc_index++>=MAX_MEM_LOG)
             malloc_index = 0;
-    }
+    }*/
     return addr;
 }
 int allocated_size = 0;
@@ -80,9 +80,9 @@ void   my_free(void *_ptr)
 //            allocated_size+=malloc_size[i];
  *
  */
-        free_addr[freeIndex] = _ptr;
-        if (freeIndex++>=MAX_MEM_LOG)
-            freeIndex = 0;
+//        free_addr[freeIndex] = _ptr;
+//        if (freeIndex++>=MAX_MEM_LOG)
+//            freeIndex = 0;
 
     }
 }
diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index e4ab5fa36..d485abb70 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -728,7 +728,8 @@ static void messageDistribute(char *msg,
             Dist_Table[DistTableEntry].dest[index].function(msg,FileName,LineNumber,errorCode,parameter1,parameter2);
     }
     */
-    strcpy (reportmsg,msg);
+    strncpy (reportmsg,msg,250);
+    reportmsg[251] = NULL;
 
     if (ReportFunc1 != NULL)
         ReportFunc1(reportmsg,  FileName,LineNumber,errorCode,Severity, parameter);
diff --git a/Software/Embedded_SW/Embedded/Common/report/reportInit.c b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
index 0d5836acf..8a39e8fd4 100644
--- a/Software/Embedded_SW/Embedded/Common/report/reportInit.c
+++ b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
@@ -101,7 +101,7 @@ int ReportResponseFunc(char *message,       /* The formatted message
     response.message = message;
         responseContainer = /*Report*/createContainer(MESSAGE_TYPE__StartDebugLogResponse, protobufToken, false, &response, &start_debug_log_response__pack, &start_debug_log_response__get_packed_size);
         responseContainer.continuous = true;
-        if (responseContainer.data.data)
+        //if (responseContainer.data.data)
         {
             uint8_t* container_buffer = my_malloc(message_container__get_packed_size(&responseContainer));
             if (container_buffer)
@@ -111,13 +111,13 @@ int ReportResponseFunc(char *message,       /* The formatted message
                 if (SendCharsWithType(container_buffer, container_size,MESSAGE_TYPE__StartDebugLogResponse) == false) //comm tx mailbox full
                 {
                     //CommunicationMailboxFlush();
-                    //protobufToken[0] = 0;
+                    protobufToken[0] = 0;
                     my_free(container_buffer);
                 }
             }
             my_free(responseContainer.data.data);
         }
-
+        //Task_sleep(5);
     return OK;
 
 }
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index 23f193b25..27780a9e3 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -201,7 +201,12 @@ int32_t SetCommunicationPath(bool UARTorUSB)
     CommType = UARTorUSB;
     return OK;
 }
+/*#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.
@@ -230,6 +235,12 @@ void communicationTxTask(UArg arg0, UArg arg1)
                 else if (CommType == isUART)
                     Uart_Tx(CommTxMessage.Buff, 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/Communication/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index dd89c7b15..89deb2b0b 100644
--- a/Software/Embedded_SW/Embedded/Communication/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -48,16 +48,16 @@
 #include "Common/report/report.h"
 #include "Connection.h"
 
-#define  MAX_CONT_LOG 100
+#define  MAX_CONT_LOG 199
 
-uint16_t TxmsgId[MAX_CONT_LOG+1] = {0};
+/*uint16_t TxmsgId[MAX_CONT_LOG+1] = {0};
 uint16_t TxLength[MAX_CONT_LOG+1] = {0};
 uint32_t TxAddr[MAX_CONT_LOG+1] = {0};
 uint16_t Txindex = 0;
 uint32_t msgId[MAX_CONT_LOG+1] = {0};
 uint32_t Length[MAX_CONT_LOG+1] = {0};
 uint32_t DataLength[MAX_CONT_LOG+1] = {0};
-byte index = 0;
+byte RxIndex = 0;*/
 
