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

32 files changed, 151 insertions, 78 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/report/reportInit.c b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
index e534b9b2c..1799ba648 100644
--- a/Software/Embedded_SW/Embedded/Common/report/reportInit.c
+++ b/Software/Embedded_SW/Embedded/Common/report/reportInit.c
@@ -24,6 +24,7 @@
 
 /*------------- Includes --------------------------------*/
 
+#include <Container.h>
 #include <DataDef.h>
 #include <stdio.h>		/* puts(), etc. */
 #include "report.h"
@@ -35,7 +36,6 @@
 #include "PMR/debugging/DebugLogRequest.pb-c.h"
 #include "PMR/debugging/DebugLogResponse.pb-c.h"
 //#include "graphics_adapter.h"
-#include "Modules/Stubs_Handler/Container.h"
 
 char protobufToken[36] = {0};
 /*void SendStatusResponse (uint32_t Code, char *Token)
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
index 485097cbf..839b2ce80 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.c
@@ -7,7 +7,7 @@
 
 #include "include.h"
 #include "drivers/Uart_Comm/uart.h"
-
+#include "communicationTask.h"
 static void (*callback)(char* buffer, size_t length);
 
 Mailbox_Handle          CommunicationRxMsgQ = NULL;
@@ -23,6 +23,7 @@ typedef struct CommTxMessage{
     char *Buff;
 }CommTxMessageStruc;
 
+int CommType = 0xFF;
 
 struct serialBuffer {
   char *buffer;
@@ -133,6 +134,15 @@ uint32_t CommunicationTaskSendMessage(char* buffer,size_t length)
 
     return OK;
 }
+int32_t SetCommunicationPath(bool UARTorUSB)
+{
+    if ((CommType != 0xFF)&&(CommType != UARTorUSB))
+    {
+        LOG_ERROR (UARTorUSB, "Sending a second Connection request");
+        return -1;
+    }
+    CommType = UARTorUSB;
+}
 
 /******************************************************************************
  *  ======== communicationTask ========
@@ -153,6 +163,7 @@ void communicationTxTask(UArg arg0, UArg arg1)
 */
     initArray(1);
 
+     SetCommunicationPath(isUSB);
     ui32RxCount = 0;
     CommunicationTxMsgQ = Mailbox_create(sizeof(CommTxMessageStruc), 10, NULL,NULL);
 
@@ -165,8 +176,10 @@ void communicationTxTask(UArg arg0, UArg arg1)
         switch (Message.messageId)
         {
             case 1:
-                //USBCDCD_sendData(Message.Buff, Message.msgSize,10);
-                Uart_Tx(Message.Buff, Message.msgSize);
+                if (CommType == isUSB)
+                    USBCDCD_sendData(Message.Buff, Message.msgSize,10);
+                else if (CommType == isUART)
+                    Uart_Tx(Message.Buff, Message.msgSize);
                 free (Message.Buff);
                 break;
             default:
diff --git a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h
index dd18c1039..5746eb825 100644
--- a/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h
+++ b/Software/Embedded_SW/Embedded/Communication/CommunicationTask.h
@@ -23,5 +23,8 @@ extern uint32_t CommunicationTaskMessageReceived(uint16_t msgSize);
 
 extern uint32_t CommunicationTaskSendMessage(char* buffer,size_t length);
 
+#define isUART true
+#define isUSB false
 
+extern int32_t SetCommunicationPath(bool UARTorUSB);
 #endif /* COMMUNICATION_COMMUNICATIONTASK_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c b/Software/Embedded_SW/Embedded/Communication/Container.c
index 1b1db8189..a906db096 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.c
+++ b/Software/Embedded_SW/Embedded/Communication/Container.c
@@ -4,25 +4,25 @@
 
