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

21 files changed, 233 insertions, 61 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
index fcede699f..921d5f07f 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/MCU_MAIN_pinout.c
@@ -865,7 +865,7 @@ PinoutSet(void)
     #ifdef USE_UART4_FOR_BTSR
 	// Configure the GPIO Pin PR0 for BTSR RS485 UART  - Set as output to change to uart4 RS485 Direction:
 	ROM_GPIOPinTypeGPIOOutput(GPIO_PORTR_BASE, GPIO_PIN_0);
-	ROM_GPIOPinWrite(GPIO_PORTR_BASE, GPIO_PIN_0, 0);
+	ROM_GPIOPinWrite(GPIO_PORTR_BASE, GPIO_PIN_0, 1);//RX 1 (remove the error CAB ERR on the BTSR screen?)
     #endif
     //
     // Configure the GPIO Pin Mux for PR1
diff --git a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin_config.c b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin_config.c
index 10fbdfafa..4e7e5364d 100644
--- a/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin_config.c
+++ b/Software/Embedded_SW/Embedded/Common/Sys_PinOut_Config/Pin_config.c
@@ -1,5 +1,6 @@
 #include <stdbool.h>
 #include <stdint.h>
+#include <DataDef.h>
 
 #include <driverlib/gpio.h>
 #include <inc/hw_memmap.h>
diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index ec15c1596..c33f3710c 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -193,7 +193,7 @@ void KeepAliveRequestFunc(MessageContainer* requestContainer)
     //keep_alive_request__free_unpacked(request,NULL);
 }
 
-int  KARequestId = 0x01010101;
+int  KARequestId = 0x41414141;
 char KARequestToken[36+1];
 void KeepAliveResponseFunc(MessageContainer* requestContainer)
 {
@@ -215,7 +215,7 @@ void KeepAliveRequest1Second(void)
 
     KeepAliveResponse request =   KEEP_ALIVE_REQUEST__INIT;
 
-    strcpy(KARequestToken,"Happy days are coming to us, soon");
+    strcpy(KARequestToken,"Happy days are coming to us, soonZYX");
     memcpy(&KARequestToken[32],&KARequestId,sizeof(KARequestId));
     KARequestId++;
     //Report("keepalive request sent",__FILE__,__LINE__,KARequestId,RpWarning,msec_millisecondCounter, 0);
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index 3115f6828..3b8a71444 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -36,7 +36,15 @@
 #endif
 //#define BTSR_ROTATED_WINDER_TFU
 
-//#define USE_UART4_FOR_BTSR // need change in FRPGA FPGA_1 yy > 0x20 + jumpers in main board need to read HW Version
+//#define UFEEDER_BTSR
+#ifdef UFEEDER_BTSR
+#define BTSR_NO_FEEDER_TFU
+#define BTSR_NO_PULLER_TFU
+#define BTSR_ROTATED_WINDER_TFU
+#endif
+
+//#define USE_UART4_FOR_BTSR // need change in FRPGA FPGA_1 yy > 0x20 + jumpers in main board need to read HW Version - no need when working only with stubs
+//#define FORCE_BTSR_CARD_0023 // only for testing, include changes for BTSR without ASSY ID. use it with USE_UART4_FOR_BTSR
 
 //#define USE_RFID_STUB //stub only. to use it undef USE_RFID_LOGIC
 //#define RFID_READ_ONLY //
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
index 0b308408c..62d283f0b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA.c
@@ -358,8 +358,12 @@ uint32_t Get_Dryer_Fan_Tacho()
 }
 uint32_t Read_Dryer_Fan_Tacho()
 {
+#ifndef EVALUATION_BOARD
     Drayer_Fan_Speed_RPM = Calculate_Tacho_Fan_Speed(FPGA_Freq, 12, F1_Prescaler1_reg5, F1_Tacho_reg8);
     return Drayer_Fan_Speed_RPM;
+#else
+    return 100;
+#endif
 }
 
 void Control_Dryer_Fan_PWM(uint8_t PWM_Command_Precent)// 0 - 100%
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index e9c674b25..360eb3351 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -482,9 +482,10 @@ uint32_t ActivateCleanerPump()
 
 uint32_t DeActivateCleanerPump()
 {
-
+#ifndef EVALUATION_BOARD
     F2_CTRL_Reg.ushort &= ~CLEANER_PUMP_SSR3_CTRL;
     F2_CTRL = F2_CTRL_Reg.ushort;
+#endif
     return OK;
 }
 //----------------------------------
@@ -494,16 +495,20 @@ void Power_Off()//Power Down
 #ifdef WATCHDOG
     ROM_WatchdogResetDisable(WATCHDOG0_BASE);
 #endif
+#ifndef EVALUATION_BOARD
     F2_CTRL_Reg.ushort |= PDOWN_RL1_CTRL;
     F2_CTRL = F2_CTRL_Reg.ushort;
+#endif
 }
 
 void Power_Reset()// Resets the MCU
 {
     utilsStoreLocalTime();
+#ifndef EVALUATION_BOARD
     F3_SW_RESET_reg  &= ~BIT0;
     SysCtlDelay(1000);
     F3_SW_RESET_reg  |=  BIT0;
+#endif
     SysCtlReset();
 }
 
