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

21 files changed, 52 insertions, 498 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Common/ErrorCode.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Common/ErrorCode.pb-c.h
index 3cc7f6972..c0832f817 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Common/ErrorCode.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Common/ErrorCode.pb-c.h
@@ -20,9 +20,6 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _ErrorCode {
-  /*
-   *General (Needs to be organized)
-   */
   ERROR_CODE__NONE = 0,
   ERROR_CODE__GENERAL_ERROR = 1,
   ERROR_CODE__BAD_CRC = 2,
@@ -35,9 +32,6 @@ typedef enum _ErrorCode {
    */
   ERROR_CODE__UNAUTHORIZED_CONNECTION = 4,
   /*
-   *IO
-   */
-  /*
    *Returned by FileChunkUploadResponse when the UploadID was not set by FileUploadRequest. Or returned by ExecuteProcessResponse when the UploadID does not exist or has not been completed.
    */
   ERROR_CODE__INVALID_UPLOAD_ID = 1000,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.h
index 25356ff24..af9d5a8a6 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.h
@@ -20,17 +20,8 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _MessageType {
-  /*
-   *The first enumeration value must be zero so..
-   */
   MESSAGE_TYPE__None = 0,
-  /*
-   *Common
-   */
   MESSAGE_TYPE__ErrorResponse = 1,
-  /*
-   *Stubs
-   */
   MESSAGE_TYPE__CalculateRequest = 3,
   MESSAGE_TYPE__CalculateResponse = 4,
   MESSAGE_TYPE__ProgressRequest = 5,
@@ -123,9 +114,6 @@ typedef enum _MessageType {
   MESSAGE_TYPE__StubI2CReadBytesResponse = 92,
   MESSAGE_TYPE__StubI2CWriteBytesRequest = 93,
   MESSAGE_TYPE__StubI2CWriteBytesResponse = 94,
-  /*
-   *Integration
-   */
   MESSAGE_TYPE__ExternalBridgeUdpDiscoveryPacket = 1000,
   MESSAGE_TYPE__ExternalClientLoginRequest = 1001,
   MESSAGE_TYPE__ExternalClientLoginResponse = 1002,
@@ -133,9 +121,6 @@ typedef enum _MessageType {
   MESSAGE_TYPE__DirectSynchronizationResponse = 1004,
   MESSAGE_TYPE__OverrideDataBaseRequest = 1005,
   MESSAGE_TYPE__OverrideDataBaseResponse = 1006,
-  /*
-   *Diagnostics
-   */
   MESSAGE_TYPE__StartDiagnosticsRequest = 2000,
   MESSAGE_TYPE__StartDiagnosticsResponse = 2001,
   MESSAGE_TYPE__MotorAbortHomingRequest = 2002,
@@ -166,41 +151,26 @@ typedef enum _MessageType {
   MESSAGE_TYPE__ResolveEventResponse = 2027,
   MESSAGE_TYPE__StopDiagnosticsRequest = 2028,
   MESSAGE_TYPE__StopDiagnosticsResponse = 2029,
-  /*
-   *Printing
-   */
   MESSAGE_TYPE__JobRequest = 3000,
   MESSAGE_TYPE__JobResponse = 3001,
   MESSAGE_TYPE__AbortJobRequest = 3002,
   MESSAGE_TYPE__AbortJobResponse = 3003,
   MESSAGE_TYPE__UploadProcessParametersRequest = 3004,
   MESSAGE_TYPE__UploadProcessParametersResponse = 3005,
-  /*
-   *Debugging
-   */
   MESSAGE_TYPE__StartDebugLogRequest = 4000,
   MESSAGE_TYPE__StartDebugLogResponse = 4001,
   MESSAGE_TYPE__StopDebugLogRequest = 4002,
   MESSAGE_TYPE__StopDebugLogResponse = 4003,
-  /*
-   *Hardware
-   */
   MESSAGE_TYPE__UploadHardwareConfigurationRequest = 5000,
   MESSAGE_TYPE__UploadHardwareConfigurationResponse = 5001,
   MESSAGE_TYPE__SystemResetRequest = 5002,
   MESSAGE_TYPE__SystemResetResponse = 5003,
-  /*
-   *Connection
-   */
   MESSAGE_TYPE__KeepAliveRequest = 6000,
   MESSAGE_TYPE__KeepAliveResponse = 6001,
   MESSAGE_TYPE__ConnectRequest = 6002,
   MESSAGE_TYPE__ConnectResponse = 6003,
   MESSAGE_TYPE__DisconnectRequest = 6004,
   MESSAGE_TYPE__DisconnectResponse = 6005,
-  /*
-   *IO
-   */
   MESSAGE_TYPE__FileUploadRequest = 7000,
   MESSAGE_TYPE__FileUploadResponse = 7001,
   MESSAGE_TYPE__FileChunkUploadRequest = 7002,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h
index 552e9b82a..eb30b2cd2 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h
@@ -27,199 +27,82 @@ typedef struct _DiagnosticsMonitors DiagnosticsMonitors;
 struct  _DiagnosticsMonitors
 {
   ProtobufCMessage base;
-  /*
-   *Dancer 1 (Min = 0, Max = 255, PPF = 10)
-   */
   size_t n_dancer1angle;
   double *dancer1angle;
-  /*
-   *Dancer 2 (Min = 0, Max = 1200, PPF = 1)
-   */
   size_t n_dancer2angle;
   double *dancer2angle;
-  /*
-   *Dancer 3 (Min = 0, Max = 1200, PPF = 1)
-   */
   size_t n_dancer3angle;
   double *dancer3angle;
-  /*
-   *Feeder Motor (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_feedermotorfrequency;
   double *feedermotorfrequency;
-  /*
-   *Dryer Motor (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_dryermotor;
   double *dryermotor;
-  /*
-   *Poller Motor (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_pollermotor;
   double *pollermotor;
