for version 1.4.2.7 : syc file system with semaphore (needs testing!). add secondary pump and activation on init and after 8 hours.now config parameters, improved thread load

24 files changed, 211 insertions, 104 deletions

diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
index f4c52f000..5cbc92285 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.c
@@ -644,7 +644,7 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer)
     }
     return Fresult;
 }
-FRESULT FileWrite(void * buffer, uint16_t size,char *path)
+FRESULT FileWrite(void * buffer, uint16_t size,char *path, uint32_t timeout)
 {
     FRESULT Fresult = FR_OK;
     FIL *FileHandle = 0;  //the system supports a single active file
@@ -657,7 +657,11 @@ FRESULT FileWrite(void * buffer, uint16_t size,char *path)
             Fresult = FR_DENIED;
         else
         {
-           Semaphore_pend(FFS_Sem, BIOS_WAIT_FOREVER);
+           if (Semaphore_pend(FFS_Sem, timeout) == false)
+           {
+               LOG_ERROR (false,"file system busy error");
+               return FR_TIMEOUT;
+           }
 
             Fresult = f_open(FileHandle,path,FA_WRITE |  FA_OPEN_ALWAYS);
             if (Fresult == FR_OK)
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.h b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.h
index 605b4a475..0f6fd9d5d 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.h
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FileSystem.h
@@ -22,7 +22,7 @@ uint32_t    GetFilesRequestFunc(MessageContainer* requestContainer);
 uint32_t    FileDownloadRequestFunc(MessageContainer* requestContainer);
 uint32_t    FileChunkDownloadRequestFunc(MessageContainer* requestContainer);
 
-FRESULT FileWrite(void * buffer, uint16_t size,char *path);
+FRESULT FileWrite(void * buffer, uint16_t size,char *path, uint32_t timeout);
 FRESULT FileRead(char *path, uint32_t *Size, void **Buffer);
 FRESULT FileOpen(char *path, uint32_t *Size, FIL *FileHandle);
 
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 5b0944ab9..2ef74c7b6 100644
--- a/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
+++ b/Software/Embedded_SW/Embedded/Common/SW_Info/SW_Info.c
@@ -20,7 +20,7 @@ typedef struct
 } TangoVersion_t;
 
 
-TangoVersion_t _gTangoVersion = {1,4,2,6};
+TangoVersion_t _gTangoVersion = {1,4,2,7};
 #define BUILD_DATE __DATE__
 char Dat[50] = BUILD_DATE; 
  char _gTangoName [MAX_STRING_LEN] = "Tango01 ";//d
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.c
index ec93b525c..3dfdfc2bb 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.c
@@ -7,7 +7,7 @@
 #endif
 