@@ -511,15 +516,19 @@ void Power_Reset()// Resets the MCU
 
 uint32_t ActivateChiller() //WHS Cooler / WHS DX Cooler
 {
+#ifndef EVALUATION_BOARD
         F2_CTRL_Reg.ushort |= CHILLER_SSR9_CTRL;
         F2_CTRL = F2_CTRL_Reg.ushort;
+#endif
         return OK;
 }
 
 uint32_t DeActivateChiller() //WHS Cooler / WHS DX Cooler
 {
+#ifndef EVALUATION_BOARD
         F2_CTRL_Reg.ushort &= ~CHILLER_SSR9_CTRL;
         F2_CTRL = F2_CTRL_Reg.ushort;
+#endif
         return OK;
 }
 
@@ -1231,13 +1240,13 @@ char Read_HW_Version(unsigned char *Brd_ID, unsigned char *Assy_ID)
     if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_4) == GPIO_PIN_4)
         *Brd_ID |= 0x01;
 
-    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_3) == GPIO_PIN_3)
+    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_3) == GPIO_PIN_3)//ASSY_ID3
         *Assy_ID |= 0x08;
-    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_7) == GPIO_PIN_7)
+    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_5) == GPIO_PIN_5)//ASSY_ID2
         *Assy_ID |= 0x04;
-    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_1) == GPIO_PIN_1)
+    if (ROM_GPIOPinRead(GPIO_PORTS_BASE, GPIO_PIN_1) == GPIO_PIN_1)//ASSY_ID1
         *Assy_ID |= 0x02;
-    if (ROM_GPIOPinRead(GPIO_PORTP_BASE, GPIO_PIN_5) == GPIO_PIN_5)
+    if (ROM_GPIOPinRead(GPIO_PORTJ_BASE, GPIO_PIN_7) == GPIO_PIN_7)//ASSY_ID0
         *Assy_ID |= 0x01;
 
     return PASSED;
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
index 765ba1a7a..36a349682 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SSI_Comm.c
@@ -132,6 +132,7 @@ uint8_t FPGA_SSI_Dryer_ENC_Transnit()
 
 uint32_t FPGA_SSI_Dryer_ENC_Receive()
 {
+#ifndef EVALUATION_BOARD
 
     INT2SHORT Int2Short;
     unsigned int temp;
@@ -147,6 +148,6 @@ uint32_t FPGA_SSI_Dryer_ENC_Receive()
     Dryer_ENC.Gen_status = temp & 0x3;
     temp = temp >> 2;
     Dryer_ENC.Position =   (temp & 0x3FFF);
-
+#endif
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
index 57b57a41d..307d815ee 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
@@ -156,8 +156,10 @@ uint32_t Turn_the_Blower_On()
     voltage = Default_Voltage;
     if (WHS_Type == WHS_TYPE_UNKNOWN)
     {
+#ifndef EVALUATION_BOARD
         status = Write_Control_Register();
         status |= Write_DAC_and_Input_Register(DAC_mV2Bits(Default_Voltage));
+#endif
     }
     else //new WHS
     {
@@ -177,7 +179,9 @@ uint32_t Control_Voltage_To_Blower(uint32_t mV)
     }
     if (WHS_Type == WHS_TYPE_UNKNOWN)
     {
+#ifndef EVALUATION_BOARD
         status |= Write_DAC_and_Input_Register(DAC_mV2Bits(mV));
+#endif
     }
     else //new WHS
     {
@@ -196,7 +200,9 @@ uint32_t Turn_the_Blower_Off()
 
     if (WHS_Type == WHS_TYPE_UNKNOWN)
     {
+#ifndef EVALUATION_BOARD
         status |= Write_DAC_and_Input_Register(0);
+#endif
     }
     else //new WHS
     {
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c
index c04cabc4a..0593342b1 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/RFID_NFC/I2C_IFS_Mux.c
@@ -137,7 +137,7 @@ uint32_t Reset_and_Check_IFS_Availability(PANEL_BUTTON_OR_CRAT_ID Cart_ID)
 //            IFS_Availability[Cart_ID-1] = IFS_RECOGNIZED;
 //        }
     #else
-        IFS_Availability[Cart_ID-1] = WITHOUT_IFS;
+        IFS_Availability[Cart_ID-1] = IFS_AVAILABILITY_UNKNOWN;
     #endif
 