-  /*
-   *Winder Motor (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_windermotor;
   double *windermotor;
-  /*
-   *Screw Motor (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_screwmotor;
   double *screwmotor;
-  /*
-   *Thread Speed (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_threadspeed;
   double *threadspeed;
-  /*
-   *Mixer (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_mixertemperature;
   double *mixertemperature;
-  /*
-   *Head Zone 1 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_headzone1temperature;
   double *headzone1temperature;
-  /*
-   *Head Zone 2 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_headzone2temperature;
   double *headzone2temperature;
-  /*
-   *Head Zone 3 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_headzone3temperature;
   double *headzone3temperature;
-  /*
-   *Head Air Flow (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_headairflow;
   double *headairflow;
-  /*
-   *Feeder Tension (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_feedertension;
   double *feedertension;
-  /*
-   *Puller Tension (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_pullertension;
   double *pullertension;
-  /*
-   *Dryer Zone 1 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_dryerzone1temperature;
   double *dryerzone1temperature;
-  /*
-   *Dryer Zone 2 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_dryerzone2temperature;
   double *dryerzone2temperature;
-  /*
-   *Dryer Zone 3 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_dryerzone3temperature;
   double *dryerzone3temperature;
-  /*
-   *Dryer Air Flow (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_dryerairflow;
   double *dryerairflow;
-  /*
-   *Winder Tension (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_windertension;
   double *windertension;
-  /*
-   *Dispensers Motors (Min = 0, Max = 1080, PPF = 10) Channel Count = 8
-   */
   size_t n_dispensersmotorsfrequency;
   DoubleArray **dispensersmotorsfrequency;
-  /*
-   *Dispensers Angular Encoders (Min = 0, Max = 100, PPF = 1) Channel Count = 8
-   */
   size_t n_dispensersangularencoders;
   DoubleArray **dispensersangularencoders;
-  /*
-   *Dispensers Linear Positions (Min = 0, Max = 100, PPF = 1) Channel Count = 8
-   */
   size_t n_dispenserslinearpositions;
   DoubleArray **dispenserslinearpositions;
-  /*
-   *Dispensers Pressure (Min = 0, Max = 100, PPF = 1) Channel Count = 8
-   */
   size_t n_dispenserspressure;
   DoubleArray **dispenserspressure;
-  /*
-   *Mid Tank Pressure (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_midtankpressure;
   double *midtankpressure;
-  /*
-   *Filter Delta Pressure (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_filterdeltapressure;
   double *filterdeltapressure;
-  /*
-   *Chiller Temperature (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_chillertemperature;
   double *chillertemperature;
-  /*
-   *Dispenser 1 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser1motorfrequency;
   double *dispenser1motorfrequency;
-  /*
-   *Dispenser 2 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser2motorfrequency;
   double *dispenser2motorfrequency;
-  /*
-   *Dispenser 3 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser3motorfrequency;
   double *dispenser3motorfrequency;
-  /*
-   *Dispenser 4 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser4motorfrequency;
   double *dispenser4motorfrequency;
-  /*
-   *Dispenser 5 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser5motorfrequency;
   double *dispenser5motorfrequency;
-  /*
-   *Dispenser 6 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser6motorfrequency;
   double *dispenser6motorfrequency;
-  /*
-   *Dispenser 7 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser7motorfrequency;
   double *dispenser7motorfrequency;
-  /*
-   *Dispenser 8 Motor Frequency (Min = 0, Max = 1080, PPF = 10)
-   */
   size_t n_dispenser8motorfrequency;
   double *dispenser8motorfrequency;
-  /*
-   *Head Zone 4 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_headzone4temperature;
   double *headzone4temperature;
-  /*
-   *Head Zone 5 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_headzone5temperature;
   double *headzone5temperature;
-  /*
-   *Head Zone 6 (Min = 0, Max = 100, PPF = 1)
-   */
   size_t n_headzone6temperature;
   double *headzone6temperature;
 };
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h
index 05cd19d3a..981dd500e 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/EventType.pb-c.h
