Version 1.3.5.3: IDS handling, control track and fixing, and other changes.

35 files changed, 433 insertions, 218 deletions

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index 727bc4584..20edaeefb 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -55,10 +55,12 @@
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.OPT_FOR_SPEED.1241946699" name="Speed vs. size trade-offs (--opt_for_speed, -mf)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.OPT_FOR_SPEED" value="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.OPT_FOR_SPEED.0" valueType="enumerated"/>
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.INCLUDE_PATH.757500577" name="Add dir to #include search path (--include_path, -I)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.INCLUDE_PATH" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Common/protobuf-c&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Communication/PMR/Diagnostics&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Communication/PMR/Hardware&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Communication/PMR/Printing&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Communication/PMR/Common&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Communication/PMR/Debugging&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/Communication/PMR&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Communication}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Common}&quot;"/>
@@ -77,7 +79,7 @@
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DIAG_WRAP.951521584" name="Wrap diagnostic messages (--diag_wrap)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DIAG_WRAP" value="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DIAG_WRAP.off" valueType="enumerated"/>
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DISPLAY_ERROR_NUMBER.673976008" name="Emit diagnostic identifier numbers (--display_error_number, -pden)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DISPLAY_ERROR_NUMBER" value="true" valueType="boolean"/>
 								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.EMBEDDED_CONSTANTS.1849154369" name="Specify whether constants can be embedded in code sections (--embedded_constants)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.EMBEDDED_CONSTANTS" value="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.EMBEDDED_CONSTANTS.off" valueType="enumerated"/>
-								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DIAG_SUPPRESS.255311378" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DIAG_SUPPRESS" valueType="stringList">
+								<option id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DIAG_SUPPRESS.255311378" name="Suppress diagnostic &lt;id&gt; (--diag_suppress, -pds)" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compilerID.DIAG_SUPPRESS" valueType="stringList">
 									<listOptionValue builtIn="false" value="190"/>
 								</option>
 								<inputType id="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compiler.inputType__C_SRCS.2123688088" name="C Sources" superClass="com.ti.ccstudio.buildDefinitions.TMS470_16.9.compiler.inputType__C_SRCS"/>
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index 49f65a764..bba8a61be 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -296,7 +296,7 @@ uint32_t    DeleteRequestFunc(MessageContainer* requestContainer)
 
     DIR dir;
     FILINFO* fno = 0;
-    int NumOfFiles = 0;
+    //int NumOfFiles = 0;
     FRESULT Fresult = FR_OK;
 
     Fresult |= f_opendir(&dir, g_cCwdBuf);
@@ -701,9 +701,6 @@ FRESULT FileOpen(char *path, uint32_t *Size, FIL *FileHandle)
 {
     FRESULT Fresult = FR_OK;
     FILINFO* fno = 0;
-    void* buffer = NULL;
-    uint32_t Bytes = 0;
-    uint32_t status  = 0;
 
     fno = my_malloc(sizeof(FILINFO));
     if (fno == 0)
@@ -713,9 +710,11 @@ FRESULT FileOpen(char *path, uint32_t *Size, FIL *FileHandle)
     *Size = (uint32_t)fno->fsize;
     if (Fresult == FR_OK)
     {
-        FileHandle = my_malloc(sizeof(FIL));
+        //FileHandle = my_malloc(sizeof(FIL));
         if (FileHandle == 0)
             Fresult = FR_DENIED;
+        else
+            Fresult = f_open(FileHandle,path,FA_READ);
     }
     else
     {
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index 424c7f11f..35bde3636 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -65,7 +65,7 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
                 break;
             default:
                 LOG_ERROR (VersionPackage->filedescriptors[File_i]->destination,"wrong fule update Destination");
-                Fresult = ERROR_CODE__FILE_REQUEST_INVALID_NAME;
+                Fresult = FR_INVALID_NAME;
                 break;
             }
         }
@@ -100,7 +100,7 @@ uint32_t    ValidateVersionRequestFunc(MessageContainer* requestContainer)
     responseContainer = createContainer(MESSAGE_TYPE__ValidateVersionResponse,  requestContainer->token, false, &response, &validate_version_response__pack, &validate_version_response__get_packed_size);
     if (status!= OK)
     {
-        responseContainer.error = getErrorCode(status);
+        responseContainer.error = ERROR_CODE__INVALID_UPLOAD_ID;
         responseContainer.errormessage = "Validate Version Request error";
     }
     responseContainer.continuous = false;
diff --git a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
index e32e9ebc6..44dd47623 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,3,5,2};
+TangoVersion_t _gTangoVersion = {1,3,5,3};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
index cd2ae5d64..9cdb3c6bd 100644
--- a/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
+++ b/Software/Embedded_SW/Embedded/Common/Utilities/Utils.c
@@ -12,8 +12,6 @@
 //#include <driverlib/systick.h>
 #include "driverlib/hibernate.h"
 
-static const float speedCoef = 5.3051647697298445256294587790838f;//(200 micro steping)/2*Pi*Radius - 200 micro steping
-
 //*****************************************************************************
 
 #define MAX_MEM_LOG 100
diff --git a/Software/Embedded_SW/Embedded/Common/report/distributor.c b/Software/Embedded_SW/Embedded/Common/report/distributor.c
index 46a3affd6..0515b0472 100644
--- a/Software/Embedded_SW/Embedded/Common/report/distributor.c
+++ b/Software/Embedded_SW/Embedded/Common/report/distributor.c
@@ -240,7 +240,7 @@ Void reportService(UArg arg0, UArg arg1)
 	int DistTableEntry;//,msgLen,  errCode, par1, par2;
 
     ReportInitParams InitParams;
-    InitParams.DistributorQueueMaxMsgs = 20;
+    InitParams.DistributorQueueMaxMsgs = 30;
     InitParams.DistributorTaskPriority = 6;
     InitParams.MaxNumOfFilterNames = 1;
     InitParams.MaxNumberOfPrivateDistributors = 2;
diff --git a/Software/Embedded_SW/Embedded/Communication/Connection.c b/Software/Embedded_SW/Embedded/Communication/Connection.c
index 0039fd488..1669dd6a3 100644
--- a/Software/Embedded_SW/Embedded/Communication/Connection.c
+++ b/Software/Embedded_SW/Embedded/Communication/Connection.c
@@ -145,7 +145,7 @@ void KeepAliveOneSecondCall(void)
         DiagnosticsStop();
         JobStopReporting();
         AlarmHandlingStop();
-        CommunicationMailboxFlush();
+        //CommunicationMailboxFlush();
         USBCDCD_Reinit();
         //UART_ResetBuffers();
     }
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.c
index 4a71c882c..0218796ed 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Common/MessageType.pb-c.c
@@ -7,7 +7,7 @@
 #endif
 