 
 MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*))
@@ -79,7 +79,7 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole
         container.data.data = response_buffer;
         container.data.len = response_size;
 
-    if (SuspendLargeMessages == true)
+    /*if (SuspendLargeMessages == true)
     {
 //        Report("EndJobMessage",__FILE__,__LINE__,(int)type,RpWarning,(int)response_size,0);
         TxmsgId[Txindex] = type;
@@ -87,7 +87,7 @@ MessageContainer createContainer(MessageType type, char* token, protobuf_c_boole
         TxAddr[Txindex] = msec_millisecondCounter;
         if (Txindex++>=MAX_CONT_LOG)
             Txindex = 0;
-    }
+    }*/
 
     //free(response);
     return container;
@@ -131,18 +131,17 @@ void receive_callback(char* buffer, size_t length)
      MessageContainer* requestContainer = message_container__unpack(NULL, length, (uint8_t*)buffer);
      if (requestContainer == NULL)
          return;
-   //  HeatingTestSendResonse(0, false,true,true, /*OriginalMotorSpd_2PPS[index]*/length,requestContainer->type,0,0, "Container");
     if (requestContainer->type != MESSAGE_TYPE__KeepAliveRequest) //user action resets the idle counter
     {
         resetIdleCounter();
         REPORT_MSG(requestContainer->type,"Message received");
     }
     KeepAliveOneSecondCounter = 0;
-     msgId[index] = requestContainer->type;
-     Length[index] = length;
-     DataLength[index] = msec_millisecondCounter;
-     if (index++>=MAX_CONT_LOG)
-         index = 0;
+     /*msgId[RxIndex] = requestContainer->type;
+     Length[RxIndex] = length;
+     DataLength[RxIndex] = msec_millisecondCounter;
+     if (RxIndex++>=MAX_CONT_LOG)
+         RxIndex = 0;*/
      switch(requestContainer->type)
      {
          case MESSAGE_TYPE__CalculateRequest:
@@ -433,13 +432,19 @@ void receive_callback(char* buffer, size_t length)
      message_container__free_unpacked(requestContainer, NULL);
 
 }
-bool SendResult,KeepSendResult = true;
+/*bool SendResult,KeepSendResult = true;
 uint16_t SendmsgId[MAX_CONT_LOG+1] = {0};
 uint16_t SendSize[MAX_CONT_LOG+1] = {0};
 uint32_t SendTime[MAX_CONT_LOG+1] = {0};
-uint16_t Sendindex = 0;
+bool Sendresult[MAX_CONT_LOG+1] = {0};
+uint16_t Sendindex = 0;*/
 bool SendChars(char* buffer,size_t length)
 {
+/*    SendmsgId[Sendindex] = 0xFFFF;
+    SendSize[Sendindex] = length;
+    SendTime[Sendindex] = msec_millisecondCounter;
+    if (Sendindex++>=MAX_CONT_LOG)
+        Sendindex = 0;*/
     SendResult = CommunicationTaskSendMessage(buffer, length);
     if (SendResult == false)
         KeepSendResult = false;
@@ -447,12 +452,15 @@ bool SendChars(char* buffer,size_t length)
 }
 bool SendCharsWithType(char* buffer,size_t length,MessageType type)
 {
-    SendmsgId[Sendindex] = type;
-    SendSize[Sendindex] = length;
-    SendTime[Sendindex] = msec_millisecondCounter;
+//    SendmsgId[Sendindex] = type;
+//    SendSize[Sendindex] = length;
+//    SendTime[Sendindex] = msec_millisecondCounter;
+
+    SendResult = CommunicationTaskSendMessage(buffer, length);
+
+//    Sendresult[Sendindex] = SendResult;
     if (Sendindex++>=MAX_CONT_LOG)
         Sendindex = 0;
-    SendResult = CommunicationTaskSendMessage(buffer, length);
     if (SendResult == false)
         KeepSendResult = false;
     return SendResult;
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 5dd991512..c50a0057a 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -5,19 +5,22 @@ var SysMin = xdc.useModule('xdc.runtime.SysMin');
 var System = xdc.useModule('xdc.runtime.System');
 var Error = xdc.useModule('xdc.runtime.Error');
 var ti_sysbios_hal_Hwi = xdc.useModule('ti.sysbios.hal.Hwi');
-var Memory = xdc.useModule('xdc.runtime.Memory');
 var Timestamp = xdc.useModule('xdc.runtime.Timestamp');
 var TimestampProvider = xdc.useModule('ti.sysbios.family.arm.lm4.TimestampProvider');
 var SyncGeneric = xdc.useModule('xdc.runtime.knl.SyncGeneric');
 var Mailbox = xdc.useModule('ti.sysbios.knl.Mailbox');
-var HeapStd = xdc.useModule('xdc.runtime.HeapStd');
+//var HeapStd = xdc.useModule('xdc.runtime.HeapStd');
 var GIO = xdc.useModule('ti.sysbios.io.GIO');
 var Semaphore = xdc.useModule('ti.sysbios.knl.Semaphore');
 var Task = xdc.useModule('ti.sysbios.knl.Task');
+//var HeapMem = xdc.useModule('ti.sysbios.heaps.HeapMem');
+var HeapTrack = xdc.useModule('ti.sysbios.heaps.HeapTrack');
+//var Memory = xdc.useModule('xdc.runtime.Memory');
 