     return status;
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index e90f0622e..00fd2b440 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -317,7 +317,7 @@ uint32_t MotorRunCallBackFunction(uint32_t IfIndex, uint32_t ReadValue) //TODO
             if (failCounter>=8)
             {
                 Report("arm stopped",__FILE__,failCounter,encoder,RpWarning,temp,0);
-                MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Hiz);
+                MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,Hard_Stop);
                 RunningContinues = false;
             }
         }
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
index 71d26888d..20c6d5a00 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.c
@@ -22,7 +22,7 @@
 #include "PMR/EmbeddedParameters/MainCardStoredDataResponse.pb-c.h"
 #include "PMR/EmbeddedParameters/MainCardStoredDataRequest.pb-c.h"
 #include "PMR/EmbeddedParameters/MainCardStoredItem.pb-c.h"
-
+#include "PMR/Printing/BTSRParameters.pb-c.h"
 
 uint32_t E2Prom_Data[MAX_EEPROM_STORAGE] = {0,0,0,0,0,0};
 uint32_t MCU_E2PromProgram(int Address,uint32_t Data)
@@ -86,13 +86,15 @@ void MCU_E2PromUpdateResetReason(int i)
     uint32_t Head;
     uint32_t RESC = SysCtlResetCauseGet();
 
+#ifndef EVALUATION_BOARD
+
     EEPROMRead(&Head,EEPROM_RESET_REASON_HEAD_ADDRESS, 4);
     if (Head>=EEPROM_RESET_REASON_MAX_DATA) Head=0;
     Head++;
     RESC+=(i*0x1000);
     EEPROMProgram(&Head, EEPROM_RESET_REASON_HEAD_ADDRESS, 4);
     EEPROMProgram(&RESC, (EEPROM_RESET_REASON_HEAD_ADDRESS+(Head*4)), 4);
-
+#endif
 }
 
 /*************************************************/
@@ -360,4 +362,53 @@ void MainCardEEpromWriteRequestFunc(MessageContainer* requestContainer)
     stub_main_card_eeprom_write_request__free_unpacked(request,NULL);
 
 }
+uint32_t BtsrSaveParamsToEeprom(void *Data)
+{
+    BTSRParameters* BtsrPrameters = Data;
+    BTSRParameters ExistingBtsrPrameters ;
+    uint32_t status = 0;
+    float data;
+
+    BtsrReadParamsFromEeprom(&ExistingBtsrPrameters);
+    if (memcmp(BtsrPrameters,&ExistingBtsrPrameters,sizeof(ExistingBtsrPrameters)))
+    {
+        data = BtsrPrameters->feedingtension;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_FEEDING_TENSION, data);
+        status |= MCU_E2PromProgram(EEPROM_BTSR_TYPE, BtsrPrameters->btsryarntype);
+        status |= MCU_E2PromProgram(EEPROM_BTSR_APPLICATION, BtsrPrameters->btsrapplicationtype);
+        data = BtsrPrameters->threadlengthfactor;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_LENGTH_OFFSET, data);
+        data = BtsrPrameters->tensionerror;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_TENSION_ERROR, data);
+        data = BtsrPrameters->spooltension;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_SPOOL_TENSION, data);
+        data = BtsrPrameters->exittension;
+        status |= MCU_E2PromProgram(EEPROM_BTSR_EXIT_TENSION, data);
+    }
+    return status;
+}
+
+uint32_t BtsrReadParamsFromEeprom(void *Data)
+{
+    BTSRParameters* BtsrPrameters = Data;
+    uint32_t status = 0;
+    float data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_FEEDING_TENSION, &data);
+    BtsrPrameters->feedingtension = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_TYPE, &data);
+    BtsrPrameters->btsryarntype = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_APPLICATION, &data);
+    BtsrPrameters->btsrapplicationtype = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_LENGTH_OFFSET, &data);
+    BtsrPrameters->threadlengthfactor = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_TENSION_ERROR, &data);
+    BtsrPrameters->tensionerror = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_SPOOL_TENSION, &data);
+    BtsrPrameters->spooltension = data;
+    status |= MCU_E2PromRead(EEPROM_BTSR_EXIT_TENSION, &data);
+    BtsrPrameters->exittension = data;
+    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(BtsrPrameters->feedingtension*1000),RpWarning,(int)(BtsrPrameters->tensionerror*1000),(int)(BtsrPrameters->exittension*1000));
+    Report("BtsrReadParamsFromEeprom",__FILE__,__LINE__,(int)(BtsrPrameters->btsrapplicationtype),RpWarning,(int)(BtsrPrameters->btsryarntype),(int)(BtsrPrameters->threadlengthfactor*1000));
+    return status;
+}
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
index aee812973..24f229b2c 100644
--- a/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
+++ b/Software/Embedded_SW/Embedded/Drivers/flash_ram/MCU_E2Prom.h
@@ -47,6 +47,13 @@ typedef enum {
     EEPROM_PRESSURE_SENSOR_V0_0,
     EEPROM_PRESSURE_SENSOR_V0_1,
     EEPROM_DRIER_LOADING_ARM_ANGLE,
+    EEPROM_BTSR_FEEDING_TENSION,
+    EEPROM_BTSR_EXIT_TENSION,
+    EEPROM_BTSR_TYPE,
+    EEPROM_BTSR_APPLICATION,
+    EEPROM_BTSR_TENSION_ERROR,
+    EEPROM_BTSR_LENGTH_OFFSET,
+    EEPROM_BTSR_SPOOL_TENSION,
     MAX_EEPROM_STORAGE
 }EEPROM_STORAGE_USAGE_ENUM;
 #define MAX_SERIAL_NUM_LEN 5 //5*4 bytes
@@ -89,6 +96,9 @@ void MainCardEEpromReadRequestFunc(MessageContainer* requestContainer);
 uint32_t MCU_E2PromEmbeddedVersionProgram(void);
 uint32_t MCU_E2PromEmbeddedVersionRead();
 