 #include "InterfaceIOs.pb-c.h"
-static const ProtobufCEnumValue interface_ios__enum_values_by_number[39] =
+static const ProtobufCEnumValue interface_ios__enum_values_by_number[40] =
 {
   { "ANALOG_MIXCHIP_TEMP", "INTERFACE_IOS__ANALOG_MIXCHIP_TEMP", 0 },
   { "GPO_MIXCHIP_SSR4_CTRL", "INTERFACE_IOS__GPO_MIXCHIP_SSR4_CTRL", 19 },
@@ -40,6 +40,7 @@ static const ProtobufCEnumValue interface_ios__enum_values_by_number[39] =
   { "Midtank7Cartridge", "INTERFACE_IOS__Midtank7Cartridge", 179 },
   { "Midtank8Cartridge", "INTERFACE_IOS__Midtank8Cartridge", 180 },
   { "GPO_LED4", "INTERFACE_IOS__GPO_LED4", 274 },
+  { "GPO_TFEED_BREAK_1", "INTERFACE_IOS__GPO_TFEED_BREAK_1", 296 },
   { "GPO_SPARE1_1", "INTERFACE_IOS__GPO_SPARE1_1", 318 },
   { "GPO_SPARE1_2", "INTERFACE_IOS__GPO_SPARE1_2", 319 },
   { "GPI_WCONTAINER_FULL", "INTERFACE_IOS__GPI_WCONTAINER_FULL", 341 },
@@ -50,15 +51,15 @@ static const ProtobufCEnumValue interface_ios__enum_values_by_number[39] =
   { "VALVE_WASTE_TANK", "INTERFACE_IOS__VALVE_WASTE_TANK", 346 },
 };
 static const ProtobufCIntRange interface_ios__value_ranges[] = {
-{0, 0},{19, 1},{43, 6},{54, 9},{64, 11},{163, 12},{274, 30},{318, 31},{341, 33},{0, 39}
+{0, 0},{19, 1},{43, 6},{54, 9},{64, 11},{163, 12},{274, 30},{296, 31},{318, 32},{341, 34},{0, 40}
 };
-static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[39] =
+static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[40] =
 {
   { "ANALOG_MIXCHIP_TEMP", 0 },
-  { "GPI_WCONTAINER_FULL", 33 },
-  { "GPI_WCONTAINER_WARN", 34 },
-  { "GPO_BLOWER_PWM", 35 },
-  { "GPO_CHILLER_SSR9_CTRL", 36 },
+  { "GPI_WCONTAINER_FULL", 34 },
+  { "GPI_WCONTAINER_WARN", 35 },
+  { "GPO_BLOWER_PWM", 36 },
+  { "GPO_CHILLER_SSR9_CTRL", 37 },
   { "GPO_DILUTORPUMP_SSR10_CTRL", 12 },
   { "GPO_DRYER_SSR1_CTRL", 6 },
   { "GPO_DRYER_SSR2_CTRL", 7 },
@@ -70,12 +71,13 @@ static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[39] =
   { "GPO_EXTWINDER_SSR11_CTRL", 11 },
   { "GPO_LED4", 30 },
   { "GPO_MIXCHIP_SSR4_CTRL", 1 },
-  { "GPO_SPARE1_1", 31 },
-  { "GPO_SPARE1_2", 32 },
+  { "GPO_SPARE1_1", 32 },
+  { "GPO_SPARE1_2", 33 },
   { "GPO_SPARE_SSR12_CTRL", 9 },
   { "GPO_SPARE_SSR13_CTRL", 10 },
+  { "GPO_TFEED_BREAK_1", 31 },
   { "GPO_WASTECH_PUMP2", 13 },
-  { "GPO_WHS_WTANKPUMP2", 37 },
+  { "GPO_WHS_WTANKPUMP2", 38 },
   { "Midtank1Air", 14 },
   { "Midtank1Cartridge", 22 },
   { "Midtank2Air", 15 },
@@ -92,7 +94,7 @@ static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[39] =
   { "Midtank7Cartridge", 28 },
   { "Midtank8Air", 21 },
   { "Midtank8Cartridge", 29 },
-  { "VALVE_WASTE_TANK", 38 },
+  { "VALVE_WASTE_TANK", 39 },
 };
 const ProtobufCEnumDescriptor interface_ios__descriptor =
 {
@@ -101,11 +103,11 @@ const ProtobufCEnumDescriptor interface_ios__descriptor =
   "InterfaceIOs",
   "InterfaceIOs",
   "",
-  39,
+  40,
   interface_ios__enum_values_by_number,
-  39,
+  40,
   interface_ios__enum_values_by_name,
-  9,
+  10,
   interface_ios__value_ranges,
   NULL,NULL,NULL,NULL   /* reserved[1234] */
 };
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.h
index 341997ea0..1baf3dbc6 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/InterfaceIOs.pb-c.h
@@ -51,6 +51,7 @@ typedef enum _InterfaceIOs {
   INTERFACE_IOS__Midtank7Cartridge = 179,
   INTERFACE_IOS__Midtank8Cartridge = 180,
   INTERFACE_IOS__GPO_LED4 = 274,
+  INTERFACE_IOS__GPO_TFEED_BREAK_1 = 296,
   INTERFACE_IOS__GPO_SPARE1_1 = 318,
   INTERFACE_IOS__GPO_SPARE1_2 = 319,
   INTERFACE_IOS__GPI_WCONTAINER_FULL = 341,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c