-BIOS.heapSize = 30767;   // bios heapmem
-//Memory.defaultHeapSize = 48767;
-Program.heap = 50000;  //sysmem
+BIOS.heapSize = 50000;   // bios heapmem
+//Memory.defaultHeapSize = 20000;
+//Program.heap = 40000;
+//Program.stack = 4096;
 
 Clock.timerId = 7;
 
@@ -27,15 +30,7 @@ Program.global.adcHwi = Hwi.create(30, "&ADC0SS0Handler", hwi0Params);
 var hwi1Params = new Hwi.Params();
 hwi1Params.instance.name = "sysTick";
 Program.global.sysTick = Hwi.create(15, "&SysTickHandler", hwi1Params);
-/*var hwi2Params = new Hwi.Params();
-hwi2Params.instance.name = "UART0";
-Program.global.uart0 = Hwi.create(21, "&USB0Handler", hwi2Params);
-*/
-/*
-var hwi21Params = new Hwi.Params();
-hwi21Params.instance.name = "portpint";
-Program.global.portpint = Hwi.create(92, "&PortPIntHandler", hwi21Params);
-*/
+
 var hwi13Params = new Hwi.Params();
 hwi13Params.instance.name = "timer0";
 hwi13Params.priority = 128;
@@ -51,10 +46,6 @@ hwi15Params.arg = 2;
 hwi15Params.priority = 160;
 Program.global.timer2 = Hwi.create(39, "&EightMilliSecondHeatersInterrupt", hwi15Params);
 
-/*var hwi5Params = new Hwi.Params();
-hwi5Params.instance.name = "usb0";
-Program.global.usb0 = Hwi.create(58, "&USBCDCD_hwiHandler", hwi5Params);*/
-
 var hwi6Params = new Hwi.Params();
 hwi6Params.instance.name = "timer1";
 hwi6Params.priority = 128;
@@ -66,33 +57,11 @@ hwi17Params.arg = 3;
 hwi17Params.priority = 96;
 Program.global.timer3 = Hwi.create(51, "&ScrewTimerInterrupt", hwi17Params);
 