+uint32_t BtsrReadParamsFromEeprom(void *);
+uint32_t BtsrSaveParamsToEeprom(void *);
+
 extern char Serial[21];
 
 
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 9c647e847..5d7def1d6 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -117,6 +117,8 @@
 //*****************************************************************************
 static volatile uint32_t g_ui32SysTickCount = 0;
 
+unsigned char Brd_ID = 0, Assy_ID = 0;
+
 // Flags used to pass commands from interrupt context to the main loop.
 static volatile uint32_t g_ui32Flags;
 
@@ -238,7 +240,7 @@ int main(void)
 {
     FRESULT Fresult = FR_OK;
     time_t time_store = 0;
-    unsigned char Brd_ID = 0, Assy_ID = 0;
+
     // Enable interrupts to the processor.
     //
     ROM_IntMasterDisable();
@@ -314,6 +316,7 @@ int main(void)
         HibernateCalendarSet(&LocalTime);
     }
     OpenLogFile();
+#ifndef EVALUATION_BOARD
     Data = MCU_E2PromEmbeddedVersionRead();
     memcpy (&Version,&Data,4);
     i = memcmp(&Version,&_gTangoVersion,4);
@@ -325,7 +328,7 @@ int main(void)
         MCU_E2PromProgram(EEPROM_INIT_FAILURE_COUNTER,0);
     }
     MCU_E2PromRead(EEPROM_INIT_FAILURE_COUNTER,&InitFailures);
-
+#endif
    Init_All_I2C();
 #ifndef EVALUATION_BOARD
    Block_Main_MUX_TCA9548A_0xE4();//unused, same i2c as head and whs cards
@@ -356,21 +359,6 @@ int main(void)
 
    I2C_DispRFIDTask_Init();//I2C Task for dispensers & RFID
 
-
-   Read_HW_Version(&Brd_ID, &Assy_ID);
-
-
-#ifdef USE_UART4_FOR_BTSR
-   if(Assy_ID > 0)
-   {
-       BTSR_Init();
-   }
-   else
-   {
-       ReportWithPackageFilter(ThreadFilter,"BTSR - ERROR: Wrong HW Version",__FILE__,__LINE__,(int)Brd_ID,RpError,(int)Assy_ID,0);
-   }
-#endif
-
     #if defined(USE_RFID_LOGIC) || defined(USE_RFID_STUB)
        //Trigger_RFID_Init();  //Init_IFS();//must be done after FPGA_Init
        Init_IFS();
@@ -408,9 +396,26 @@ int main(void)
         Trigger_RS485_Direction_Init();//init i/o
     }
 