 #include "MessageType.pb-c.h"
-static const ProtobufCEnumValue message_type__enum_values_by_number[203] =
+static const ProtobufCEnumValue message_type__enum_values_by_number[205] =
 {
   { "None", "MESSAGE_TYPE__None", 0 },
   { "ErrorResponse", "MESSAGE_TYPE__ErrorResponse", 1 },
@@ -122,6 +122,10 @@ static const ProtobufCEnumValue message_type__enum_values_by_number[203] =
   { "DirectSynchronizationResponse", "MESSAGE_TYPE__DirectSynchronizationResponse", 1006 },
   { "OverrideDataBaseRequest", "MESSAGE_TYPE__OverrideDataBaseRequest", 1007 },
   { "OverrideDataBaseResponse", "MESSAGE_TYPE__OverrideDataBaseResponse", 1008 },
+  { "StartApplicationLogsRequest", "MESSAGE_TYPE__StartApplicationLogsRequest", 1009 },
+  { "StartApplicationLogsResponse", "MESSAGE_TYPE__StartApplicationLogsResponse", 1010 },
+  { "StopApplicationLogsRequest", "MESSAGE_TYPE__StopApplicationLogsRequest", 1011 },
+  { "StopApplicationLogsResponse", "MESSAGE_TYPE__StopApplicationLogsResponse", 1012 },
   { "StartDiagnosticsRequest", "MESSAGE_TYPE__StartDiagnosticsRequest", 2000 },
   { "StartDiagnosticsResponse", "MESSAGE_TYPE__StartDiagnosticsResponse", 2001 },
   { "MotorAbortHomingRequest", "MESSAGE_TYPE__MotorAbortHomingRequest", 2002 },
@@ -172,8 +176,6 @@ static const ProtobufCEnumValue message_type__enum_values_by_number[203] =
   { "CurrentJobResponse", "MESSAGE_TYPE__CurrentJobResponse", 3007 },
   { "ResumeCurrentJobRequest", "MESSAGE_TYPE__ResumeCurrentJobRequest", 3008 },
   { "ResumeCurrentJobResponse", "MESSAGE_TYPE__ResumeCurrentJobResponse", 3009 },
-  { "JobDescriptionFileSegment", "MESSAGE_TYPE__JobDescriptionFileSegment", 3010 },
-  { "JobDescriptionFileBrushStop", "MESSAGE_TYPE__JobDescriptionFileBrushStop", 3011 },
   { "StartDebugLogRequest", "MESSAGE_TYPE__StartDebugLogRequest", 4000 },
   { "StartDebugLogResponse", "MESSAGE_TYPE__StartDebugLogResponse", 4001 },
   { "StopDebugLogRequest", "MESSAGE_TYPE__StopDebugLogRequest", 4002 },
@@ -214,103 +216,105 @@ static const ProtobufCEnumValue message_type__enum_values_by_number[203] =
   { "ActivateVersionResponse", "MESSAGE_TYPE__ActivateVersionResponse", 7023 },
 };
 static const ProtobufCIntRange message_type__value_ranges[] = {
-{0, 0},{3, 2},{1000, 104},{2000, 113},{3000, 153},{4000, 165},{5000, 169},{6000, 173},{7000, 179},{0, 203}
+{0, 0},{3, 2},{1000, 104},{2000, 117},{3000, 157},{4000, 167},{5000, 171},{6000, 175},{7000, 181},{0, 205}
 };
-static const ProtobufCEnumValueIndex message_type__enum_values_by_name[203] =
+static const ProtobufCEnumValueIndex message_type__enum_values_by_name[205] =
 {
-  { "AbortJobRequest", 155 },
-  { "AbortJobResponse", 156 },
-  { "ActivateVersionRequest", 201 },
-  { "ActivateVersionResponse", 202 },
+  { "AbortJobRequest", 159 },
+  { "AbortJobResponse", 160 },
+  { "ActivateVersionRequest", 203 },
+  { "ActivateVersionResponse", 204 },
   { "CalculateRequest", 2 },
   { "CalculateResponse", 3 },
-  { "ConnectRequest", 175 },
-  { "ConnectResponse", 176 },
-  { "CreateRequest", 187 },
-  { "CreateResponse", 188 },
-  { "CurrentJobRequest", 159 },
-  { "CurrentJobResponse", 160 },
-  { "DeleteRequest", 189 },
-  { "DeleteResponse", 190 },
+  { "ConnectRequest", 177 },
+  { "ConnectResponse", 178 },
+  { "CreateRequest", 189 },
+  { "CreateResponse", 190 },
+  { "CurrentJobRequest", 163 },
+  { "CurrentJobResponse", 164 },
+  { "DeleteRequest", 191 },
+  { "DeleteResponse", 192 },
   { "DirectSynchronizationRequest", 109 },
   { "DirectSynchronizationResponse", 110 },
-  { "DisconnectRequest", 177 },
-  { "DisconnectResponse", 178 },
-  { "DispenserAbortHomingRequest", 123 },
-  { "DispenserAbortHomingResponse", 124 },
-  { "DispenserAbortJoggingRequest", 129 },
-  { "DispenserAbortJoggingResponse", 130 },
-  { "DispenserHomingRequest", 125 },
-  { "DispenserHomingResponse", 126 },
-  { "DispenserJoggingRequest", 127 },
-  { "DispenserJoggingResponse", 128 },
+  { "DisconnectRequest", 179 },
+  { "DisconnectResponse", 180 },
+  { "DispenserAbortHomingRequest", 127 },
+  { "DispenserAbortHomingResponse", 128 },
+  { "DispenserAbortJoggingRequest", 133 },
+  { "DispenserAbortJoggingResponse", 134 },
+  { "DispenserHomingRequest", 129 },
+  { "DispenserHomingResponse", 130 },
+  { "DispenserJoggingRequest", 131 },
+  { "DispenserJoggingResponse", 132 },
   { "ErrorResponse", 1 },
-  { "ExecuteProcessRequest", 183 },
-  { "ExecuteProcessResponse", 184 },
+  { "ExecuteProcessRequest", 185 },
+  { "ExecuteProcessResponse", 186 },
   { "ExternalBridgeLoginRequest", 105 },
   { "ExternalBridgeLoginResponse", 106 },
   { "ExternalBridgeLogoutRequest", 107 },
   { "ExternalBridgeLogoutResponse", 108 },
   { "ExternalBridgeUdpDiscoveryPacket", 104 },
-  { "FileChunkDownloadRequest", 197 },
-  { "FileChunkDownloadResponse", 198 },
-  { "FileChunkUploadRequest", 181 },
-  { "FileChunkUploadResponse", 182 },
-  { "FileDownloadRequest", 195 },
-  { "FileDownloadResponse", 196 },
-  { "FileUploadRequest", 179 },
-  { "FileUploadResponse", 180 },
-  { "GetFilesRequest", 193 },
-  { "GetFilesResponse", 194 },
-  { "GetStorageInfoRequest", 191 },
-  { "GetStorageInfoResponse", 192 },
-  { "JobDescriptionFileBrushStop", 164 },
-  { "JobDescriptionFileSegment", 163 },
-  { "JobRequest", 153 },
-  { "JobResponse", 154 },
-  { "KeepAliveRequest", 173 },
-  { "KeepAliveResponse", 174 },
-  { "KillProcessRequest", 185 },
-  { "KillProcessResponse", 186 },
-  { "MotorAbortHomingRequest", 115 },
-  { "MotorAbortHomingResponse", 116 },
-  { "MotorAbortJoggingRequest", 121 },
-  { "MotorAbortJoggingResponse", 122 },
-  { "MotorHomingRequest", 117 },
-  { "MotorHomingResponse", 118 },
-  { "MotorJoggingRequest", 119 },
-  { "MotorJoggingResponse", 120 },
+  { "FileChunkDownloadRequest", 199 },
+  { "FileChunkDownloadResponse", 200 },
+  { "FileChunkUploadRequest", 183 },
+  { "FileChunkUploadResponse", 184 },
+  { "FileDownloadRequest", 197 },
+  { "FileDownloadResponse", 198 },
+  { "FileUploadRequest", 181 },
+  { "FileUploadResponse", 182 },
+  { "GetFilesRequest", 195 },
+  { "GetFilesResponse", 196 },
+  { "GetStorageInfoRequest", 193 },
+  { "GetStorageInfoResponse", 194 },
+  { "JobRequest", 157 },
+  { "JobResponse", 158 },
+  { "KeepAliveRequest", 175 },
+  { "KeepAliveResponse", 176 },
+  { "KillProcessRequest", 187 },
+  { "KillProcessResponse", 188 },
+  { "MotorAbortHomingRequest", 119 },
+  { "MotorAbortHomingResponse", 120 },
+  { "MotorAbortJoggingRequest", 125 },
+  { "MotorAbortJoggingResponse", 126 },
+  { "MotorHomingRequest", 121 },
+  { "MotorHomingResponse", 122 },
+  { "MotorJoggingRequest", 123 },
+  { "MotorJoggingResponse", 124 },
   { "None", 0 },
   { "OverrideDataBaseRequest", 111 },
   { "OverrideDataBaseResponse", 112 },
   { "ProgressRequest", 4 },
   { "ProgressResponse", 5 },
-  { "ResolveEventRequest", 139 },
-  { "ResolveEventResponse", 140 },
-  { "ResumeCurrentJobRequest", 161 },
-  { "ResumeCurrentJobResponse", 162 },
-  { "SetBlowerStateRequest", 149 },
-  { "SetBlowerStateResponse", 150 },
-  { "SetComponentValueRequest", 137 },
-  { "SetComponentValueResponse", 138 },
-  { "SetDigitalOutRequest", 131 },
-  { "SetDigitalOutResponse", 132 },
-  { "SetHeaterStateRequest", 147 },
-  { "SetHeaterStateResponse", 148 },
-  { "SetValveStateRequest", 151 },
-  { "SetValveStateResponse", 152 },
-  { "StartDebugLogRequest", 165 },
-  { "StartDebugLogResponse", 166 },
-  { "StartDiagnosticsRequest", 113 },
-  { "StartDiagnosticsResponse", 114 },
-  { "StartEventsNotificationRequest", 143 },
-  { "StartEventsNotificationResponse", 144 },
-  { "StopDebugLogRequest", 167 },
-  { "StopDebugLogResponse", 168 },
-  { "StopDiagnosticsRequest", 141 },
-  { "StopDiagnosticsResponse", 142 },
-  { "StopEventsNotificationRequest", 145 },
-  { "StopEventsNotificationResponse", 146 },
+  { "ResolveEventRequest", 143 },
+  { "ResolveEventResponse", 144 },
+  { "ResumeCurrentJobRequest", 165 },
+  { "ResumeCurrentJobResponse", 166 },
+  { "SetBlowerStateRequest", 153 },
+  { "SetBlowerStateResponse", 154 },
+  { "SetComponentValueRequest", 141 },
+  { "SetComponentValueResponse", 142 },
+  { "SetDigitalOutRequest", 135 },
+  { "SetDigitalOutResponse", 136 },
+  { "SetHeaterStateRequest", 151 },
+  { "SetHeaterStateResponse", 152 },
+  { "SetValveStateRequest", 155 },
+  { "SetValveStateResponse", 156 },
+  { "StartApplicationLogsRequest", 113 },
+  { "StartApplicationLogsResponse", 114 },
+  { "StartDebugLogRequest", 167 },
+  { "StartDebugLogResponse", 168 },
+  { "StartDiagnosticsRequest", 117 },
+  { "StartDiagnosticsResponse", 118 },
+  { "StartEventsNotificationRequest", 147 },
+  { "StartEventsNotificationResponse", 148 },
+  { "StopApplicationLogsRequest", 115 },
+  { "StopApplicationLogsResponse", 116 },
+  { "StopDebugLogRequest", 169 },
+  { "StopDebugLogResponse", 170 },
+  { "StopDiagnosticsRequest", 145 },
+  { "StopDiagnosticsResponse", 146 },
+  { "StopEventsNotificationRequest", 149 },
+  { "StopEventsNotificationResponse", 150 },
   { "StubAbortJobRequest", 100 },
   { "StubAbortJobResponse", 101 },
   { "StubCartridgeReadRequest", 6 },
@@ -409,18 +413,18 @@ static const ProtobufCEnumValueIndex message_type__enum_values_by_name[203] =
   { "StubTivaWriteRegResponse", 79 },
   { "StubValveRequest", 30 },
   { "StubValveResponse", 31 },
-  { "SystemResetRequest", 171 },
-  { "SystemResetResponse", 172 },
-  { "ThreadAbortJoggingRequest", 135 },
-  { "ThreadAbortJoggingResponse", 136 },
-  { "ThreadJoggingRequest", 133 },
-  { "ThreadJoggingResponse", 134 },
-  { "UploadHardwareConfigurationRequest", 169 },
-  { "UploadHardwareConfigurationResponse", 170 },
-  { "UploadProcessParametersRequest", 157 },
-  { "UploadProcessParametersResponse", 158 },
-  { "ValidateVersionRequest", 199 },
-  { "ValidateVersionResponse", 200 },
+  { "SystemResetRequest", 173 },
+  { "SystemResetResponse", 174 },
+  { "ThreadAbortJoggingRequest", 139 },
+  { "ThreadAbortJoggingResponse", 140 },
+  { "ThreadJoggingRequest", 137 },
+  { "ThreadJoggingResponse", 138 },
+  { "UploadHardwareConfigurationRequest", 171 },
+  { "UploadHardwareConfigurationResponse", 172 },
+  { "UploadProcessParametersRequest", 161 },
+  { "UploadProcessParametersResponse", 162 },
+  { "ValidateVersionRequest", 201 },
+  { "ValidateVersionResponse", 202 },
 };
 const ProtobufCEnumDescriptor message_type__descriptor =
 {
@@ -429,9 +433,9 @@ const ProtobufCEnumDescriptor message_type__descriptor =
   "MessageType",
   "MessageType",
   "",
-  203,
+  205,
   message_type__enum_values_by_number,
-  203,
+  205,
   message_type__enum_values_by_name,
   9,
   message_type__value_ranges,
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 aad677235..bfbdf880d 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
@@ -133,6 +133,10 @@ typedef enum _MessageType {
   MESSAGE_TYPE__DirectSynchronizationResponse = 1006,
   MESSAGE_TYPE__OverrideDataBaseRequest = 1007,
   MESSAGE_TYPE__OverrideDataBaseResponse = 1008,
+  MESSAGE_TYPE__StartApplicationLogsRequest = 1009,
+  MESSAGE_TYPE__StartApplicationLogsResponse = 1010,
+  MESSAGE_TYPE__StopApplicationLogsRequest = 1011,
+  MESSAGE_TYPE__StopApplicationLogsResponse = 1012,
   MESSAGE_TYPE__StartDiagnosticsRequest = 2000,
   MESSAGE_TYPE__StartDiagnosticsResponse = 2001,
   MESSAGE_TYPE__MotorAbortHomingRequest = 2002,
@@ -183,8 +187,6 @@ typedef enum _MessageType {
   MESSAGE_TYPE__CurrentJobResponse = 3007,
   MESSAGE_TYPE__ResumeCurrentJobRequest = 3008,
   MESSAGE_TYPE__ResumeCurrentJobResponse = 3009,
-  MESSAGE_TYPE__JobDescriptionFileSegment = 3010,
-  MESSAGE_TYPE__JobDescriptionFileBrushStop = 3011,
   MESSAGE_TYPE__StartDebugLogRequest = 4000,
   MESSAGE_TYPE__StartDebugLogResponse = 4001,
   MESSAGE_TYPE__StopDebugLogRequest = 4002,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmHandlingItem.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmHandlingItem.pb-c.h
index 1226e4429..467dc0c7d 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmHandlingItem.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/EmbeddedParameters/AlarmHandlingItem.pb-c.h
@@ -15,8 +15,8 @@ PROTOBUF_C__BEGIN_DECLS
 #endif
 