 //#include "usb_serial_adapter.h"
 //#include "graphics_adapter.h"
-#include "Calculate.h"
-#include "Progress.h"
-#include "Stub_Cartridge.h"
-#include "Stub_Dispenser.h"
-#include "Stub_GPIO.h"
-#include "Stub_Heater.h"
-#include "Stub_MotorEncoder.h"
-#include "Stub_OptLimitSwitch.h"
-#include "Stub_SteperMotor.h"
-#include "Stub_Valve.h"
-#include "Stub_ExtFlash.h"
-#include "Stub_FPGAReadBackReg.h"
-#include "Stub_FPGAReadVersion.h"
-#include "Stub_L6470.h"
-#include "Stub_Motor.h"
-#include "Stub_HW_Version.h"
+#include "Modules/Stubs_Handler/Calculate.h"
+#include "Modules/Stubs_Handler/Progress.h"
+#include "Modules/Stubs_Handler/Stub_Cartridge.h"
+#include "Modules/Stubs_Handler/Stub_Dispenser.h"
+#include "Modules/Stubs_Handler/Stub_GPIO.h"
+#include "Modules/Stubs_Handler/Stub_Heater.h"
+#include "Modules/Stubs_Handler/Stub_MotorEncoder.h"
+#include "Modules/Stubs_Handler/Stub_OptLimitSwitch.h"
+#include "Modules/Stubs_Handler/Stub_SteperMotor.h"
+#include "Modules/Stubs_Handler/Stub_Valve.h"
+#include "Modules/Stubs_Handler/Stub_ExtFlash.h"
+#include "Modules/Stubs_Handler/Stub_FPGAReadBackReg.h"
+#include "Modules/Stubs_Handler/Stub_FPGAReadVersion.h"
+#include "Modules/Stubs_Handler/Stub_L6470.h"
+#include "Modules/Stubs_Handler/Stub_Motor.h"
+#include "Modules/Stubs_Handler/Stub_HW_Version.h"
 
-#include "General/GeneralHardware.h"
-#include "heaters/heaters_ex.h"
+#include "Modules/General/GeneralHardware.h"
+#include "Modules/heaters/heaters_ex.h"
 #include "Drivers/USB_Communication/USBCDCD.h"
 
 #include "StateMachines/Printing/PrintingSTM.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.h b/Software/Embedded_SW/Embedded/Communication/Container.h
index 2c5d9fa60..1f7ea4a17 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Container.h
+++ b/Software/Embedded_SW/Embedded/Communication/Container.h
@@ -1,5 +1,8 @@
 #ifndef CONTAINER_H
 #define CONTAINER_H
+#include "include.h"
+#include <PMR/Common/MessageContainer.pb-c.h>
+#include <PMR/Common/MessageType.pb-c.h>
 
 MessageContainer createContainer(MessageType type, char* token, protobuf_c_boolean completed, void* response, size_t (*packPtr)(void*, uint8_t*), size_t (*sizePtr)(void*));
 void receive_callback(char* buffer, size_t length);
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 99cb83885..d5777a88a 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -301,7 +301,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t _motorId,bool direction, uint32_t
     //start control:
 //uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter1, uint32_t Parameter2 )
 
-    uint32_t ControlId = AddControlCallback( MotorMoveCallBackFunction,  eTenMilliSecond, MotorControlGetnBusyState, _motorId, 0 );
+    uint32_t ControlId = AddControlCallback( MotorMoveCallBackFunction,  eTenMilliSecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+_motorId), _motorId, 0 );
     return ControlId;
 }
 
@@ -313,17 +313,25 @@ uint32_t MotorSetSpeedWithCallback (TimerMotors_t _motorId, uint32_t _freq, int
     return OK;
 }
 
-uint32_t MotorMoveCallBackFunction(uint32_t deviceId, uint32_t BusyFlag) //TODO
+uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
 {
+    uint32_t MotorId;
+    if (IfIndex>>8 != IfTypeMotors)
+    {
+        LOG_ERROR (IfIndex, "Wrong  Interface type");
+        return 0xFFFFFFFF;
+    }
+    MotorId = IfIndex&0xFF;
+
        if (BusyFlag == 1)
        {
            //stop this control loop
-           RemoveControlCallback(deviceId, MotorMoveCallBackFunction );
+           RemoveControlCallback(MotorId, MotorMoveCallBackFunction );
            //possibly: start regular control (speed etc)
-           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, NULL, deviceId, Parameter );
+           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+_motorId), deviceId, Parameter );
 