@@ -20,157 +20,43 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _EventType {
-  /*
-   *Dancer overshot / Thread break sensor (Group = Thread Feeding System, Category = Error, Actions = Abort Running Job, Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__ThreadBreak = 0,
-  /*
-   *Dancer not stable or got down (Group = Thread Feeding System, Category = Error, Actions = Abort Running Job, Soft Visual Notification, Prevent Job Execution)
-   */
   EVENT_TYPE__ThreadTensionControlFailure = 1,
-  /*
-   *Source thread counter (counter shall be reset upon loading a new cone) (Group = Thread Feeding System, Category = Error, Actions = Abort Running Job, Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__FeederConeInsufficiant = 2,
-  /*
-   *Winder Controller (Group = Thread Feeding System, Category = Error, Actions = Abort Running Job, Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__WinderGeneralError = 3,
-  /*
-   *SW_SPOOL_EXISTS='0' or Winder Controller (Group = Thread Feeding System, Category = Error, Actions = Abort Running Job, Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__WinderConeNotExists = 4,
-  /*
-   *Motor Stall (Group = Thread Feeding System, Category = Error, Actions = Abort Running Job, Soft Visual Notification, Prevent Job Execution)
-   */
   EVENT_TYPE__ThreadFeedingGeneralError = 5,
-  /*
-   *Dyeing Head Thermometers (Group = DH Dryer, Category = Error, Actions = Abort Running Job, Soft Visual Notification, Prevent Job Execution)
-   */
   EVENT_TYPE__DyeingHeadOverTemperature = 6,
-  /*
-   *Current sense in all heaters is 0 (Group = DH Dryer, Category = Error, Actions = Abort Running Job, Soft Visual Notification, Prevent Job Execution)
-   */
   EVENT_TYPE__DHThermalCutoff = 7,
-  /*
-   *Dryer Thermometers (Group = DH Dryer, Category = Error, Actions = Prevent Job Execution, Abort Running Job, Soft Visual Notification)
-   */
   EVENT_TYPE__DryerOverTemperature = 8,
-  /*
-   *Current sense in all heaters is 0 (Group = DH Dryer, Category = Error, Actions = Abort Running Job, Soft Visual Notification, Prevent Job Execution)
-   */
   EVENT_TYPE__DryerThermalCutoff = 9,
-  /*
-   *Dyeing head Heaters failure (Under /Over current) (Group = DH Dryer, Category = Error, Actions = Soft Visual Notification, Prevent Job Execution, Abort Running Job)
-   */
   EVENT_TYPE__DyeingHeadHeatersCurrentOutOfRange = 10,
-  /*
-   *Dryer Heaters failure (Under /Over current) (Group = DH Dryer, Category = Error, Actions = Abort Running Job, Soft Visual Notification, Prevent Job Execution)
-   */
   EVENT_TYPE__DryerHeatersCurrentOutOfRange = 11,
-  /*
-   *Covers Tampers (Group = DH Dryer, Category = Error, Actions = Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__DryerDHeadCoverOpen = 12,
-  /*
-   *Pressure sensor Purex or Air flow sensor (Flap) (Group = Waste Handling System, Category = Error, Actions = Abort Running Job, Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__AirFilterClogged = 13,
-  /*
-   *Micro-switch (Group = Waste Handling System, Category = Error, Actions = Abort Running Job, Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__AirFilterNotInstalled = 14,
-  /*
-   *blower techo. Feedback, air flap (Group = Waste Handling System, Category = Error, Actions = Prevent Job Execution, Soft Visual Notification, Abort Running Job)
-   */
   EVENT_TYPE__WHSFailure = 15,
-  /*
-   *Check container float sensor (Group = Waste Handling System, Category = Warning, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__WasteContainerIsAlmostFull = 16,
-  /*
-   *Check container float sensor (Group = Waste Handling System, Category = Error, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__WasteContainerIsFull = 17,
-  /*
-   *Dispenser position sensor/s (Group = Ink Delivery System, Category = Error, Actions = Prevent Job Execution, Abort Running Job, Soft Visual Notification)
-   */
   EVENT_TYPE__DispenserEmpty = 18,
-  /*
-   *Check if job can be executor refill needed (Group = Ink Delivery System, Category = Warning, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__DispenserLowLevel = 19,
-  /*
-   *Cartridge float displacement (Group = Ink Delivery System, Category = Error, Actions = Prevent Job Execution, Soft Visual Notification)
-   */
   EVENT_TYPE__DispenserRefillFailure = 20,
-  /*
-   *Mid-Tank  (Group = Ink Delivery System, Category = Warning, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__MidTankEmpty = 21,
-  /*
-   *Cartridge float sensor (Group = Ink Delivery System, Category = Warning, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__MidTankLowLevel = 22,
-  /*