-/*
-var semaphore1Params = new Semaphore.Params();
-semaphore1Params.instance.name = "messageSem";
-semaphore1Params.mode = Semaphore.Mode_BINARY;
-Program.global.messageSem = Semaphore.create(null, semaphore1Params);
-
-var semaphore2Params = new Semaphore.Params();
-semaphore2Params.instance.name = "selfCheckSem";
-semaphore2Params.mode = Semaphore.Mode_BINARY;
-Program.global.selfCheckSem = Semaphore.create(null, semaphore2Params);
-
-*/
 var semaphore4Params = new Semaphore.Params();
 semaphore4Params.instance.name = "initConnectionSem";
 semaphore4Params.mode = Semaphore.Mode_BINARY;
 Program.global.initConnectionSem = Semaphore.create(null, semaphore4Params);
-/*
-var semaphore5Params = new Semaphore.Params();
-semaphore5Params.instance.name = "uart7Sem";
-semaphore5Params.mode = Semaphore.Mode_BINARY;
-Program.global.uart7Sem = Semaphore.create(null, semaphore5Params);
 
-var semaphore6Params = new Semaphore.Params();
-semaphore6Params.instance.name = "ethernetSem";
-semaphore6Params.mode = Semaphore.Mode_BINARY;
-Program.global.ethernetSem = Semaphore.create(null, semaphore6Params);
-*/
 var semaphore0Params = new Semaphore.Params();
 semaphore0Params.instance.name = "adcResultSem";
 semaphore0Params.mode = Semaphore.Mode_BINARY;
@@ -267,4 +236,3 @@ Program.gen.debuggerFiles = false;
 Task.defaultStackSize = 1024;
 Task.idleTaskVitalTaskFlag = false;
 Task.enableIdleTask = false;
-Program.stack = 4096;
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 5b6066a5f..36825d232 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -139,7 +139,7 @@ Void errHook(Error_Block *eb)
         if (Fresult == FR_OK)
         {
             f_lseek(FileHandle, FileHandle->fsize);
-            strcpy(File,site->file);
+            strncpy(File,site->file,49);
             len = usnprintf(message, 80, "\r\n%s %s",__DATE__, __TIME__);
             Fresult = f_write(FileHandle,message,len,&Bytes );
             /* print user supplied error code */
@@ -169,8 +169,10 @@ Void errHook(Error_Block *eb)
         Task_sleep (200);
         my_free(FileHandle);
     }
+#ifdef WATCHDOG
     //Power_Reset();
     SysCtlReset();
+#endif
 }
 
 //*****************************************************************************
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 73532a7d2..a4e1379c5 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -1051,6 +1051,12 @@ void SendEventNotifications(void)
         if (AlarmState[i].Status == true)
         {
             EventsResponse.n_events++;
+            if ((AlarmState[i].EventPtr == NULL) ||(AlarmState[i].EventPtr->base.descriptor->sizeof_message != 24))
+            {
+                LOG_ERROR(i,"bad pointer for event");
+                EventsResponse.n_events--;
+                AlarmState[i].Status = false;
+            }
         }
     }
 
@@ -1098,10 +1104,12 @@ void SendEventNotifications(void)
             my_free(container_buffer);
         }
     }
+    else
+        AlarmHandlingStop();
     if (EventsResponse.events)
         my_free(EventsResponse.events);
-    if (responseContainer.data.data)
-        my_free(responseContainer.data.data);
+    //if (responseContainer.data.data)
+    //    my_free(responseContainer.data.data);
 }
 uint32_t ResolveEventRequestFunc(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index b89fa43ed..a3b2022e9 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -423,7 +423,7 @@ int j=0;
 MessageContainer diagnosticsresponseContainer;
 uint8_t diagnostics_response_buffer[3500];
 uint8_t *diagnostics_response_ptr = diagnostics_response_buffer;
-uint8_t* diagnosticscontainer_buffer=0;
+char * diagnosticscontainer_buffer=0;
 int LargeMessagesD = 0;
 
 void SendDiagnostics(void)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index 277891861..b0351b4ff 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -235,33 +235,41 @@ uint32_t ProcessParamsInit(void)
     UploadProcessParametersRequest* request;
 