            //call the module callback
-           MotorMoveModuleCallback(deviceId,BusyFlag);
+           MotorMoveModuleCallback(MotorId,BusyFlag);
 
        }
    return OK;
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index d07edd78e..4473fd99e 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -1,3 +1,4 @@
+#include <Container.h>
 #include "include.h"
 /*#include <stdbool.h>
 #include <stdio.h>
@@ -21,7 +22,7 @@
 #include "Drivers/Peripheral_GPIO/GPIO.h"
 #include "drivers/Heater/Heater.h"
 
-#include "Modules/Stubs_Handler/Container.h"
+#include "Communication/CommunicationTask.h"
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 #include <drivers/Flash_Memory/Flash_Memory.h>
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
index 1de8ac0de..881034e40 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
@@ -26,7 +26,7 @@ uint32_t DriverActionWithCallback (uint32_t deviceId, uint32_t parameter, callba
     ModuleCallback = callback;
     //start control:
 
-    uint32_t ControlId = AddControlCallback( callback,  eOneMillisecond, NULL, deviceId, parameter );
+    uint32_t ControlId = AddControlCallback( callback,  eOneMillisecond, NULL, (IfTypeNone*0x100+deviceId),deviceId, parameter );
     return ControlId;
 
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index fde3a36b3..286ed7ca0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -22,4 +22,8 @@ uint32_t getMotorSpeedData(int MotorId);
 uint32_t getTemperatureSensorData(int SensorId);
 uint32_t getADCData(int DeviceId);
 
+void MillisecInit(void);
+void MillisecStop(void);
+void MillisecStart(void);
+
 #endif /* MODULES_CONTROL_MILLISECTASK_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 28b4afb8d..0a4a8b791 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -65,6 +65,7 @@ typedef struct
   bool ControlActive;
   uint32_t Parameter1;
   uint32_t Parameter2;
+  uint32_t IfIndex;
   DataReadCBFunction ControlDataReadPtr;
   ControlCBFunction ControlCallbackPtr;
   CTRL_TIMING_ENUM ControlTiming;
@@ -169,7 +170,7 @@ void ControlStart(void)
  * both these callbacks can be removed. if a new call is arriving, it invalidates the previous one (no dual control or data)
  *
  ***************************************************************************************************************************************************/
-uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter1, uint32_t Parameter2 )
+uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 )
 {
     assert(Callback);
     assert(DriverfPtr);
@@ -194,6 +195,7 @@ uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlF
     ControlArray[deviceId].ControlDataReadPtr = DriverfPtr;
     ControlArray[deviceId].Parameter1 = Parameter1;
     ControlArray[deviceId].Parameter2 = Parameter2;
+    ControlArray[deviceId].IfIndex = IfIndex;
     GateMutex_leave(gateControlDB, key);
 
     return deviceId;
@@ -223,7 +225,6 @@ int     RemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback)
 void OneMilliSecondControlInterrupt(UArg arg0)
 {
     ControlMessageStruc Message;
-    bool retcode = false;
     ROM_IntMasterDisable();
     if (ControlRestart == true)
     {
@@ -237,7 +238,7 @@ void OneMilliSecondControlInterrupt(UArg arg0)
     Message.tick = UsersysTickGet();
     Message.msglen = sizeof(ControlMessageStruc);
     if (ControlMsgQ != NULL)
-        retcode = Mailbox_post(ControlMsgQ , &Message, BIOS_NO_WAIT);
+        Mailbox_post(ControlMsgQ , &Message, BIOS_NO_WAIT);
 