-   *Cartridge float sensor or Additional micro-switch (Group = Ink Delivery System, Category = Warning, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__MidTankNotInPlace = 23,
-  /*
-   *System BIT Failure (Group = General Hardware, Category = Error, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__SystemBITFail = 24,
-  /*
-   *Internal Thermostat (Group = General Hardware, Category = Error, Actions = Prevent Job Execution, Soft Visual Notification, Abort Running Job, Stop Heaters)
-   */
   EVENT_TYPE__GeneralInternalOverTemperature = 25,
-  /*
-   *Covers Tampers (Group = General Hardware, Category = Warning, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__MachineCoverOpen = 26,
-  /*
-   *EPB (Group = General Hardware, Category = Critical, Actions = Overall Power Down, Soft Visual Notification)
-   */
   EVENT_TYPE__EmergencyPushButtonPressed = 27,
-  /*
-   *System General Error (Group = General Hardware, Category = Warning, Actions = Soft Visual Notification)
-   */
   EVENT_TYPE__SystemGeneralError = 28,
-  /*
-   *Occurs a request has been sent to the machine or external bridge service (Group = Transport, Category = Info, Actions = )
-   */
   EVENT_TYPE__RequestSent = 29,
-  /*
-   *Occures when a response has been received (Group = Transport, Category = Info, Actions = )
-   */
   EVENT_TYPE__ResponseReceived = 30,
-  /*
-   *Occures when a request to the machine has failed (Group = Transport, Category = Error, Actions = )
-   */
   EVENT_TYPE__RequestFailed = 31,
-  /*
-   *Occures when the application has encountered some error (Group = Application, Category = Error, Actions = )
-   */
   EVENT_TYPE__ApplicationException = 32,
-  /*
-   *General application event logs (Group = Application, Category = Info, Actions = )
-   */
   EVENT_TYPE__ApplicationInformation = 33,
-  /*
-   *Notifies about application succesfully started (Group = Application, Category = Info, Actions = )
-   */
   EVENT_TYPE__ApplicationStarted = 34,
-  /*
-   *Notifies about application termination (Group = Application, Category = Info, Actions = )
-   */
   EVENT_TYPE__ApplicationTerminated = 35,
-  /*
-   *Occures when a diagnostics recording has been started (Group = Application, Category = Info, Actions = )
-   */
   EVENT_TYPE__RecordingStarted = 36,
-  /*
-   *Occures when a diagnostics recording has been stopped (Group = Application, Category = Info, Actions = )
-   */
   EVENT_TYPE__RecordingStopped = 37
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(EVENT_TYPE)
 } EventType;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/StartDiagnosticsResponse.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/StartDiagnosticsResponse.pb-c.h
index d3967ca49..ca559d62b 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/StartDiagnosticsResponse.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/StartDiagnosticsResponse.pb-c.h
@@ -30,23 +30,11 @@ typedef struct _StartDiagnosticsResponse StartDiagnosticsResponse;
 struct  _StartDiagnosticsResponse
 {
   ProtobufCMessage base;
-  /*
-   *Monitors
-   */
   DiagnosticsMonitors *monitors;
-  /*
-   *Digital Pins States
-   */
   size_t n_digitalpins;
   DigitalPin **digitalpins;
-  /*
-   *Value Components Effective Values
-   */
   size_t n_componentsstates;
   ValueComponentState **componentsstates;
-  /*
-   *Hardware Errors & Warnings
-   */
   size_t n_events;
   Event **events;
 };
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/ValueComponent.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/ValueComponent.pb-c.h
index 1e60dac27..013c5f7a0 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/ValueComponent.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/ValueComponent.pb-c.h
@@ -20,13 +20,7 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _ValueComponent {
-  /*
-   *Heater 1 Temperature (Min = 0, Max = 100)
-   */
   VALUE_COMPONENT__Heater1Temp = 0,
-  /*
-   *Heater 2 Temperature (Min = 0, Max = 100)
-   */
   VALUE_COMPONENT__Heater2Temp = 1
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(VALUE_COMPONENT)
 } ValueComponent;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareDancerType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareDancerType.pb-c.h
index 294363d95..fed2b0108 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareDancerType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareDancerType.pb-c.h
@@ -20,17 +20,8 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _HardwareDancerType {
-  /*
-   *Left Dancer
-   */
   HARDWARE_DANCER_TYPE__LeftDancer = 0,
-  /*
-   *Middle Dancer
-   */