 #include "AlarmSourceType.pb-c.h"
-#include <debugging/DebugLogCategory.pb-c.h>
-#include  <PMR/Diagnostics/EventType.pb-c.h>
+#include "DebugLogCategory.pb-c.h"
+#include "EventType.pb-c.h"
 
 typedef struct _AlarmHandlingItem AlarmHandlingItem;
 
diff --git a/Software/Embedded_SW/Embedded/DataDef.h b/Software/Embedded_SW/Embedded/DataDef.h
index c6d9a9e89..4c7698c1b 100644
--- a/Software/Embedded_SW/Embedded/DataDef.h
+++ b/Software/Embedded_SW/Embedded/DataDef.h
@@ -15,6 +15,7 @@
 //#define DEBUG_TEST_FUNCTIONS
 #define  HIZ_TIMEOUT 1000
 #define DEMO_TEMPERATURE
+//#define TEST_LONGER_PID_THREAD
 
 #define MAX_STRING_LEN              255 //Embedded  version + filter.c
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c
index c04271c93..b427bf1d2 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/Flash_Memory.c
@@ -315,9 +315,9 @@ void SSILibSendEraseCommand (uint32_t ui32Base, uint32_t ui32Address, uint8_t ui
 
 int FlashFS_Init()
 {
-    uint32_t ui32TotalSize;
-    uint32_t ui32FileCount;
-    uint32_t ui32DirCount;
+    //uint32_t ui32TotalSize;
+    //uint32_t ui32FileCount;
+    //uint32_t ui32DirCount;
     FRESULT fresult = FR_OK;
     //FATFS *pFatFs;
     uint32_t a;
@@ -369,9 +369,9 @@ int FlashFS_Init()
         return(fresult);
     }
 
-    ui32TotalSize = 0;
-    ui32FileCount = 0;
-    ui32DirCount = 0;
+    //ui32TotalSize = 0;
+    //ui32FileCount = 0;
+    //ui32DirCount = 0;
 
     //
     // Read an entry from the directory.
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index c7235ee74..89b57ac83 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -46,8 +46,8 @@ uint32_t MotorVerifiedCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag);
 uint32_t MotorControlId[NUM_OF_MOTORS];
 uint32_t StoredMotorPosition[NUM_OF_MOTORS];
 FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for normal homing into working mode
-      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,                    // closing the loading system
-      MAX_GPI, //MOTO_DH_CLEANMECH = 1,                    //dispensers down
+      GPI_LS_DH_CLEAN_LEFT    , //MOTO_DH_CLEANHEAD = 0,
+      GPI_LS_DH_CLEAN_RIGHT, //MOTO_DH_CLEANMECH = 1,
       GPI_LS_DH_LID_CLOSED, //MOTO_DH_LID = 2,
       MAX_GPI, //MOTO_DRYER_DRIVING = 3,
       GPI_LS_DRYER_LID_CLOSED, //MOTO_DRYER_LID = 4,
@@ -73,8 +73,8 @@ FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for n
       GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
 };
 FPGA_GPI_ENUM     Motor_Id_to_LS_IdUp[NUM_OF_MOTORS] = { // limit switch for normal homing out of working mode
-      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,                    // opening the loading system
-      MAX_GPI, //MOTO_DH_CLEANMECH = 1,                    //dispensers up - empting
+      GPI_LS_DH_CLEAN_LEFT    , //MOTO_DH_CLEANHEAD = 0,
+      GPI_LS_DH_CLEAN_RIGHT, //MOTO_DH_CLEANMECH = 1,
       GPI_LS_DH_LID_OPEN, //MOTO_DH_LID = 2,
       MAX_GPI, //MOTO_DRYER_DRIVING = 3,
       GPI_LS_DRYER_LID_OPEN, //MOTO_DRYER_LID = 4,
@@ -120,7 +120,7 @@ MotorHomingDirectionEnum     Motor_Id_to_LS_Direction[NUM_OF_MOTORS] = {
       MotorHomingDirectionDown, //MOTO_LDANCER1 = 16,
       MotorHomingDirectionDown, //MOTO_LDANCER2 = 17,
       MotorHomingDirectionNoHoming, //MOTO_LDRIVING = 18,
-      MotorHomingDirectionUp, //MOTO_LLOADING = 19,
+      MotorHomingDirectionDown, //MOTO_LLOADING = 19,
       MotorHomingDirectionUp, //MOTO_LPIVOT1 = 20,
       MotorHomingDirectionDown, //MOTO_RDANCER = 21,
       MotorHomingDirectionNoHoming, //MOTO_RDRIVING = 22,
diff --git a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
index 9cea9414e..0bbe14935 100644
--- a/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/SSI_Comm/Speed_Sensor/Speed_Sensor.c
@@ -85,7 +85,7 @@ float Calculate_Speed_Sensor_Velocity( void ) // Call the function every 100mSec
 