     ROM_TimerIntClear(Control_timerBase, TIMER_TIMA_TIMEOUT);  // Clear the timer interrupt
     //
@@ -266,27 +267,27 @@ uint32_t ControlLoop(uint32_t tick)
             {
                 case eOneMillisecond:
                         ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
-                        ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                        ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
                     break;
                 case eTenMilliSecond:
                     if (Ten_msTick)
                     {
                         ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
-                        ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                        ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
                     }
                     break;
                 case eHunderdMillisecond:
                     if (Hundred_msTick)
                     {
                         ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
-                        ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                        ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
                     }
                     break;
                 case eOneSecond:
                     if (Onesecond_Tick)
                     {
                         ControlDatalog[Device_i] = ControlArray[Device_i].ControlDataReadPtr( ControlArray[Device_i].Parameter1,ControlArray[Device_i].Parameter2);
-                        ControlArray[Device_i].ControlCallbackPtr(Device_i, ControlDatalog[Device_i]);
+                        ControlArray[Device_i].ControlCallbackPtr(ControlArray[Device_i].IfIndex, ControlDatalog[Device_i]);
                     }
                     break;
                 default:
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h
index 23bd13231..9322f562e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h
@@ -11,7 +11,7 @@
 #include "include.h"
 
 //typedef  uint32_t (* DeviceDataFunction)(uint32_t deviceID, uint32_t *Value);
-typedef  uint32_t (* ControlCBFunction)(uint32_t deviceID, uint32_t ReadValue);
+typedef  uint32_t (* ControlCBFunction)(uint32_t IfIndex, uint32_t ReadValue);
 typedef  uint32_t (* DataReadCBFunction)( uint32_t Parameter1, uint32_t Parameter2);
 typedef enum {
     eNoControl = 0,
@@ -20,12 +20,23 @@ typedef enum {
     eHunderdMillisecond = 100,
     eOneSecond = 1000
 }CTRL_TIMING_ENUM;
+typedef enum
+{
+    IfTypeNone,
+    IfTypeThread,
+    IfTypeWinder,
+    IfTypeIDS,
+    IfTypeHeaters,
+    IfTypeWaste,
+    IfTypeMotors,
+    MAX_INTERFACE_TYPES
+}SYSTEM_INTERFACE_TYPES_ID_ENUM;
 
 
 void        ControlInit(void);
 void        ControlStop(void);
 void        ControlStart(void);
-uint32_t    AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t Parameter1, uint32_t Parameter2 );
+uint32_t    AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlFrequency, DataReadCBFunction DriverfPtr, uint32_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 );
 int         RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback );
 uint32_t    TemplateDataReadCBFunction (uint32_t deviceId, uint32_t Parameter1, uint32_t Parameter2);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 1ccfd3df8..ba0390144 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -3,6 +3,7 @@
  * Control module
  *
 ************************************************************************************************************************/
+#include <Container.h>
 #include <DataDef.h>
 #include "include.h"
 #include "GeneralHardware.h"
@@ -11,7 +12,6 @@
 #include "control/control.h"
 #include "heaters/heaters_ex.h"
 #include "PMR/common/MessageContainer.pb-c.h"
-#include "Modules/Stubs_Handler/Container.h"
 #include "PMR/Hardware/UploadHardWareConfigurationRequest.pb-c.h"
 #include "PMR/Hardware/UploadHardWareConfigurationResponse.pb-c.h"
 #include "PMR/Hardware/SystemResetRequest.pb-c.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.h b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.h
index 8deaf7586..0453cc2c8 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.h
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.h
@@ -1,10 +1,10 @@
 #ifndef GENERALHARDWARE_H
 #define GENERALHARDWARE_H
 
+#include "../../Communication/Container.h"
 #include "../../DataDef.h"
 #include "include.h"
 #include "PMR/common/MessageContainer.pb-c.h"
-#include "Modules/Stubs_Handler/Container.h"
 
 typedef enum
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index 5dee1301d..2ea54dc90 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -42,6 +42,7 @@ typedef struct HeatersControlMessage{
 
 /******************** GLOBAL PARAMETERS  ********************************************/
 HeaterCommand          HeaterCmd[MAX_HEATERS_NUM] = {};
+uint32_t    ControlIdtoHeaterId [MAX_HEATERS_NUM] = {0xFF};
 int      NumberOFSlicesInUse = 0;
 bool HeatersRestart = false;
 