   HARDWARE_DANCER_TYPE__MiddleDancer = 1,
-  /*
-   *Right Dancer
-   */
   HARDWARE_DANCER_TYPE__RightDancer = 2
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(HARDWARE_DANCER_TYPE)
 } HardwareDancerType;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c
index ad64bb77c..d6f9d3347 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c
@@ -52,7 +52,7 @@ void   hardware_motor__free_unpacked
   assert(message->base.descriptor == &hardware_motor__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[24] =
+static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[25] =
 {
   {
     "HardwareMotorType",
@@ -342,12 +342,25 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[24] =
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "FsSpd",
+    25,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_INT32,
+    offsetof(HardwareMotor, has_fsspd),
+    offsetof(HardwareMotor, fsspd),
+    NULL,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned hardware_motor__field_indices_by_name[] = {
   10,   /* field[10] = ConfigWord */
   11,   /* field[11] = DirectionThreadWize */
   22,   /* field[22] = FnSlpAcc */
   23,   /* field[23] = FnSlpDec */
+  24,   /* field[24] = FsSpd */
   0,   /* field[0] = HardwareMotorType */
   6,   /* field[6] = HighLengthMicroSecond */
   21,   /* field[21] = IntSpd */
@@ -372,7 +385,7 @@ static const unsigned hardware_motor__field_indices_by_name[] = {
 static const ProtobufCIntRange hardware_motor__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 24 }
+  { 0, 25 }
 };
 const ProtobufCMessageDescriptor hardware_motor__descriptor =
 {
@@ -382,7 +395,7 @@ const ProtobufCMessageDescriptor hardware_motor__descriptor =
   "HardwareMotor",
   "",
   sizeof(HardwareMotor),
-  24,
+  25,
   hardware_motor__field_descriptors,
   hardware_motor__field_indices_by_name,
   1,  hardware_motor__number_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h
index 7194765e0..04ef5ba5c 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h
@@ -75,10 +75,12 @@ struct  _HardwareMotor
   int32_t fnslpacc;
   protobuf_c_boolean has_fnslpdec;
   int32_t fnslpdec;
+  protobuf_c_boolean has_fsspd;
+  int32_t fsspd;
 };
 #define HARDWARE_MOTOR__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&hardware_motor__descriptor) \
-    , 0, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
+    , 0, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
 
 
 /* HardwareMotor methods */
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotorType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotorType.pb-c.h
index 3352ffed6..b98139a4d 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotorType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotorType.pb-c.h
@@ -20,121 +20,34 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _HardwareMotorType {
-  /*
-   *Cleaning Head Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD = 0,
-  /*
-   *Cleaning Mechanism Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH = 1,
-  /*
-   *Dyeing Head Lid Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DH_LID = 2,
-  /*
-   *Dryer Main Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING = 3,
-  /*
-   *Drier Lid Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID = 4,
-  /*
-   *Drier Thread Loading Arm Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM = 5,
-  /*
-   *Dispenser 1 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 = 6,
-  /*
-   *Dispenser 2 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2 = 7,
-  /*
-   *Dispenser 3 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3 = 8,
-  /*
-   *Dispenser 4 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_4 = 9,
-  /*
-   *Dispenser 5 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_5 = 10,
-  /*
-   *Dispenser 6 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_6 = 11,
-  /*
-   *Dispenser 7 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_7 = 12,
-  /*
-   *Dispenser 8 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_8 = 13,
-  /*
-   *Winder Screw Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_SCREW = 14,
-  /*
-   *Winder Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_WINDER = 15,
-  /*
-   *Pooler Dancer Adjustment
-   */
   HARDWARE_MOTOR_TYPE__MOTO_LDANCER1 = 16,
-  /*
-   *Winder Dancer Adjustment #1
-   */
   HARDWARE_MOTOR_TYPE__MOTO_LDANCER2 = 17,
-  /*
-   *Pooler Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_LDRIVING = 18,
-  /*
-   *Pooler Loading Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_LLOADING = 19,
-  /*
-   *Pooler Loading Pivot Arm Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_LPIVOT1 = 20,