-    #ifdef USE_UART4_FOR_BTSR
-        InitConsole_BTSR_UART4(ui32SysClock);
-    #endif
+    Read_HW_Version(&Brd_ID, &Assy_ID);
+
+    if(Assy_ID > 4)//Bit2 = 1 for BTSR
+     {
+         InitConsole_BTSR_UART4(ui32SysClock);
+
+         #ifdef USE_UART4_FOR_BTSR
+             BTSR_Init();
+         #endif
+     }
+     else
+     {
+         #ifdef FORCE_BTSR_CARD_0023
+             InitConsole_BTSR_UART4(ui32SysClock);
+             BTSR_Init();
+         #endif
+
+         ReportWithPackageFilter(ThreadFilter,"HW does NOT support BTSR",__FILE__,__LINE__,(int)Brd_ID,RpError,(int)Assy_ID,0);
+     }
+
 	//EMAC_initEMAC();
     ControlInit();
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index c5fffff60..f9401c248 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -618,7 +618,7 @@ uint16_t realtimetest[101];
 uint16_t dbgflag[50];
 uint32_t dbttime[50];
 bool Ten_msTick, Fifty_msTick, Hundred_msTick , m20msecTick,m90msecTick, Onesecond_Tick,Tensecond_Tick,OneMinute_Tick,TenMinutes_Tick,OneHourTick,Gradient_Tick;
-bool O700Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick,O800Millisecond_Tick;
+bool O700Millisecond_Tick,O200Millisecond_Tick,O400Millisecond_Tick,O500Millisecond_Tick,O600Millisecond_Tick,O800Millisecond_Tick,m50msecTick;
 
 uint32_t MillisecLowLoop(uint32_t tick)
 {
@@ -636,7 +636,7 @@ uint32_t MillisecLowLoop(uint32_t tick)
     Fifty_msTick      =   (tick%eHundredMillisecond == 40)      ?true:false; //eFiftyMillisecond
     Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
     m20msecTick  =   (tick%eHundredMillisecond == 20)  ?true:false;
-    //m70msecTick  =   (tick%eHundredMillisecond == 70)  ?true:false;
+    m50msecTick  =   (tick%50== 0)  ?true:false;
     m90msecTick  =   (tick%eHundredMillisecond == 90)  ?true:false;
     O700Millisecond_Tick  =   (tick%eOneSecond == 700)           ?true:false;
     O200Millisecond_Tick  =   (tick%eOneSecond == 200)           ?true:false;
@@ -672,6 +672,14 @@ uint32_t MillisecLowLoop(uint32_t tick)
         dbgflag[2]++;
         dbttime[2] = msec_millisecondCounter;
         Read_Dryer_ENC_Position();
+        dbgflag[3]++;
+    }
+    if (m50msecTick) //50 milli
+    {
+#ifdef USE_UART4_FOR_BTSR
+        //call every 50mSec
+        BTSR_State_Machine(RUFeeder1);
+#endif
     }
     if (m20msecTick)
     {
@@ -682,11 +690,6 @@ uint32_t MillisecLowLoop(uint32_t tick)
         WHS_Read_GPI_Registers();
         Trigger_PT100_Read();//call every 50mSec (minimum delay 30mSec)
         //Set_HeadCard_PT100();//call every 50mSec (minimum delay 30mSec)
-
-        #ifdef USE_UART4_FOR_BTSR
-            //call every 50mSec
-            BTSR_State_Machine(RUFeeder1);
-        #endif
     }
     if (m90msecTick)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 19507775e..eb5f12136 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -859,6 +859,11 @@ bool AdjustDispenserSpeedToPressure(int DispenserId, double RefMaxPressure,doubl
     TargetNumberOfStepsPreRun = InitialDispenserTimeout;
     MaximalPressurePreRun = InitialDispenserPressure;
 
+    if(Head_Type == HEAD_TYPE_ARC)
+    {
+        MotorMovetoLimitSwitch(HARDWARE_MOTOR_TYPE__MOTO_DH_LID,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_LID].directionthreadwize, 30,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID], NULL,30000);
+    }
+
     for (Motor_i = 0;Motor_i < MAX_SYSTEM_DISPENSERS;Motor_i++)
     {
         TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[Motor_i];
@@ -1376,8 +1381,8 @@ uint32_t IDSCheckSegmentData(void *SegmentDetails, int SegmentId)
             //for (Brush_i=JobBrushStopId;Brush_i<PrevSegment->brushstopscount;Brush_i++) #bug 3348 - unhandled jobstops stops too soon
             for (Brush_i=JobBrushStopId;Brush_i<PrevSegment->brushstopscount;Brush_i++)
             {
-                if (status == ERROR)
-                    break;
+                //if (status == ERROR)
+                //    break;
                 tFileBrushStop = GetNextBrushStopFromJobFile();
                 if (tFileBrushStop)
                 {
diff --git a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
index 2c67a623b..5b0cf9cb7 100644
--- a/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
+++ b/Software/Embedded_SW/Embedded/Modules/IFS/ifs.c
@@ -49,7 +49,7 @@ double MidTankEmptyLimit = MidTank_Pressure_EMPTY;
 MidTankStateEnum midTankState = 0;
 
 char CartridgeRequestToken[36+1];
-int  CartridgeRequestId = 0x01010101;
+int  CartridgeRequestId = 0x31313131;
 
 bool RdInkCartridgeSensor()
 {
@@ -199,7 +199,7 @@ uint32_t ReadInkCartridgeData()
     CartridgeValidationRequest ValidationReq = CARTRIDGE_VALIDATION_REQUEST__INIT;
     Cartridge CartridgeData;
 