         uint32_t pulses_per_rotation = 4096; //  12 bit
 
-        temp = number_of_pulses * 8.3;//8.9 cm per round  CHANGED TO 8.3 - Yoav
+        temp = number_of_pulses * 8.0;//8.9 cm per round  CHANGED TO 8.3 - Yoav  changed to 8.0 - shlomo
 
         temp /=pulses_per_rotation;//bits for round
         temp /=Prev_delta_Sec;//100mSec - sampling period
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 3430e693f..3cf9de832 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -346,7 +346,16 @@ uint32_t Valve3WayCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
                Valve3WayControlId[ValveId] = 0xFF;
            }
            else
-               Report("Remove control callback failed",__FILE__,__LINE__,(int)ValveId,RpWarning,(int)Valve3WayControlId[ValveId],0);
+           {
+               Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)Valve3WayControlId[ValveId],0);
+               if (RemoveControlCallback(GetControlLowDevice_i(),Valve3WayCallBackFunction)==OK)
+               {
+                   Report("Remove control callback fixed",__FILE__,__LINE__,(int)ValveId,RpWarning,(int)Valve3WayControlId[ValveId],0);
+                   Valve3WayControlId[ValveId] = 0xFF;
+               }
+               else
+                   Report("Remove control callback failed",__FILE__,__LINE__,(int)ValveId,RpWarning,(int)Valve3WayControlId[ValveId],0);
+           }
 
            //call the module callback
            if (Valve3WayModuleCallback[ValveId])
@@ -363,13 +372,15 @@ uint32_t Valve3WayCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 uint32_t Control3WayValvesWithCallback (Valves_t _ValveId, bool direction, callback_fptr callback) //direction: MidTank_Dispenser or Dispenser_Mixer
 {
 
+    if (Valve3WayControlId[_ValveId] != 0xFF)
+        Report("Control3WayValvesWithCallback called busy ",__FILE__,__LINE__,(int)_ValveId,RpWarning,(int)Valve3WayControlId[_ValveId],0);
     Valve3WayModuleCallback[_ValveId] = callback;
 
     Valve3WayControlId[_ValveId] = AddControlCallback( Valve3WayCallBackFunction,  eOneSecond/*eHundredMillisecond*/, FPGA_GetDispenserValveBusyOCD,(IfTypeDisopenser*0x100+_ValveId), _ValveId, 0 );
     if (Valve3WayControlId[_ValveId] == 0xFF)
         Report("Add control callback failed",__FILE__,__LINE__,(int)_ValveId,RpWarning,(int)Valve3WayControlId[_ValveId],0);
-    //else
-        //Report("Add control callback",__FILE__,__LINE__,(int)_ValveId,RpWarning,(int)Valve3WayControlId[_ValveId],0);
+    else
+        Report("Add control callback",__FILE__,__LINE__,(int)_ValveId,RpWarning,(int)Valve3WayControlId[_ValveId],0);
 
     EnableDisableDispenserValve(_ValveId, ENABLE);
 
@@ -379,15 +390,3 @@ uint32_t Control3WayValvesWithCallback (Valves_t _ValveId, bool direction, callb
 
     return Valve3WayControlId[_ValveId];
 }
-
-void test_valve_3_way(Valves_t _ValveId, bool direction)
-{
-
-    //static bool dir= 1;
-
-
-    EnableDisableDispenserValve(_ValveId, ENABLE );
-    SysCtlDelay(10);
-    Valve_Set(_ValveId, direction);
-    //dir = dir ^ 0x01;
-}
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 34a72cbe7..84d836ef8 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -93,7 +93,8 @@ uint32_t HWControlId;
 uint32_t MainHWInitCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 {
     RemoveControlCallback(HWControlId, MainHWInitCallBackFunction );
-    //HWConfigurationInit();
+    HWConfigurationInit();
+    return OK;
 }
 //*****************************************************************************
 //
@@ -212,7 +213,7 @@ int main(void)
 
     IDLE_TASK_package_init();
 
-    HWControlId = AddControlCallback( MainHWInitCallBackFunction, 10* eOneSecond/*eHundredMillisecond*/, MainDummyFunction,0,0, 0 );
+    HWControlId = AddControlCallback( MainHWInitCallBackFunction, 4* eOneSecond/*eHundredMillisecond*/, MainDummyFunction,0,0, 0 );
 
     BIOS_start();
 
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 475a623f0..a7ac19ba1 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -282,10 +282,15 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
             HeaterCommandRequestMessage(AlarmItem[AlarmId].ModuleDeviceId, HEATER_OFF, 0);
             break;
         case LimitSwitchAlarm:
-            IDS_StopDispenser (AlarmItem[AlarmId].ModuleDeviceId);
-            break;
         case PressureAlarm:
-            IDS_StopDispenser (AlarmItem[AlarmId].ModuleDeviceId);
+            if (Severity == DEBUG_LOG_CATEGORY__Info)
+            {
+                IDS_Dispenser_Alarm_Off(AlarmItem[AlarmId].ModuleDeviceId);
+            }
+            else
+            {
+                IDS_Dispenser_Alarm_On (AlarmItem[AlarmId].ModuleDeviceId);
+            }
             break;
         case CurrentAlarm:
             break;
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index fc843b78b..b57c6c8b0 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -215,7 +215,10 @@ uint32_t  AddControlCallback( ControlCBFunction Callback, CTRL_TIMING_ENUM CtrlF
         }
     }
     if (deviceId == 0xFF)
+    {
+        LOG_ERROR(deviceId, "Add Callback failed");
         return 0xFF;
+    }
     key = GateMutex_enter(gateControlDB);
     ControlArray[deviceId].ControlTiming = CtrlFrequency;
     ControlArray[deviceId].ControlCallbackPtr = Callback;
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index f361153f3..8797e4c9d 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -13,6 +13,7 @@
 #include "AlarmHandling/AlarmHandling.h"
 #include "heaters/heaters_ex.h"
 #include "StateMachines/Printing/PrintingSTM.h"
+#include "Diagnostics/Diagnostics.h"
 
 #include "heaters/heaters_ex.h"
 
@@ -45,17 +46,29 @@ char HwConfigPath[50] = "0://SWInfo//GenHwCfg.msg";
 uint32_t HWConfigurationInit(void)
 {
     FRESULT Fresult = FR_OK;
-    void* buffer = NULL;
-    uint32_t Bytes = 0;
+    FIL *FileHandle = 0;  //the system supports a single active file
+    uint8_t* buffer = NULL;
+    uint32_t Bytes = 0,i,j,k=0;
     uint32_t status = OK;
 
     Fresult = f_mkdir(SW_INFO_DIR);
     if ((Fresult == FR_OK)||(Fresult == FR_EXIST))
     {
-
-    /*    Fresult = FileRead(HwConfigPath, &Bytes, &buffer);
+        FileHandle = my_malloc(sizeof(FIL));
+        Fresult = FileOpen(HwConfigPath, &Bytes, FileHandle);
         if (Fresult == FR_OK)
         {
+            buffer = my_malloc (Bytes);
+            if (buffer)
+            {
+                for (i=0;i<=(Bytes/100);i++)
+                {
+                    Fresult = f_read(FileHandle,&buffer[i*100],100,&j );
+                    k+=j;
+                }
+                if (k!=Bytes)
+                    LOG_ERROR(k,"File read error");
+            }
            UploadHardwareConfigurationRequest* UploadRequest = upload_hardware_configuration_request__unpack(NULL, Bytes, buffer);
            status = HWConfiguration(UploadRequest);
            if (status ==OK)
@@ -64,7 +77,8 @@ uint32_t HWConfigurationInit(void)
                ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH, Bytes, buffer);
            }
            free (buffer);
-        }*/
+        }
+        f_close(FileHandle);
     }
     EmbeddedParametersInit();
     IDS_Dispenser_Content_Init();
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index 075e0f009..68199d19f 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -174,6 +174,7 @@ uint32_t Buttons_Init(void)
    load.count = 0;
 