-  /*
-   *Feeder Dancer Adjustment Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_RDANCER = 21,
-  /*
-   *Feeder Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_RDRIVING = 22,
-  /*
-   *Right Loading Arm Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_RLOADARM = 23,
-  /*
-   *Right Loading Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_RLOADING = 24,
-  /*
-   *Spare 1 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_SPARE1_1 = 25,
-  /*
-   *Spare 2 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_SPARE1_2 = 26,
-  /*
-   *Spare 3 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_SPARE2_1 = 27,
-  /*
-   *Spare 4 Motor
-   */
   HARDWARE_MOTOR_TYPE__MOTO_SPARE2_2 = 28
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(HARDWARE_MOTOR_TYPE)
 } HardwareMotorType;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwarePidControlType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwarePidControlType.pb-c.h
index 1476965f8..70ffb26fd 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwarePidControlType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwarePidControlType.pb-c.h
@@ -20,97 +20,28 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _HardwarePidControlType {
-  /*
-   *Dryer Heater 1000w
-   */
   HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w = 0,
-  /*
-   *Dryer Heater 200w 1
-   */
   HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1 = 1,
-  /*
-   *Dryer Heater 200w 2 
-   */
   HARDWARE_PID_CONTROL_TYPE__DryerHeater200w2 = 2,
-  /*
-   *Head Heater Zone 1
-   */
   HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ1 = 3,
-  /*
-   *Head Heater Zone 2
-   */
   HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ2 = 4,
-  /*
-   *Head Heater Zone 3
-   */
   HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ3 = 5,
-  /*
-   *Head Heater Zone 4
-   */
   HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ4 = 6,
-  /*
-   *Head Heater Zone 5
-   */
   HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ5 = 7,
-  /*
-   *Head Heater Zone 6
-   */
   HARDWARE_PID_CONTROL_TYPE__HeadHeaterZ6 = 8,
-  /*
-   *Mixer Heater
-   */
   HARDWARE_PID_CONTROL_TYPE__MixerHeater = 9,
-  /*
-   *Waste Control
-   */
   HARDWARE_PID_CONTROL_TYPE__WasteControl = 10,
-  /*
-   *Dryer Motor
-   */
   HARDWARE_PID_CONTROL_TYPE__MotorDryer = 11,
-  /*
-   *Feeder Motor
-   */
   HARDWARE_PID_CONTROL_TYPE__MotorFeeder = 12,
-  /*
-   *Pooler Motor
-   */
   HARDWARE_PID_CONTROL_TYPE__MotorPooler = 13,
-  /*
-   *Winder Motor
-   */
   HARDWARE_PID_CONTROL_TYPE__MotorWinder = 14,
-  /*
-   *Dispenser 1
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser1 = 15,
-  /*
-   *Dispenser 2
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser2 = 16,
-  /*
-   *Dispenser 3
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser3 = 17,
-  /*
-   *Dispenser 4
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser4 = 18,
-  /*
-   *Dispenser 5
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser5 = 19,
-  /*
-   *Dispenser 6
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser6 = 20,
-  /*
-   *Dispenser 7
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser7 = 21,
-  /*
-   *Dispenser 8
-   */
   HARDWARE_PID_CONTROL_TYPE__Dispenser8 = 22
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(HARDWARE_PID_CONTROL_TYPE)
 } HardwarePidControlType;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareSpeedSensorType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareSpeedSensorType.pb-c.h
index 567c2246e..f9b0134e7 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareSpeedSensorType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareSpeedSensorType.pb-c.h
@@ -20,9 +20,6 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _HardwareSpeedSensorType {
-  /*
-   *Default Speed Sensor
-   */
   HARDWARE_SPEED_SENSOR_TYPE__DefaultSpeedSensor = 0
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(HARDWARE_SPEED_SENSOR_TYPE)
 } HardwareSpeedSensorType;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareWinderType.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareWinderType.pb-c.h
index 2acabb018..952c9ea12 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareWinderType.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareWinderType.pb-c.h
@@ -20,9 +20,6 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _HardwareWinderType {
-  /*
-   *Internal Winder
-   */
   HARDWARE_WINDER_TYPE__InternalWinder = 0
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(HARDWARE_WINDER_TYPE)