-    strcpy(CartridgeRequestToken,"Happy days are coming to us, soon");
+    strcpy(CartridgeRequestToken,"Happy days are coming to us, soonXXX");
     memcpy(&CartridgeRequestToken[32],&CartridgeRequestId,sizeof(CartridgeRequestId));
     CartridgeRequestId++;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index ffbb504db..2b1e52134 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -320,8 +320,21 @@
                 {
                     TimeoutsCounter = 0;
                     load.color = fastBILNK;
-                    usnprintf(LoadErrorMsg, 100, "/Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]);
-                    Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
+                    if (LoadStages == THREAD_LOAD_INITIAL_TENSION)
+                    {
+                        usnprintf(LoadErrorMsg, 100, "/Stage %s - no cone in winder!!",LoadStagesStr[LoadStages]);
+                        Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
+                    }
+                    else if (LoadStages == THREAD_LOAD_JOG_THREAD)
+                    {
+                        usnprintf(LoadErrorMsg, 100, "/Stage %s - Dryer door is open!!",LoadStagesStr[LoadStages]);
+                        Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
+                    }
+                    else
+                    {
+                        usnprintf(LoadErrorMsg, 100, "/Stage %s - %s timeout",LoadStagesStr[LoadStages], MotorStr[MotorId]);
+                        Report(LoadErrorMsg,__FILE__,__LINE__,LoadStages,RpWarning,TimeoutsCounter,0);
+                    }
 
                     LoadStatus = ERROR;
                     ThreadLoadingReport();
@@ -447,13 +460,13 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Initial_Tension");
         load.color = BLINK;
+        CallbackCounter++;
         if (FPGA_Read_limit_Switches(GPI_SW_SPOOL_EXISTS)==LIMIT)
         {
             REPORT_MSG(LIMIT, "No cone in winder");
             Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_WINDER,NO_LIMIT);
             //return ERROR;
         }
-        CallbackCounter++;
         MotorMovetoBreakSensor (HARDWARE_MOTOR_TYPE__MOTO_WINDER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].directionthreadwize, 500,  Thread_Load_HomingCallback,10000);
 
         return OK;
@@ -805,6 +818,13 @@
     //Jog Thread Shortly To Make Sure Spool Is Running. Report End Of Loading
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step Thread_Load_Jog_Thread");
+        if (Get_COVER_1_State(DryerDoor))
+        {
+            CallbackCounter++;
+            REPORT_MSG(LIMIT, "Dryer door open");
+            Thread_Load_HomingCallback(HARDWARE_MOTOR_TYPE__MOTO_WINDER,NO_LIMIT);
+            return ERROR;
+        }
         keepfeedertension = feedertension;
         ProcessParametersKeep.feedertension = 0.0;
         ThreadJoggingFunc(20);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 87ad612ba..697f1bd5d 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -36,7 +36,7 @@
 #include "Modules/AlarmHandling/AlarmHandling.h"
 #include "Control/MillisecTask.h"
 #include "drivers/Flash_ram/MCU_E2Prom.h"
-
+#include "Drivers/Uart_Comm/BTSR/BTSR.h"
 #include "drivers/SSI_Comm/SSI_Comm.h"
 
 ////////////////////////////////State machine operation////////////////////////////////////
@@ -79,6 +79,7 @@ double LengthCalculationMultiplier;
 uint32_t PoolerPreviousPosition = 0, PoolerCurrentPosition = 0;
 double PoolerTotalProcessedLength = 0.0;
 double PoolerLengthCalculationMultiplier;
+double threadlengthfactor = 1.0;
 
 double TempPoolerTotalProcessedLength = 0.0;
 double TempTotalProcessedLength = 0.0;
@@ -109,6 +110,7 @@ void SendSegmentFail(void);
 
 double KeepNormalizedError = 0;
 bool ThreadControlActive = false;
+extern BTSR_t BTSR[MaxUFeeders];
 ////////////////////////Slow Motor State////////////////////////////////////
 //uint32_t ThreadPreSegmentState(void *JobDetails);
 
@@ -337,9 +339,13 @@ uint32_t PoolerThreadLengthCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         }**/
 