     FileHandle = my_malloc(sizeof(FIL));
-    Fresult = FileOpen(ProcessParamsConfigPath, &Bytes, FileHandle);
-    if (Fresult == FR_OK)
+    if (FileHandle)
     {
-        buffer = my_malloc (Bytes);
-        if (buffer)
+        Fresult = FileOpen(ProcessParamsConfigPath, &Bytes, FileHandle);
+        if (Fresult == FR_OK)
         {
-            for (i=0;i<=(Bytes/100);i++)
+            buffer = my_malloc (Bytes);
+            if (buffer)
             {
-                Fresult = f_read(FileHandle,&buffer[i*100],100,&j );
-                k+=j;
-            }
-            if (k!=Bytes)
-                LOG_ERROR(k,"File read error");
+                for (i=0;i<=(Bytes/100);i++)
+                {
+                    Fresult = f_read(FileHandle,&buffer[i*100],100,&j );
+                    k+=j;
+                }
+                if (k!=Bytes)
+                    LOG_ERROR(k,"File read error");
 
-           request = upload_process_parameters_request__unpack(NULL, Bytes, buffer);
-    //           ProcessParameters*  ProcessParams = process_parameters__unpack(NULL, Bytes, buffer);
-           if (request)
-           {
-               ProcessParameters*  ProcessParams = request->processparameters;
-               Fresult = HandleProcessParameters(ProcessParams);
-               //memcpy (&ProcessParametersKeep,ProcessParams,sizeof(ProcessParameters));
-               upload_process_parameters_request__free_unpacked(request,NULL);
-           }
-		   free (buffer);
+               request = upload_process_parameters_request__unpack(NULL, Bytes, buffer);
+        //           ProcessParameters*  ProcessParams = process_parameters__unpack(NULL, Bytes, buffer);
+               if (request)
+               {
+                   ProcessParameters*  ProcessParams = request->processparameters;
+                   Fresult = HandleProcessParameters(ProcessParams);
+                   //memcpy (&ProcessParametersKeep,ProcessParams,sizeof(ProcessParameters));
+                   upload_process_parameters_request__free_unpacked(request,NULL);
+               }
+               my_free (buffer);
+            }
+            f_close(FileHandle);
+        }
+        else
+        {
+            LOG_ERROR(Fresult,"File open error");
         }
+        my_free (FileHandle);
     }
-    f_close(FileHandle);
 
     return Fresult;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 0907c4a67..e9efd97df 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -207,7 +207,7 @@ uint32_t IDS_StopHomeDispenser (uint32_t DispenserId)
     Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
     if (DispenserId == LUBRICANT_DISPENSER)
     {
-        Lubricant_2Way_Valve (START);
+        Lubricant_2Way_Valve (STOP);
     }
 
     MotorSetMicroStep(MotorId, MotorsCfg[MotorId].microstep);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index aea16bb60..f7cf38ba8 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -475,12 +475,16 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
 
      if (SegmentPtr)
          my_free(SegmentPtr);
+     SegmentPtr = NULL;
      if (BrushStopPtr)
          my_free(BrushStopPtr);
+     BrushStopPtr = NULL;
      if (Segment != NULL)
              job_description_file_segment__free_unpacked(Segment,NULL);
+     Segment = NULL;
      if (BrushStop != NULL)
          job_description_file_brush_stop__free_unpacked (BrushStop,NULL);
+     BrushStop = NULL;
      Fresult = f_close(FileHandle);
      GeneralHwReady = true;
      REPORT_MSG (n_segments, "Finished checking the file");
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index a285d4194..4743008e5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -114,7 +114,10 @@ uint32_t Control_Delta_Position_Pass(uint32_t Current_Read,uint32_t Previous_Rea
 
 
   if (Current_Read < Previous_Read)
+  {
     Time_Pass = (MAX_COUNTER - Previous_Read) + Current_Read + 1;
+    Report("Length rollover",__FILE__,__LINE__,(int)Current_Read,RpWarning,(int)Previous_Read,0);
+  }
   else
     Time_Pass = Current_Read - Previous_Read;
 