 } HardwareWinderType;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobWindingMethod.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobWindingMethod.pb-c.h
index d3bac5cb2..a762ae2c5 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobWindingMethod.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobWindingMethod.pb-c.h
@@ -20,13 +20,7 @@ PROTOBUF_C__BEGIN_DECLS
 /* --- enums --- */
 
 typedef enum _JobWindingMethod {
-  /*
-   *Embroidery Winding
-   */
   JOB_WINDING_METHOD__Embroidery = 0,
-  /*
-   *Calibration Winding
-   */
   JOB_WINDING_METHOD__Calibration = 1
     PROTOBUF_C__FORCE_ENUM_TO_BE_INT_SIZE(JOB_WINDING_METHOD)
 } JobWindingMethod;
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Stubs/StubSpeedSensorResponse.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Stubs/StubSpeedSensorResponse.pb-c.h
index 6bc9cfa68..2a98d2806 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Stubs/StubSpeedSensorResponse.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Stubs/StubSpeedSensorResponse.pb-c.h
@@ -26,9 +26,6 @@ typedef struct _StubSpeedSensorResponse StubSpeedSensorResponse;
 struct  _StubSpeedSensorResponse
 {
   ProtobufCMessage base;
-  /*
-   *uint32 Speed_Sensor_ID = 1;
-   */
   protobuf_c_boolean has_speed;
   uint32_t speed;
 };
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index c8c62f8f1..cfede940b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -539,11 +539,11 @@ uint32_t FPGA_MotorConfig_callback(TimerMotors_t _motorId, uint32_t ReadValue)
         }
     case MOTOR_CONFIG_FS_SPD:
         ConfigStages[_motorId]++;
-        if(MotorsCfg[_motorId].has_kvaldec)//temporary using kvaldec for x_FS_SPD
+        if(MotorsCfg[_motorId].has_fsspd)//temporary using kvaldec for x_FS_SPD
         {
             temp = x_SET_PARAM | x_FS_SPD;
             temp = temp << 24;
-            temp |= (/*FSCalc*/(MotorsCfg[_motorId].kvaldec))<<8;
+            temp |= (/*FSCalc*/(MotorsCfg[_motorId].fsspd))<<8;
             if( MillisecWriteToMotor(_motorId, temp, 4, FPGA_MotorConfig_callback) < 0 ) return ERROR;
             break;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.c
index 0e923f468..08ba6d2b4 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/Diagnostics.c
@@ -295,8 +295,8 @@ uint32_t StartDiagnosticsRequestFunc(MessageContainer* requestContainer)
 //    ReportInitParams InitParams;
     //ControlStart();
     DiagnosticRequestAccepted = true;
-#warning test only - shoud be started and stopped with job execution
-    DiagnosticsStart();
+//#warning test only - shoud be started and stopped with job execution
+//    DiagnosticsStart();
 
     StartDiagnosticsRequest* request = start_diagnostics_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
     strcpy (DiagnosticsToken, requestContainer->token);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index e564e52d0..aa9e6ec94 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -145,37 +145,41 @@ uint32_t WinderPresegmentReady(uint32_t deviceID, uint32_t ReadValue)
     return PreSegmentReady(Module_Winder,ModuleDone);
 }
 
-uint32_t Winder_Presegment(void *JobDetails)
+uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId)
 {
     JobTicket* JobTicket = JobDetails;
     int process_speed = JobTicket->processparameters->dyeingspeed;
     float screw_speed = 0;
     float RotationsPerSecond;
 
-    ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);
+    if (SegmentId == 0) // do all this only in the beginning of the job. do not touch after that (assuming spool does not change mid job)
+    {
+        ScrewCurrentDirection = (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].directionthreadwize);
+
+        //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
+        //     * calculate
+        //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
+        //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
+        screw_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
+        // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
+        RotationsPerSecond = process_speed / (InternalWinderCfg.diameter * PI);
+        // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
+        ScrewSpeed = screw_speed*RotationsPerSecond;
 
-    //     * speed is set by the winding parameters and by winder rotational speed (read POSITION every 10msec)
-    //     * calculate
-    //     * 1. calculate speed according to JobTicket->processparameters->dyeingspeed
-    //     * calculation input: traverse length in milimeters/pulses, number of rotations per traverse ==> length of traverse per rotation.