     //}
-#ifdef BTSR_NO_PULLER_TFU
-        if (CurrentControlledSpeed[WINDER_MOTOR]>100)
-            length = dyeingspeed/10;
+#ifdef UFEEDER_BTSR
+        length = BTSR[RUFeeder1].LengthInMeter * threadlengthfactor;
+#else
+    #ifdef BTSR_NO_PULLER_TFU
+            if (CurrentControlledSpeed[WINDER_MOTOR]>100)
+                length = dyeingspeed/10;
+    #endif
 #endif
     PoolerTotalProcessedLength+= (length/100);
     TempPoolerTotalProcessedLength = PoolerTotalProcessedLength;
@@ -1080,6 +1086,16 @@ uint32_t ThreadPrepareState(void *JobDetails)
     initialpos = 0xFFFF;
     Poolerinitialpos = 0xFFFF;
     PrepareState = true;
+
+#ifdef UFEEDER_BTSR
+    int application = JobTicket->btsrparameters->btsrapplicationtype;
+    int type = JobTicket->btsrparameters->btsryarntype;
+    uint16_t tension = (uint16_t)(JobTicket->btsrparameters->feedingtension*10);
+    uint16_t tension_err = (uint16_t)(JobTicket->btsrparameters->tensionerror*10);
+    uint16_t alarm_time = 5; //no parameter
+    threadlengthfactor = JobTicket->btsrparameters->threadlengthfactor;
+#endif
+
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_BREAK,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_PULLER_DANCER,false);
     AlarmHandlingSetAlarm(EVENT_TYPE__THREAD_TENSION_CONTROL_FAILURE_FEEDER_DANCER,false);
@@ -1097,8 +1113,18 @@ uint32_t ThreadPrepareState(void *JobDetails)
     IntersegmentLength = JobTicket->intersegmentlength;
 
     PrepareWaitCount = 0;
+
+#ifdef UFEEDER_BTSR
+    status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, JobTicket->btsrparameters->exittension);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpWarning,(int)JobTicket->btsrparameters->exittension,0);
+    BTSR_RML_Settings(RUFeeder1, application, type, tension, tension_err, alarm_time);
+    BTSR_Reset_Length(RUFeeder1, HIGHEST);
+    BTSR_Read_Length(RUFeeder1, HIGHEST);
+    ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension BTSR",__FILE__,application,type,RpError,tension,tension_err);
+#else
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__LeftDancer, windertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Winder",__FILE__,HARDWARE_DANCER_TYPE__LeftDancer,PrepareWaitCount,RpWarning,(int)windertension,0);
+#endif
 #ifndef BTSR_NO_PULLER_TFU
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__MiddleDancer, pullertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Puller",__FILE__,HARDWARE_DANCER_TYPE__MiddleDancer,PrepareWaitCount,RpWarning,(int)pullertension,0);
@@ -1107,6 +1133,7 @@ uint32_t ThreadPrepareState(void *JobDetails)
     status = ThreadPrepare_Tension (HARDWARE_DANCER_TYPE__RightDancer, feedertension);
     ReportWithPackageFilter(ThreadFilter,"ThreadPrepare_Tension Feeder",__FILE__,HARDWARE_DANCER_TYPE__RightDancer,PrepareWaitCount,RpWarning,(int)feedertension,0);
 #endif
+
     FirstCalcInJob = true;
     if(MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].speedmaster == false)
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
index 0da78dc9c..06dac8fdc 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
@@ -213,21 +213,26 @@ uint32_t InitSequenceMidTankCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag
         Disable_MidTank_Pressure_Reading(portId);
         Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_OFF );   //Atm_MidTank_OFF/ON
         //Control3WayValvesWithCallback ((Valves_t)portId, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-
     }
     else if (MidTankOperationCounter >= MidTankReadPressure)
     {
         //read pressure for midtank (MidTankOperationCounter-MidTankCloseAir)
         portId = MidTankOperationCounter%MAX_SYSTEM_DISPENSERS;
-        Read_MidTank_Pressure_Sensor(portId);
+        if((IfIndex==0)||(Get_MidTank_Pressure_Sensor(portId)<0.5))
+        {
+            Read_MidTank_Pressure_Sensor(portId);
+        }
     }
     else if (MidTankOperationCounter >= MidTankOpenAir)
     {
         //open air valve for midtank (MidTankOperationCounter-MidTankOpenAir)
         portId = (MidTankOperationCounter - MidTankOpenAir) ; //0-7
-        Enable_MidTank_Pressure_Reading(portId);
-        Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
-        Control3WayValvesWithCallback ((Valves_t)portId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+        if((IfIndex==0)||(Get_MidTank_Pressure_Sensor(portId)<0.5))
+        {
+            Enable_MidTank_Pressure_Reading(portId);
+            Valve_Set(IDS_Id_to_AirValve[portId], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
+            Control3WayValvesWithCallback ((Valves_t)portId, Dispenser_Mixer, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+        }
     }
     MidTankOperationCounter++;
     return OK;
@@ -544,6 +549,8 @@ uint32_t InitSequenceWaitForCoolerCallBackFunction(uint32_t IfIndex, uint32_t Bu
     }
     else
         Report("InitSequenceWaitForCoolerCallBackFunction called too late",__FILE__,__LINE__,(int)InitStages,RpWarning,(int)MachineStateDetail,0);
+    MidTankControlId = AddControlCallback("Init Midtank", InitSequenceMidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,1,0, 0 );
+
     return OK;
 }
 uint32_t InitSequenceWaitForCooler(void)
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
index 17166a095..4ab177244 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
@@ -115,7 +115,7 @@ void PowerIdleSetIdle(void)
     if (HandleProcessParameters(&ProcessParametersClear,false)!= OK)
     {
         LOG_ERROR (1, "Turn Heaters idle failed");
-        return;
+        //return;
     }
     if (BlowerCfg.enabled == true)
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index bbb75328b..9f5151117 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -81,7 +81,7 @@
 #include "modules/ids/ids_ex.h"
 #include "Modules/heaters/heaters_ex.h"
 #include "Modules/control/control.h"
-
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 
 #define MAX_TICKET_SIZE  10000
 