@@ -771,7 +774,7 @@ void SetOriginMotorSpeed(float process_speed)
         //MotorControlConfig[Motor_i].m_SetParam = motor_speed;
         OriginalMotorSpd_2PPS[Motor_i] = (int) motor_speed;
         CurrentControlledSpeed[Motor_i] = (int) motor_speed;
-        Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
+        //Report("Original Speed",__FILE__,Motor_i,motor_speed,RpWarning,process_speed,0);
 
         for (i = 0; i <= MAX_CONTROL_SAMPLES; i++)
             MotorSpeedSamples[Motor_i][i] = motor_speed;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index f5ae89368..44dd09030 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -860,7 +860,8 @@ void AbortJob(char *Msg)
 
         Message.messageId = Abort;
         PrtMessage->messageId = PrintSystemFailure;
-        strcpy(PrtMessage->messageData,Msg);
+        strncpy(PrtMessage->messageData,Msg,99);
+        //PrtMessage->messageData[99] = NULL;
         Message.msglen = 10;
         if (JobmsgQ != NULL)
             Mailbox_post(JobmsgQ , &Message, BIOS_NO_WAIT);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 2aa260e9f..484dc9e7e 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -122,9 +122,15 @@ FRESULT CloseJobFile()
     my_free (JobRequestFileHandle);
     JobRequestFileHandle = NULL;
     if (BrushStopPtr)
+    {
         my_free(BrushStopPtr);
+        BrushStopPtr = NULL;
+    }
     if (SegmentPtr)
+    {
         my_free(SegmentPtr);
+        SegmentPtr = NULL;
+    }
     REPORT_MSG(Fresult,"CloseJobFile");
 
     return Fresult;
@@ -145,7 +151,10 @@ JobDescriptionFileSegment *GetNextSegmentFromJobFile()
         {
             readbBytes += ImmediateRead;
             if (SegmentPtr)
+            {
                 my_free(SegmentPtr);
+                SegmentPtr = NULL;
+            }
             SegmentPtr = my_malloc (SegmentSize);
             if (SegmentPtr)
             {
@@ -158,6 +167,7 @@ JobDescriptionFileSegment *GetNextSegmentFromJobFile()
                 }
             }// read segment data
             my_free(SegmentPtr);
+            SegmentPtr = NULL;
         }//segment malloc
         else
         {
@@ -181,6 +191,7 @@ void FreeSegmentFileData(JobDescriptionFileSegment *Segment)
     Segment = NULL;
     if (SegmentPtr)
         my_free(SegmentPtr);
+    SegmentPtr = NULL;
 }
 JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
 {
@@ -196,7 +207,10 @@ JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
     {
         readbBytes += ImmediateRead;
         if (BrushStopPtr)
+        {
             my_free(BrushStopPtr);
+            BrushStopPtr = NULL;
+        }
 
         BrushStopPtr = my_malloc (BrushStopSize);
         if (BrushStopPtr)
@@ -213,6 +227,7 @@ JobDescriptionFileBrushStop *GetNextBrushStopFromJobFile()
                 //status = ERROR;
             }
             my_free(BrushStopPtr);
+            BrushStopPtr = NULL;
         }//brushstop size read ok
         else
         {
@@ -237,6 +252,7 @@ void FreeBrushStopFileData(JobDescriptionFileBrushStop *BrushStop)
     BrushStop = NULL;
     if (BrushStopPtr)
         my_free(BrushStopPtr);
+    BrushStopPtr = NULL;
 }
 /************************************************************************************************************************************/
 /* this function is for development initial stages. it analyses the hardware configuration to determine which modules are operational
@@ -546,7 +562,7 @@ uint32_t EndState(void *JobDetails, char *Message)
 {
     //ROM_IntMasterDisable();
     //SuspendLargeMessages = true;
-    LOG_ERROR(2,"SuspendLargeMessages EndState");
+    //LOG_ERROR(2,"SuspendLargeMessages EndState");
     //DiagnosticsStop();
     if (Configured[Module_Winder])
     {