-    screw_speed = InternalWinderCfg.segmentoffsetpulses /  InternalWinderCfg.NumberOfRotationPerPassage;
-    // calculation input#2: number of rotations per second - (basically: speed/winder perimeter. later - according to winder actual speed - calculate according to winder position accumulation in the last second.
-    RotationsPerSecond = process_speed / (InternalWinderCfg.diameter * PI);
-    // calculation input#3: speed = rotation per second * traverse per rotation = traverse per second. speed set: traverse per second (mm) * pulses per mm.
-    ScrewSpeed = screw_speed*RotationsPerSecond;
+        MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
+        //screw_speed = InternalWinderCfg.milimetersperrotation
+    //     * 2. determine optimal micro-step setting
+    //     * 3. calculate cart travel length from winding parameters
+    //     * 4. start move of travel length
+    //     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
+        ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
+        MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
+        ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0);
 
-    MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewSpeed);
-    //screw_speed = InternalWinderCfg.milimetersperrotation
-//     * 2. determine optimal micro-step setting
-//     * 3. calculate cart travel length from winding parameters
-//     * 4. start move of travel length
-//     * 5. register motor nBusy callback. this callback will flip between move(traverse length, hardstop) and goto(0), with handline og the coneshape and adjusting maxspeed
-    ScrewNumberOfSteps = InternalWinderCfg.segmentoffsetpulses*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_SCREW].microstep;
-    MotorMove (HARDWARE_MOTOR_TYPE__MOTO_SCREW,ScrewCurrentDirection,ScrewNumberOfSteps); //process: set point 0, set max speed, move to the specified length, return back.
-    ScrewControlId = AddControlCallback(ScrewDirectionChange, eOneMillisecond,MotorControlGetnBusyState,(IfTypeMotors*0x100+HARDWARE_MOTOR_TYPE__MOTO_SCREW), HARDWARE_MOTOR_TYPE__MOTO_SCREW, 0);
+        // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_speed,WinderPresegmentReady);
+        //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
 
-    // MotorSetSpeedWithCallback (HARDWARE_MOTOR_TYPE__MOTO_SCREW, screw_speed,WinderPresegmentReady);
-    //in a callback: calculate backing rate for top and bottom, update point 0, update passing length, call the appropriate move to 0 / move;
+    }
     PreSegmentReady(Module_Winder,ModuleDone);
 
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index b7401c77f..4a7f1144c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -23,7 +23,7 @@ uint32_t ThreadInitialTestStub();
 //uint32_t MotorPidRequestMessage(HardwarePidControl* request);
 uint32_t Winder_Init(void);
 uint32_t Winder_Prepare(void);
-uint32_t Winder_Presegment(void *JobDetails);
+uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId);
 uint32_t Winder_End(void);
 
 
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index f569373bf..a1045aed8 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -135,7 +135,7 @@ static ReturnCode PrepareState(void *JobDetails)
     ReturnCode retcode;
     retcode = JobSuccess;
     //start (fast??) heating
-    DiagnosticsStop();
+    DiagnosticsStart();
 
     if (Configured[Module_IDS])
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 9558dc814..28a87e826 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -202,7 +202,7 @@ static uint32_t PreSegmentState(void *JobDetails, int SegmentId)
     }
     if (Configured[Module_Winder])
     {
-        Winder_Presegment(JobDetails);
+        Winder_Presegment(JobDetails,SegmentId);
     }
     if (Configured[Module_IDS])
     {