    AddControlCallback( ButtonLoadCBFunction, BUTTOMS_SAMPLE_TIME, ButtonLoadCallBackFunction, 0,0,0 ); //
+return OK;
 }
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
index e8bb1ac76..6fbfa5884 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_init.c
@@ -64,7 +64,7 @@ uint32_t Heaters_Init(void)
     //ROM_TimerDisable(Heater_timerBase, TIMER_A);
     FPGA_SensorInitConfig();
     memset(HeaterControl,0,sizeof(HeaterControl));
-    for (i = 0;i<=MAX_HEATERS_NUM; i++)
+    for (i = 0;i<MAX_HEATERS_NUM; i++)
         DeActivateHeater(i);
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
index f3a2e6274..8adf8754e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -7,6 +7,9 @@
 //by recieved esign flow of the user from the UI
 ///////////////////////////////////////////////////////////////////////////////////////////
 #include "include.h"
+#include <DataDef.h>
+#include "heaters.h"
+#include "Heaters_ex.h"
 
 #include "PMR/Hardware/HardwarePidControlType.pb-c.h"
 #include "PMR/Hardware/HardwarePidControl.pb-c.h"
@@ -14,23 +17,20 @@
 #include "PMR/Diagnostics/HeaterType.pb-c.h"
 #include "PMR/Diagnostics/HeaterState.pb-c.h"
 #include "PMR/common/MessageContainer.pb-c.h"
+#include  "PMR/Diagnostics/EventType.pb-c.h"
 
-#include "drivers/I2C_Communication/DAC/Blower.h"
-#include  <PMR/Diagnostics/EventType.pb-c.h>
-#include "Modules/AlarmHandling/AlarmHandling.h"
-
+#include "../AlarmHandling/AlarmHandling.h"
 #include "../control/control.h"
 #include "../control/pidalgo.h"
+
 #include <driverlib/timer.h>
-#include <DataDef.h>
 #include <inc/hw_ints.h>
 #include <inc/hw_memmap.h>
 
-#include "heaters.h"
 #include "Drivers/Heater/Heater.h"
-#include "Heaters_ex.h"
 #include "Drivers/Heater/TemperatureSensor.h"
 #include "Drivers/I2C_Communication/DAC/blower.h"
+#include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 #include "StateMachines/Printing/PrintingSTM.h"
 
 
@@ -79,7 +79,8 @@ uint32_t    SecondDryerHeaterMaxTempControl = 0xFF;
 #define DRYER_MAIN_PT100 TEMP_SENSE_ANALOG_DRYER_TEMP2
 #define DRYER_SECONDARY_PT100 TEMP_SENSE_ANALOG_DRYER_TEMP3
 
-uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {DRYER_AIR_PT100,DRYER_MAIN_PT100,DRYER_SECONDARY_PT100,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,TEMP_SENSE_AN_ENCLOSURETEMP3};
+ uint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {DRYER_AIR_PT100,DRYER_MAIN_PT100,DRYER_SECONDARY_PT100,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,TEMP_SENSE_AN_ENCLOSURETEMP3};
+//newuint32_t HeaterId2PT100Id[MAX_HEATERS_NUM] = {DRYER_AIR_PT100,DRYER_MAIN_PT100,DRYER_SECONDARY_PT100,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,TEMP_SENSE_AN_ENCLOSURETEMP3,TEMP_SENSE_ANALOG_MIXCHIP_TEMP};
 uint32_t    DryerInternalPT100Id = DRYER_AIR_PT100;
 bool HeatersRestart = false;
 
@@ -204,11 +205,11 @@ void LoadHeaterState(HeaterType HeaterType,HeaterState *HeaterState)
     HeaterState->isrampingup = 1-HeaterReady[HeaterId];
     HeaterState->has_isinsetpoint = true;
     HeaterState->isinsetpoint = HeaterReady[HeaterId];
-    if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature)
+    /*if (HeaterId == HARDWARE_PID_CONTROL_TYPE__DryerAirTemperature)
     {
         HeaterState->setpoint = HeaterControl[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain].outputproportionalpowerlimit;
         //HeaterState->isrampingup = InitialHeating;
-    }
+    }*/
     return;
 }
 uint32_t HeatersSingleHeaterEnd(HardwarePidControlType HeaterId)
@@ -619,7 +620,7 @@ uint32_t DcHeaterMaxTempCBFunction(uint32_t IfIndex, uint32_t readValue)
                 return OK;
             }
             HeaterMinTempFlag[index] = true;
-            Report("Heater under the min temperature",__FILE__,__LINE__,index,RpWarning,HeaterPreviousRead[index],  HeaterControl[index].sensormaxvalue);
+//            Report("Heater under the min temperature",__FILE__,__LINE__,index,RpWarning,HeaterPreviousRead[index],  HeaterControl[index].sensormaxvalue);
             if (HeaterReady[index]==false)
                 AlarmHandlingSetAlarm(HeaterUnderEventType[index], true);
             else
@@ -659,7 +660,7 @@ char ACheatstr[100];
 uint32_t HeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 {
     int index=MAX_HEATERS_NUM;
-    uint8_t len = 0;
+    //uint8_t len = 0;
     if (IfIndex>>8 != IfTypeHeaters)
     {
         LOG_ERROR (IfIndex, "Wrong  Interface type");
@@ -777,7 +778,7 @@ char heatstr[100];
 uint32_t DCHeaterControlCBFunction(uint32_t IfIndex, uint32_t readValue)
 {
     int index=MAX_HEATERS_NUM;
-    int len;
+    //int len;
    //uint8_t len = 0;
     if (IfIndex>>8 != IfTypeHeaters)
     {
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index 840a8a1e1..d27fb7c56 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -11,6 +11,8 @@ uint32_t DispenserConfigMessage(HardwareDispenser * request);
 
 extern HardwareDispenser DispensersCfg[ MAX_SYSTEM_DISPENSERS];
 
+extern bool DispensersAlarmState[ MAX_SYSTEM_DISPENSERS];
+
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
 
 uint32_t IDS_Dispenser_EmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue);
@@ -29,6 +31,7 @@ void IDS_Dispenser_Set_Flow_Params (char DispenserId,double NanoLitterPerPulse,c
 void IDS_Dispenser_RefillStarted (char DispenserId);
 void IDS_Dispenser_RefillEnded (char DispenserId);
 void IDS_Dispenser_MovingDirection (char DispenserId, bool direction);
+uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback);
 
 
 #endif  //MODULES_IDS_IDS_H_
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index d4ebcbf46..8fc98a74c 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -23,6 +23,15 @@
 
 uint32_t CloseValveTimeout = 250;
 uint32_t OpenValveTimeout = 250;
+#define DISPENSER_BUILD_PRESSURE_SPEED 500
+#define DISPENSER_BUILD_PRESSURE_LIMIT 0.5
+#define DISPENSER_BUILD_PRESSURE_TIMEOUT 8000
+#define DISPENSER_BUILD_PRESSURE_LAG 50
+
+double   DispenserPreparePressure = DISPENSER_BUILD_PRESSURE_LIMIT;
+uint32_t DispenserPrepareTimeout = DISPENSER_BUILD_PRESSURE_TIMEOUT;
+uint32_t DispenserPrepareTimeLag = DISPENSER_BUILD_PRESSURE_LAG;
+uint32_t DispenserPrepareTime[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
 
 callback_fptr DispenserCallback[MAX_SYSTEM_DISPENSERS] = {0, 0, 0, 0, 0, 0, 0, 0,};
 uint32_t DispenserControlId[MAX_SYSTEM_DISPENSERS] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
@@ -37,15 +46,84 @@ uint32_t IDS_Dispenser_EmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
     return OK;
 }
 
+uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t ReadValue)
+ {
+    DispenserPrepareTime[DispenserId]+=DispenserPrepareTimeLag;
+
+     if ((GetDispenserPressure(DispenserId)>=DISPENSER_BUILD_PRESSURE_LIMIT)||(DispenserPrepareTime[DispenserId]>=DISPENSER_BUILD_PRESSURE_TIMEOUT))
+     {
+         if (RemoveControlCallback(DispenserControlId[DispenserId], IDS_Dispenser_Build_Pressure_Callback )==OK)
+         {
+             Report("Remove control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+             DispenserControlId[DispenserId] = 0xFF;
+         }
+         else
+         {
+             Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)DispenserControlId[DispenserId],0);
+             if (RemoveControlCallback(GetControlLowDevice_i(),IDS_Dispenser_Build_Pressure_Callback)==OK)
+             {
+                 Report("Remove control callback fixed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+                 DispenserControlId[DispenserId] = 0xFF;
+             }
+             else
+                 Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+         }
+
+         TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+         MotorStop(HW_Motor_Id,Hard_Hiz);
+
+         if (DispenserCallback[DispenserId])
+         {
+             DispenserCallback[DispenserId](DispenserId,ReadValue);
+             DispenserCallback[DispenserId] = 0;
+         }
+     }
+     return OK;
+}
+
+ uint32_t IDS_Dispenser_Build_Pressure(int DispenserId, callback_fptr callback)
+{
+    DispenserCallback[DispenserId] = callback;
+    Report("Control3WayValvesWithCallback called  ",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)0,0);
+
+    Control3WayValvesWithCallback ((Valves_t)DispenserId, CloseValve, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+    if (DispenserControlId[DispenserId] != 0xFF)
+        Report("Cannot Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+
+    DispenserControlId[DispenserId] = AddControlCallback( IDS_Dispenser_Build_Pressure_Callback, DispenserPrepareTimeLag,IDS_Dispenser_EmptyCBFunction ,DispenserId, DispenserId, 0 );
+    if (DispenserControlId[DispenserId] == 0xFF)
+        Report("Add control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+    else
+    {
+        Report("Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+        DispenserPrepareTime[DispenserId]=0;
+        TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[DispenserId];
+        MotorSetSpeed(HW_Motor_Id, DISPENSER_BUILD_PRESSURE_SPEED);
+    }
+
+    return OK;
+}
+
  uint32_t IDS_Dispenser_StopMotorCallback(uint32_t DispenserId, uint32_t ReadValue)
  {
      if (RemoveControlCallback(DispenserControlId[DispenserId], IDS_Dispenser_StopMotorCallback )==OK)
      {
-         Report("Remove control callback",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+         Report("Remove control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
          DispenserControlId[DispenserId] = 0xFF;
      }
      else
-         Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+     {
+         Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)DispenserControlId[DispenserId],0);
+         if (RemoveControlCallback(GetControlLowDevice_i(),IDS_Dispenser_StopMotorCallback)==OK)
+         {
+             Report("Remove control callback fixed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+             DispenserControlId[DispenserId] = 0xFF;
+         }
+         else
+         {
+             Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+         }
+     }
 
      TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[DispenserId];
      MotorStop(HW_Motor_Id,Hard_Hiz);
@@ -62,13 +140,17 @@ uint32_t IDS_Dispenser_EmptyCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     DispenserCallback[DispenserId] = callback;
 
+    Report("Control3WayValvesWithCallback called  ",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)0,0);
+
     Control3WayValvesWithCallback ((Valves_t)DispenserId, CloseValve, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+    if (DispenserControlId[DispenserId] != 0xFF)
+        Report("Cannot Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
 
     DispenserControlId[DispenserId] = AddControlCallback( IDS_Dispenser_StopMotorCallback, CloseValveTimeout, IDS_Dispenser_EmptyCBFunction,DispenserId, DispenserId, 0 );
     if (DispenserControlId[DispenserId] == 0xFF)
         Report("Add control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
     else
-        Report("Add control callback",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+        Report("Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
 
     return OK;
 }
@@ -78,12 +160,22 @@ uint32_t IDS_Dispenser_OpenValveCallback(uint32_t DispenserId, uint32_t ReadValu
 
     if (RemoveControlCallback(DispenserControlId[DispenserId], IDS_Dispenser_OpenValveCallback )==OK)
     {
-        Report("Remove control callback",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+        Report("Remove control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
         DispenserControlId[DispenserId] = 0xFF;
     }
     else
-        Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+    {
+        Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)DispenserControlId[DispenserId],0);
+        if (RemoveControlCallback(GetControlLowDevice_i(),IDS_Dispenser_OpenValveCallback)==OK)
+        {
+            Report("Remove control callback fixed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+            DispenserControlId[DispenserId] = 0xFF;
+        }
+        else
+            Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+    }
 
+    Report("Control3WayValvesWithCallback called  ",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)0,0);
     Control3WayValvesWithCallback (DispenserId, OpenValve, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
 
     if (DispenserCallback[DispenserId])
@@ -99,12 +191,14 @@ uint32_t IDS_Dispenser_Start_Motor_and_Open_Valve(int DispenserId, int MotorSpee
 
     TimerMotors_t  HW_Motor_Id = DispenserIdToMotorId[DispenserId];
     MotorSetSpeed(HW_Motor_Id, MotorSpeed);
+    if (DispenserControlId[DispenserId] != 0xFF)
+        Report("Cannot Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
 
     DispenserControlId[DispenserId] = AddControlCallback( IDS_Dispenser_OpenValveCallback, OpenValveTimeout, IDS_Dispenser_EmptyCBFunction,DispenserId, DispenserId, 0 );
     if (DispenserControlId[DispenserId] == 0xFF)
         Report("Add control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
     else
-        Report("Add control callback",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
+        Report("Add control callback",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
 
     return OK;
 }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index 1596a053f..73a7f29fd 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -44,7 +44,8 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request);
 uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback);
 uint32_t IDS_StopHomeDispenser (uint32_t deviceID);
 uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback);
-uint32_t IDS_StopDispenser (uint8_t deviceID);
+uint32_t IDS_Dispenser_Alarm_On (uint8_t deviceID);
+uint32_t IDS_Dispenser_Alarm_Off (uint8_t deviceID);
 
 uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 16c4e4e1c..3a2221f82 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -85,11 +85,19 @@ uint32_t IDS_HomeDispenserBackMoveCallback(uint32_t deviceID, uint32_t ReadValue
         Report("End backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
         if (RemoveControlCallback(DispenserHomingControlId[DispenserId], IDS_HomeDispenserBackMoveCallback )==OK)
         {
-            //Report("Remove control callback",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)Valve3WayControlId[DispenserId],0);
             DispenserHomingControlId[DispenserId] = 0xFF;
         }
         else
-            Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserHomingControlId[DispenserId],0);
+        {
+            Report("Fixing Remove control ",__FILE__,__LINE__,(int)GetControlLowDevice_i(),RpWarning,(int)DispenserHomingControlId[DispenserId],0);
+            if (RemoveControlCallback(GetControlLowDevice_i(),IDS_HomeDispenserBackMoveCallback)==OK)
+            {
+                Report("Remove control callback fixed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserHomingControlId[DispenserId],0);
+                DispenserHomingControlId[DispenserId] = 0xFF;
+            }
+            else
+                Report("Remove control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserHomingControlId[DispenserId],0);
+        }
         DispenserHomingTime[DispenserId]=0;
     }
     else
@@ -128,6 +136,9 @@ uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr ca
 {
     assert(deviceID < MAX_SYSTEM_DISPENSERS);
 
+    if (DispensersAlarmState[deviceID] == true)
+        return ERROR;
+
     if (HomingActive[deviceID] == true)
         return ERROR;
     else
@@ -151,9 +162,10 @@ uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr ca
     }
     return ERROR;
 }
-uint32_t IDS_StopDispenser (uint8_t deviceID)
+uint32_t IDS_Dispenser_Alarm_On (uint8_t deviceID)
 {
     uint32_t status = OK;
+    DispensersAlarmState[deviceID] = true;
     TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + deviceID;
     status |= MotorAbortMovetoLimitSwitch(MotorId);
     Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_OFF);
@@ -161,6 +173,12 @@ uint32_t IDS_StopDispenser (uint8_t deviceID)
     status |= MotorStop(deviceID, Hard_Hiz);
     return status;
 }
+uint32_t IDS_Dispenser_Alarm_Off (uint8_t deviceID)
+{
+    uint32_t status = OK;
+    DispensersAlarmState[deviceID] = false;
+    return status;
+}
 
 uint32_t IDS_StopHomeDispenser (uint32_t deviceID)
 {
@@ -200,11 +218,13 @@ uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr c
 {
     assert(deviceID < MAX_SYSTEM_DISPENSERS);
 
+    if (DispensersAlarmState[deviceID] == true)
+        return ERROR;
+
     if (HomingActive[deviceID] == true)
         return ERROR;
     else
         HomingActive[deviceID] = true;
-
     HomingRequestCallback[deviceID] = callback;
 
     TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + deviceID;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 6b4bc10d4..3610ca909 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -42,6 +42,7 @@ bool IDS_Active = false;
 /******************** STRUCTURES AND ENUMs  ********************************************/
 uint32_t IDS_Valve_DistanceToSpoolReady(uint32_t deviceID, uint32_t ReadValue);
 uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue);
+bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
 /******************** GLOBAL PARAMETERS  ********************************************/
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
 uint32_t    ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
@@ -49,6 +50,8 @@ int OriginalDispenserSpd_2PPS[MAX_SYSTEM_DISPENSERS] = {0,0,0,0,0,0,0,0};
 bool         DispenserPreSegmentReady[MAX_SYSTEM_DISPENSERS] = {true,true,true,true,true,true,true,true};
 bool         DispenserSegmentReady[MAX_SYSTEM_DISPENSERS] = {true,true,true,true,true,true,true,true};
 bool         DispenserDistanceToSpoolReady[MAX_SYSTEM_DISPENSERS] = {true,true,true,true,true,true,true,true};
+bool         DispenserUsedInJob[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
+bool         DispensersAlarmState[ MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 int JobBrushStopId = 0;
 
 uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request)
@@ -111,6 +114,51 @@ void DispenserPrepareReady(void)
     REPORT_MSG(Module_IDS,"DispenserPrepareReady");
     PrepareReady(Module_IDS,ModuleDone);
 }
+//********************************************************************************************************************
+ uint32_t IDS_PrepareReady(uint32_t deviceID, uint32_t ReadValue)
+ {
+     int i;
+     if (IDS_Active == false)
+        return ERROR;
+     DispenserReady[deviceID] = true;
+     REPORT_MSG(deviceID,"Dispenser prepare ready");
+     DispenserPrepareReady();
+  return OK; // all configured heaters are ready
+ }
+ bool IDS_MapDispenserUsedinJob(void *JobDetails)
+ {
+     JobTicket* JobTicket = JobDetails;
+     int Dispenser_i, Segment_i,Brush_i,DispenserId;
+
+     for (Dispenser_i = 0;Dispenser_i<MAX_SYSTEM_DISPENSERS;Dispenser_i++)
+     {
+         DispenserUsedInJob[Dispenser_i] = false;
+     }
+     if (JobTicket->n_segments == 0)
+         return false;
+
+     for (Segment_i=0;Segment_i<JobTicket->n_segments;Segment_i++)
+         {
+         for (Brush_i=0;Brush_i<JobTicket->segments[Segment_i]->n_brushstops;Brush_i++)
+             {
+                 if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers)
+                 {
+                     for (Dispenser_i = 0;Dispenser_i < JobTicket->segments[Segment_i]->brushstops[Brush_i]->n_dispensers;Dispenser_i++)
+                     {
+                         //prepare the SW structures
+                         DispenserId = JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->index;
+                         if (JobTicket->segments[Segment_i]->brushstops[Brush_i]->dispensers[Dispenser_i]->nanolitterpersecond>0.0)
+                         {
+                             DispenserUsedInJob[DispenserId] = true;
+                         }
+                     }//for dispenser
+                 }//if dispensers
+             }//for brush
+         }//for segments
+
+     return false;
+
+ }
 
 //********************************************************************************************************************
  uint32_t IDSPrepareState(void *JobDetails)
@@ -147,9 +195,17 @@ void DispenserPrepareReady(void)
             //ValveCommand (Enable,MixerDirection);
     }
     //set 3 dancers to the profile positions
+    IDS_MapDispenserUsedinJob(JobDetails);
     for (i = 0; i < MAX_SYSTEM_DISPENSERS; i++)
     {
-        DispenserReady[i] = true;
+        if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
+        {
+            DispenserReady[i] = false;
+            IDS_Dispenser_Build_Pressure(i, IDS_PrepareReady);
+            REPORT_MSG(i,"Dispenser prepare called");
+        }
+        else
+            DispenserReady[i] = true;
     }
     DispenserPrepareReady();
     return OK;
@@ -200,15 +256,16 @@ bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int Segmen
 	 if (IDS_Active == false)
 	 	return ERROR;
      DispenserPreSegmentReady[deviceID] = true;
+     REPORT_MSG(deviceID,"IDS_Valve_Presegment Ready");
      for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
      {
          if (DispenserPreSegmentReady[i] == false)
          {
-             //REPORT_MSG(i,"IDS_Valve_Presegment Not Ready");
+             REPORT_MSG(i,"IDS_Valve_Presegment Not Ready");
              return OK; //not all configured heaters are ready
          }
      }
-     //REPORT_MSG(deviceID,"IDS_Valve_PresegmentReady");
+     REPORT_MSG(deviceID,"IDS_Valve_Presegment all Ready!!");
      PreSegmentReady(Module_IDS,ModuleDone);
   return OK; // all configured heaters are ready
  }
@@ -251,13 +308,6 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
         n_dispensers = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->n_dispensers;
         for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
         {
-            //prepare the SW structures
-            DispenserId = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
-            DispenserPreSegmentReady[DispenserId] = false;
-            //REPORT_MSG(DispenserId,"Dispenser PreSegment Start");
-        }
-        for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
-        {
             DispenserId = JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->index;
             HW_Motor_Id = DispenserIdToMotorId[DispenserId];
             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
@@ -265,6 +315,8 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
                 REPORT_MSG(DispenserId,"Dispenser PreSegment not configured");
                 continue;
             }
+            DispenserPreSegmentReady[DispenserId] = false;
+            REPORT_MSG(DispenserId,"IDS_Valve_Presegment start");
             IDS_Dispenser_Set_Flow_Params(DispenserId,0,0);
             if (JobTicket->segments[SegmentId]->brushstops[0]->dispensers[Dispenser_i]->nanolitterpersecond==0)
             {
@@ -409,7 +461,7 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
          for (Dispenser_i = 0;Dispenser_i < MAX_SYSTEM_DISPENSERS;Dispenser_i++)
          {
              HW_Motor_Id = DispenserIdToMotorId[Dispenser_i];
-             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[Dispenser_i])//unconfigured dispenser
+             if (DispenserUsedInJob[Dispenser_i]==false)//unconfigured dispenser
                  continue;
              DispenserDistanceToSpoolReady[Dispenser_i] = false;
              IDS_Dispenser_Set_Flow_Params(Dispenser_i,0,0);
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 ff29994bc..1b6ed8989 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Stub_Valve.c
@@ -33,7 +33,6 @@ void Stub_ValveRequest(MessageContainer* requestContainer)
 	request->valveon
     */
     //Control3WayValvesWithCallback (request->valveid, request->valveon, NULL);
-    test_valve_3_way(request->valveid, request->valveon);
     //Valve_Set(request->valveid, request->valveon);
 
     StubValveResponse response =   STUB_VALVE_RESPONSE__INIT;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 34395b3e6..e19431abd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -40,6 +40,7 @@
         THREAD_LOAD_INIT,
         THREAD_LOAD_REDUCE_HEAT,  //HEATERS OFF, DRYER BLOWER OFF, BLOWER LOW,
         THREAD_LOAD_SET_LOAD_ARM_TO_START_POSITION,//USE NOTATION HOW MANY ROTATIONS IN THE DRYER, OR CHECK AGAINST STOPPER. MOVE SLOWLY
+        THREAD_LOAD_CENTER_HEAD_ROCKERS,  //puthead cleaning rockers to middle position
         THREAD_LOAD_OPEN_COVERS,  //OPEN DYEING HEAD COVER AND DRYER LID
         THREAD_LOAD_LIFT_DANCERS,
         THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
@@ -201,6 +202,14 @@
             LOG_ERROR(MotorId, "Thread_Load_HomingCallback Callback is already 0");
         return OK;
     }
+    uint32_t Thread_Load_Center_Head_Rockers(void)
+    {
+        CallbackCounter++;
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD], Thread_Load_HomingCallback,10000);
+        CallbackCounter++;
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH].directionthreadwize, 200,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANMECH], Thread_Load_HomingCallback,10000);
+        return OK;
+    }
     uint32_t Thread_Load_Open_Covers(void)
     {
         //Open Dyeing Head Cover And Dryer Lid
@@ -352,6 +361,10 @@
             //LoadStages++;
             Thread_Load_Set_Load_Arm_To_Start_Position();
             break;
+        case THREAD_LOAD_CENTER_HEAD_ROCKERS:
+            //LoadStages++;
+            Thread_Load_Center_Head_Rockers();
+            break;
         case THREAD_LOAD_OPEN_COVERS:  //OPEN DYEING HEAD COVER AND DRYER LID
             //LoadStages++;
             Thread_Load_Open_Covers();
@@ -416,7 +429,7 @@ uint32_t ThreadLoadControlCBFunction(uint32_t index, uint32_t ReadValue)
     //double tempcalcspeed = 0;
     uint32_t calculated_speed;
     double NormalizedError;
-    char Message[60];
+    //char Message[60];
 
     DancerId = ThreadMotorIdToDancerId[index];
     if (ReadValue < 10)
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 511a4ef93..56b229ea8 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -43,4 +43,7 @@ uint32_t Winder_Prepare(void);
 uint32_t Winder_Presegment(void *JobDetails, uint32_t SegmentId);
 uint32_t Winder_End(void);
 