@@ -185,7 +186,7 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
     HeaterPIDConfig[HeaterId].m_mesuredParam = 0;
     HeaterPIDConfig[HeaterId].m_preError = 0;
     HeaterPIDConfig[HeaterId].m_SetParam = SetTemperatue;//need to update SetParams on presegment stage
-    AddControlCallback( HeaterControlCBFunction, eHunderdMillisecond,TemperatureSensorRead,HeaterId,0);
+    ControlIdtoHeaterId [HeaterId] = AddControlCallback( HeaterControlCBFunction, eHunderdMillisecond,TemperatureSensorRead,(IfTypeHeaters*0x100+HeaterId),HeaterId,0);
 
     return OK;
 }
@@ -196,22 +197,37 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
  * initialized all global data
  */
 
-uint32_t HeaterControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
+uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
-    int index=MAX_HEATERS_NUM;
+    int i,index=MAX_HEATERS_NUM;
     static bool InitialHeating = true;
     char str[100];
     uint8_t len = 0;
-
-    index = deviceID;
+    if (IfIndex>>8 != IfTypeHeaters)
+    {
+        LOG_ERROR (IfIndex, "Wrong  Interface type");
+        return 0xFFFFFFFF;
+    }
+    index = IfIndex&0xFF;
+    /*for (i=0;i<MAX_HEATERS_NUM;i++)
+        if (ControlIdtoHeaterId[i] == deviceID)
+        {
+            index = i;
+            break;
+        }
+    if (index==MAX_HEATERS_NUM)
+    {
+        LOG_ERROR (deviceID, "No Heater for device");
+        return 0xFFFFFFFF;
+    }*/
     if (HeaterCmd[index].targettemperatue == 0)
     {
         LOG_ERROR (0, "unconfigured");
         return ERROR;
     }
     static uint32_t Temperature[2] = {0};
-    if (deviceID<2)
-        Temperature[deviceID] =  ReadValue;
+    if (index<2)
+        Temperature[index] =  ReadValue;
     HeatingTestSendResonse(0, false,GetHeaterState(HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w),GetHeaterState(HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1),
                            Temperature[0],Temperature[1],
                            HeaterPIDConfig[HARDWARE_PID_CONTROL_TYPE__DryerHeater1000w].m_calculatedError, HeaterPIDConfig[HARDWARE_PID_CONTROL_TYPE__DryerHeater200w1].m_calculatedError,"Standard");
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
index e1e0c84dc..3da0ddee3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Calculate.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/CalculateRequest.pb-c.h>
 #include <PMR/Stubs/CalculateResponse.pb-c.h>
@@ -7,7 +8,6 @@
 
 #include "Drivers/USB_Communication/USBCDCD.h"
 #include "drivers/twine_graphicslib/graphics_adapter.h"
-#include "Container.h"
 
 void Stub_CalculateRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index df59f416a..e38abdab3 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/ProgressRequest.pb-c.h>
 #include <PMR/Stubs/ProgressResponse.pb-c.h>
@@ -8,7 +9,6 @@
 #include "Drivers/USB_Communication/USBCDCD.h"
 
 //#include "graphics_adapter.h"
-#include "Container.h"
 
 void Stub_ProgressRequest(MessageContainer* requestContainer)
 {
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
index f0dc2436a..c79434635 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Cartridge.c
@@ -1,5 +1,6 @@
 
 
+#include <Container.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubCartridgeReadRequest.pb-c.h>
 #include <PMR/Stubs/StubCartridgeReadResponse.pb-c.h>
@@ -13,7 +14,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 
 void Stub_CartridgeReadRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
index 9c37ec330..fc9393e23 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Dispenser.c
@@ -1,5 +1,6 @@
 