@@ -106,6 +106,7 @@ JobBrushStop *TbrushStop;
 JobDispenser *Tdispenser;
 JobSpool *Tspool;
 HeadCleaningParameters *CleaningParameters = NULL;
+BTSRParameters *BtsrPrameters = NULL;
 bool CopyConfigured[MAX_SYSTEM_MODULES];
 bool CleaningJobActive = false, JoggingJobActive = false;
 char ErrorMsg[100];
@@ -134,7 +135,6 @@ static ReturnCode ExitState(void *JobDetails);
 void AbortJob(char *Msg);
 void HandleJobEnd(JobEndReasonEnum JobEndReason);
 
-
 typedef enum
 {
     Idle= 0,
@@ -483,6 +483,9 @@ uint32_t ThreadJoggingFunc(int speed)
         Tspool->has_limitswitchstartpointoffset = false;
         Ticket.spool = Tspool;
         Ticket.threadparameters = &SavedThreadParameters;
+#ifdef UFEEDER_BTSR
+        BtsrReadParamsFromEeprom(Ticket.btsrparameters);
+#endif
         CurrentJob = &Ticket;
         InternalWindingConfigMessage(Tspool);
         JoggingJobActive = true;
@@ -681,6 +684,9 @@ uint32_t ThreadCleaningJob(int speed)
                 Tspool->has_limitswitchstartpointoffset = false;
                 Ticket.spool = Tspool;
                 Ticket.threadparameters = &SavedThreadParameters;
+#ifdef UFEEDER_BTSR
+                BtsrReadParamsFromEeprom(Ticket.btsrparameters);
+#endif
                 CurrentJob = &Ticket;
                 job_length = CurrentJob->length + dryerbufferMeters;
 
@@ -923,7 +929,7 @@ void Stub_AbortJobRequest(MessageContainer* requestContainer)
 //********************************************************************************************************************
 void JobRequestFunc(MessageContainer* requestContainer)
 {
-    uint32_t status = NOT_SUPPORTED;
+    uint32_t rc, status = NOT_SUPPORTED;
     MessageContainer responseContainer;
     uint8_t* container_buffer;
     ErrorCode error = ERROR_CODE__NONE;
@@ -1029,7 +1035,16 @@ void JobRequestFunc(MessageContainer* requestContainer)
                         Report("Save job cleaning parameters", __FILE__, __LINE__, CleaningParameters->cleanerflow, RpWarning, CleaningParameters->archeadcleaningmotorspeed, 0);
 
                     }
+                    if (Ticket->btsrparameters)
+                    {
+                        ///store last updated BTSR parameters
+                        if (BtsrPrameters == NULL)
+                            BtsrPrameters = my_malloc(sizeof(BTSRParameters));
+                        memcpy(BtsrPrameters, Ticket->btsrparameters, sizeof(BTSRParameters));
+                        rc = BtsrSaveParamsToEeprom(BtsrPrameters);
+                        Report("Save job BTSR parameters", __FILE__, __LINE__, BtsrPrameters->feedingtension, RpWarning, rc, 0);
 
+                    }
                 }
                 else
                 {