+void ThreadLoadPollRequest(MessageContainer* requestContainer);
+void ThreadLoadRequest(MessageContainer* requestContainer);
+
 #endif
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index f525e4a04..04a0026bd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -85,6 +85,9 @@ uint32_t MotorPidRequestMessage(HardwarePidControl* request)
     memcpy (&MotorsControl[Motor_i],request,sizeof(HardwarePidControl));
     if (MotorsControl[Motor_i].pvinputfilterfactormode > MAX_CONTROL_SAMPLES)
         MotorsControl[Motor_i].pvinputfilterfactormode = MAX_CONTROL_SAMPLES;
+#ifdef TEST_LONGER_PID_THREAD
+    MotorsControl[Motor_i].pvinputfilterfactormode = 10; //test longer control
+#endif
     for (i = 0;i < MotorsControl[Motor_i].pvinputfilterfactormode; i++)
         MotorSamples[Motor_i][i] = 0;  //reset the samples value for control beginning
     NormalizedErrorCoEfficient[Motor_i] = (2*PI*DancersCfg[ThreadMotorIdToDancerId[Motor_i]].armlength);
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index c48eec522..f0cf4f733 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -305,7 +305,7 @@ uint32_t ThreadControlSpeedReadFunction(uint32_t IfIndex, uint32_t ReadValue)
 }
 //double eNormalizedError[100];
 //int    TranslatedreadValue[100];
-#define MAX_THREAD_CONTROL_LOG 100
+/*#define MAX_THREAD_CONTROL_LOG 100
 double calculatedError[MAX_THREAD_CONTROL_LOG+1];
 double NormError[MAX_THREAD_CONTROL_LOG+1];
 double mIntegral[MAX_THREAD_CONTROL_LOG+1];
@@ -313,7 +313,7 @@ int    MotorId[MAX_THREAD_CONTROL_LOG+1];
 int    readValue[MAX_THREAD_CONTROL_LOG+1];
 int    AveragereadValue[MAX_THREAD_CONTROL_LOG+1];
 int    calculatedspeed[MAX_THREAD_CONTROL_LOG+1];
-int    timestamp[MAX_THREAD_CONTROL_LOG+1];
+int    timestamp[MAX_THREAD_CONTROL_LOG+1];*/
 int controlIndex = 0;
 bool keepdata = true;
 /*int32_t KeepReadValue = 0;
@@ -403,6 +403,10 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         MotorSamplePointer[index]++;
         if (MotorSamplePointer[index] >= MotorsControl[index].pvinputfilterfactormode)
             MotorSamplePointer[index] = 0;
+#ifdef TEST_LONGER_PID_THREAD
+        else // test: handle tension once in pvinputfilterfactormode milliseconds
+            return OK;
+#endif
         for (i=0;i<MotorsControl[index].pvinputfilterfactormode;i++)
             avreageSampleValue += MotorSamples[index][i];
         avreageSampleValue = avreageSampleValue / MotorsControl[index].pvinputfilterfactormode;
@@ -475,7 +479,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
         calculated_speed = (1-MotorControlConfig[index].m_calculatedError)*OriginalMotorSpd_2PPS[index];
         if (abs(calculated_speed-CurrentControlledSpeed[index])> MotorControlConfig[index].m_ingnoreValue)
         {
-            if (keepdata == true)
+            /*if (keepdata == true)
             {
                  calculatedError[controlIndex] = MotorControlConfig[index].m_calculatedError;
                     MotorId[controlIndex] = index;
@@ -488,7 +492,7 @@ uint32_t ThreadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
                     timestamp[controlIndex] = msec_millisecondCounter;
                  if (controlIndex++>=MAX_THREAD_CONTROL_LOG)
                      controlIndex = 0;
-            }
+            }*/
             CurrentControlledSpeed[index] = calculated_speed;
             MotorSetSpeed(ThreadMotorIdToMotorId[index], calculated_speed);
         }
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index de1d26ca4..4b41900d5 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -94,11 +94,11 @@ ModuleStateEnum PrepareWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle,ModuleIdle,Modu
 * functions describes motor operation flow and movement state during profile execution
 * used to operate in runtime correct profileflow execution
 *********************************************************************************************/
-static ReturnCode IdleState(void *JobDetails);
-static ReturnCode ValidateState(void *JobDetails);
+//static ReturnCode IdleState(void *JobDetails);
+//static ReturnCode ValidateState(void *JobDetails);
 static ReturnCode PrepareState(void *JobDetails);
 static ReturnCode PrintState(void *JobDetails);
-static ReturnCode CleanState(void *JobDetails);
+//static ReturnCode CleanState(void *JobDetails);
 static ReturnCode ExitState(void *JobDetails);
 /**********************************************************************
 * the array and enum of JobState_t below must be in sync order
@@ -144,21 +144,21 @@ bool JobIsActive(void)
 *function describes entry point of motor in profile execution - accelerate from stop position
 *function described above used to operate motor operation flow and movement state during profile execution
 *********************************************************************************************************************/
-static ReturnCode IdleState(void *JobDetails)
+/*static ReturnCode IdleState(void *JobDetails)
 {
     ReturnCode retcode;
     retcode = JobSuccess;
 
     return retcode;
-}
+}*/
 //********************************************************************************************************************
-static ReturnCode ValidateState(void *JobDetails)
+/*static ReturnCode ValidateState(void *JobDetails)
 {
     ReturnCode retcode;
     retcode = JobSuccess;
 
     return retcode;
-}
+}*/
 //********************************************************************************************************************
 bool GetHeatersPrepareWaiting(void)
 {
@@ -285,13 +285,13 @@ static ReturnCode PrintState(void *JobDetails)
 }
 
 //********************************************************************************************************************
-static ReturnCode CleanState(void *JobDetails)
+/*static ReturnCode CleanState(void *JobDetails)
 {
     ReturnCode retcode;
     retcode = JobSuccess;
 
     return retcode;
-}
+}*/
 //********************************************************************************************************************
 static ReturnCode ExitState(void *JobDetails)
 {
@@ -707,11 +707,9 @@ void SendJobProgress(double ProcessedLength, int SegmentId, bool done, char *Mes
     MessageContainer responseContainer;
     uint8_t* container_buffer;
 
-//
-
-    int len;
+    //int len;
     //static msdid = 0;
-    int length = (int)(ProcessedLength*100);
+    //int length = (int)(ProcessedLength*100);
     //len = usnprintf(logmsg, 254, "MSG: Job Progress Length %d, Seg %d Done %d ",length,  SegmentId,  done);
 
     //REPORT_MSG(msdid++,logmsg);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
index 954ec2c1b..c4fd1f639 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/PrintingSTM.c
@@ -34,12 +34,10 @@
 * functions describes motor operation flow and movement state during profile execution
 * used to operate in runtime correct profileflow execution
 *********************************************************************************************/
-static uint32_t EntryState(void *JobDetails);
-static uint32_t PrepareState(void *JobDetails);
 static uint32_t PreSegmentState(void *JobDetails, int);
 static uint32_t SegmentState(void *JobDetails, int);
 uint32_t EndState(void *JobDetails, char *Message);
-static uint32_t ExitState(void *JobDetails);
+//static uint32_t ExitState(void *JobDetails);
 
 /**********************************************************************
 * the array and enum of PrintingState_t below must be in sync order
@@ -144,10 +142,6 @@ uint32_t PrintingHWConfiguration(void *Configuration)
 *function describes entry point of motor in profile execution - accelerate from stop position
 *function described above used to operate motor operation flow and movement state during profile execution
 *********************************************************************************************************************/
-static uint32_t EntryState(void *JobDetails)
-{
-    return OK;
-}
 
 uint32_t PreSegmentReady(int ModuleId, ModuleStateEnum result)
 {
@@ -424,10 +418,10 @@ uint32_t EndState(void *JobDetails, char *Message)
     return OK;
 }
 //********************************************************************************************************************
-static uint32_t ExitState(void *JobDetails)
+/*static uint32_t ExitState(void *JobDetails)
 {
     return OK;
-}
+}*/
 
 //********************************************************************************************************************
 
@@ -470,7 +464,8 @@ void PrintSTMMsgHandler(void * msg)
             SegmentState(CurrentJob,SegmentId);
             break;
         case PreSegmentResultsFail:
-            ExitState(Message->messageData);
+            EndState(CurrentJob, "PreSegment Failed");
+            //ExitState(Message->messageData);
             break;
         case SegmentResultsOk:
             SegmentId++;
diff --git a/Software/Embedded_SW/Embedded/tm4c129xnczad.cmd b/Software/Embedded_SW/Embedded/tm4c129xnczad.cmd
index fd7aae55c..d63d890cd 100644
--- a/Software/Embedded_SW/Embedded/tm4c129xnczad.cmd
+++ b/Software/Embedded_SW/Embedded/tm4c129xnczad.cmd
@@ -34,7 +34,7 @@
 /* The starting address of the application.  Normally the interrupt vectors  */
 /* must be located at the beginning of the application.                      */
 #define APP_BASE 0x00000000
-#define FLASH_RAM_BASE 0x000B0000
+#define FLASH_RAM_BASE 0x000D0000
 #define RAM_BASE 0x20000000
 
 /* System memory map */
@@ -44,7 +44,7 @@ MEMORY
     /* Application stored in and executes from internal flash */
     FLASH (RX) : origin = APP_BASE, length = 0x000B0000
     /* Application stored in and executes from internal flash */
-    FLASH_RAM (RWX) : origin = FLASH_RAM_BASE, length = 0x00050000
+    FLASH_RAM (RWX) : origin = FLASH_RAM_BASE, length = 0x00030000
     /* Application uses internal RAM for data */
     SRAM (RWX) : origin = 0x20000000, length = 0x00040000
 }