 
+#include <Container.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubDispenserRequest.pb-c.h>
 #include <PMR/Stubs/StubDispenserResponse.pb-c.h>
@@ -10,7 +11,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 
 void Stub_DispenserRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
index 96a8e9322..cf50b70ab 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_ExtFlash.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubExtFlashReadRequest.pb-c.h>
 #include <PMR/Stubs/StubExtFlashReadResponse.pb-c.h>
@@ -20,7 +21,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
index d71fa764a..65cd3e52e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGARWReg.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Stubs/StubFpgaReadRegRequest.pb-c.h>
 #include <PMR/Stubs/StubFpgaReadRegResponse.pb-c.h>
@@ -19,7 +20,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/FPGA/FPGA_Comm.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
index 90140afbf..1c5769b62 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadBackReg.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Stubs/StubFPGAReadBackRegRequest.pb-c.h>
 #include <PMR/Stubs/StubFPGAReadBackRegResponse.pb-c.h>
@@ -16,7 +17,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 #include "drivers/FPGA/FPGA.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
index 3c719bc59..cfbce40f1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_FPGAReadVersion.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Stubs/StubFPGAReadVersionResponse.pb-c.h>
 #include <PMR/Stubs/StubFPGAReadVersionRequest.pb-c.h>
@@ -16,7 +17,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 #include "drivers/FPGA/FPGA.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
index 362be2ba8..9e052aa78 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_GPIO.c
@@ -1,3 +1,4 @@
+#include <Container.h>
 #include <DataDef.h>
 #include "include.h"
 
@@ -26,7 +27,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include <Modules/Stubs_Handler/User_Leds.h>
 
 #include "Stub_Status.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
index 7bc1aa857..bd59ee2a0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_HW_Version.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Stubs/StubHWVersionResponse.pb-c.h>
 #include <PMR/Stubs/StubHWVersionRequest.pb-c.h>
@@ -16,7 +17,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 #include "drivers/FPGA/FPGA.h"
 #include "driverlib/rom_map.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
index 80f9cc7c6..d72a749b1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Heater.c
@@ -1,5 +1,6 @@
 
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubHeaterRequest.pb-c.h>
@@ -18,7 +19,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 #include "Drivers/Heater/Heater.h"
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
index 1508d2d58..dcec8cade 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_L6470.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Stubs/StubL6470DriverResponse.pb-c.h>
 #include <PMR/Stubs/StubL6470DriverRequest.pb-c.h>
@@ -16,7 +17,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 //#include "drivers/FPGA/FPGA.h"
 #include "drivers/SPI/SPI_Comm.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
index a56ae348b..506eb4a70 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Motor.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Stubs/StubMotorInitRequest.pb-c.h>
 #include <PMR/Stubs/StubMotorInitResponse.pb-c.h>
@@ -33,7 +34,6 @@
 
 #include "MessageContainer.pb-c.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 #include "drivers/FPGA/FPGA.h"
 #include "drivers/SPI/SPI_Comm.h"
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
index ebc48bf4d..bcc5e16fb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_MotorEncoder.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubMotorEncoderRequest.pb-c.h>
@@ -17,7 +18,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 
 void Stub_MotorEncoderRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
index 84878c660..a1fdeb390 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_OptLimitSwitch.c
@@ -1,5 +1,6 @@
 
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubOptLimitSwitchRequest.pb-c.h>
@@ -18,7 +19,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 
 void Stub_OptLimitSwitchRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
index 8fd6e0484..78fd2ef3b 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_SteperMotor.c
@@ -1,5 +1,6 @@
 
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubSteperMotorRequest.pb-c.h>
@@ -18,7 +19,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
 #include "Stub_Status.h"
 
 void Stub_SteperMotorRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
index b1cba49e5..86460f119 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -1,4 +1,5 @@
 
+#include <Container.h>
 #include <DataDef.h>
 #include <PMR/Common/MessageContainer.pb-c.h>
 #include <PMR/Stubs/StubValveRequest.pb-c.h>
@@ -17,8 +18,6 @@
 
 #include "drivers/twine_graphicslib/graphics_adapter.h"
 
-#include "Container.h"
-
 #include "Stub_Status.h"
 
 void Stub_ValveRequest(MessageContainer* requestContainer)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index fb9740dec..92037d0b5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -49,11 +49,17 @@ uint32_t ThreadPreSegmentState(void *JobDetails);
 
 ////////////////////////////////////////////////////////////////////////////
 
-uint32_t ThreadSpeedControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
+uint32_t ThreadSpeedControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     //read value is the dancer angle
-    int i,index=MAX_THREAD_MOTORS_NUM;
-    for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
+    int index=MAX_THREAD_MOTORS_NUM;
+    if (IfIndex>>8 != IfTypeThread)
+    {
+        LOG_ERROR (IfIndex, "Wrong  Interface type");
+        return 0xFFFFFFFF;
+    }
+    index = IfIndex&0xFF;
+/*    for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
         if (ControlIdtoMotorId[i] == deviceID)
         {
             index = i;
@@ -64,6 +70,7 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
         LOG_ERROR (deviceID, "No motor  for device");
         return 0xFFFFFFFF;
     }
+    */
     if(MotorControlConfig[index].m_isEnabled && (MotorControlConfig[index].m_SetParam != 0))
     {
         MotorControlConfig[index].m_mesuredParam = ReadValue;
@@ -80,10 +87,9 @@ uint32_t ThreadSpeedControlCBFunction(uint32_t deviceID, uint32_t ReadValue)
 
         //SetMotorFreq (index, MotorControlConfig[index].m_calculatedError);
     }
-
  return OK;
 }
-uint32_t ThreadControlCBFunction(uint32_t MotorId, uint32_t ReadValue)
+uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
 //#define MAX_CONTROL_SAMPLES 6
 //extern uint32_t MotorSamples[MAX_THREAD_MOTORS_NUM][MAX_CONTROL_SAMPLES];
@@ -94,7 +100,14 @@ uint32_t ThreadControlCBFunction(uint32_t MotorId, uint32_t ReadValue)
     int Pid_Id,DancerId;
     int32_t TranslatedReadValue, avreageSampleValue = 0;
     double NormalizedError;
-    for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
+    if (IfIndex>>8 != IfTypeThread)
+    {
+        LOG_ERROR (IfIndex, "Wrong  Interface type");
+        return 0xFFFFFFFF;
+    }
+    index = IfIndex&0xFF;
+
+    /*for (i=0;i<MAX_THREAD_MOTORS_NUM;i++)
         if (ControlIdtoMotorId[i] == MotorId)
         {
             index = i;
@@ -104,7 +117,7 @@ uint32_t ThreadControlCBFunction(uint32_t MotorId, uint32_t ReadValue)
     {
         LOG_ERROR (MotorId, "No motor  for device");
         return 0xFFFFFFFF;
-    }
+    }*/
 
     if(MotorControlConfig[index].m_isEnabled )
     {
@@ -181,22 +194,23 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
             MotorControlConfig[Motor_i].m_preError = 0;
             MotorControlConfig[Motor_i].m_SetParam = 0;//need to update SetParams on presegment stage
 
-            MotorSetDirection(HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
+            MotorSetDirection((TimerMotors_t)HW_Motor_Id,MotorsCfg[HW_Motor_Id].directionthreadwize);
     #ifdef DEBUG_TEST_FUNCTIONS
+
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
-                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
             /*if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
-                //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,ThreadMotorIdToMotorId[Motor_i],0);
+                //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],0);
     //            continue;
                 AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
             else if ((HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
-                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);*/
+                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);*/
     #else
             if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
                 continue;
-                //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,ThreadMotorIdToMotorId[Motor_i],Motor_i);
+                //AddControlCallback(ThreadSpeedControlCBFunction, eOneMillisecond,MotorGetSpeed,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
             else if ((Motor_i == HARDWARE_MOTOR_TYPE__MOTO_WINDER)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_LDRIVING)||(Motor_i == HARDWARE_MOTOR_TYPE__MOTO_RDRIVING))
-                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,ThreadMotorIdToDancerId[Motor_i],Motor_i);
+                AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
     #endif
     }
     Winder_Prepare();