index bfda97424..fb4967ab5 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.c
@@ -358,7 +358,7 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     "GateCfg1",
     26,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_gatecfg1),
     offsetof(HardwareMotor, gatecfg1),
     NULL,
@@ -370,7 +370,7 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     "GateCfg2",
     27,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_gatecfg2),
     offsetof(HardwareMotor, gatecfg2),
     NULL,
@@ -379,10 +379,10 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
   {
-    "TvalHold",
+    "TValHold",
     28,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_tvalhold),
     offsetof(HardwareMotor, tvalhold),
     NULL,
@@ -391,10 +391,10 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
   {
-    "TvalRun",
+    "TValRun",
     29,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_tvalrun),
     offsetof(HardwareMotor, tvalrun),
     NULL,
@@ -403,10 +403,10 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
   {
-    "TvalAcc",
+    "TValAcc",
     30,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_tvalacc),
     offsetof(HardwareMotor, tvalacc),
     NULL,
@@ -415,10 +415,10 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
   {
-    "TvalDec",
+    "TValDec",
     31,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_tvaldec),
     offsetof(HardwareMotor, tvaldec),
     NULL,
@@ -430,7 +430,7 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     "TFast",
     32,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_tfast),
     offsetof(HardwareMotor, tfast),
     NULL,
@@ -442,7 +442,7 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     "TOnMin",
     33,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_tonmin),
     offsetof(HardwareMotor, tonmin),
     NULL,
@@ -454,7 +454,7 @@ static const ProtobufCFieldDescriptor hardware_motor__field_descriptors[34] =
     "TOffMin",
     34,
     PROTOBUF_C_LABEL_OPTIONAL,
-    PROTOBUF_C_TYPE_UINT32,
+    PROTOBUF_C_TYPE_INT32,
     offsetof(HardwareMotor, has_toffmin),
     offsetof(HardwareMotor, toffmin),
     NULL,
@@ -493,11 +493,11 @@ static const unsigned hardware_motor__field_indices_by_name[] = {
   31,   /* field[31] = TFast */
   33,   /* field[33] = TOffMin */
   32,   /* field[32] = TOnMin */
+  29,   /* field[29] = TValAcc */
+  30,   /* field[30] = TValDec */
+  27,   /* field[27] = TValHold */
+  28,   /* field[28] = TValRun */
   18,   /* field[18] = ThermalCompensationFactor */
-  29,   /* field[29] = TvalAcc */
-  30,   /* field[30] = TvalDec */
-  27,   /* field[27] = TvalHold */
-  28,   /* field[28] = TvalRun */
 };
 static const ProtobufCIntRange hardware_motor__number_ranges[1 + 1] =
 {
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h
index 789e1e139..2dfc0b200 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Hardware/HardwareMotor.pb-c.h
@@ -78,23 +78,23 @@ struct  _HardwareMotor
   protobuf_c_boolean has_fsspd;
   int32_t fsspd;
   protobuf_c_boolean has_gatecfg1;
-  uint32_t gatecfg1;
+  int32_t gatecfg1;
   protobuf_c_boolean has_gatecfg2;
-  uint32_t gatecfg2;
+  int32_t gatecfg2;
   protobuf_c_boolean has_tvalhold;
-  uint32_t tvalhold;
+  int32_t tvalhold;
   protobuf_c_boolean has_tvalrun;
-  uint32_t tvalrun;
+  int32_t tvalrun;
   protobuf_c_boolean has_tvalacc;
-  uint32_t tvalacc;
+  int32_t tvalacc;
   protobuf_c_boolean has_tvaldec;
-  uint32_t tvaldec;
+  int32_t tvaldec;
   protobuf_c_boolean has_tfast;
-  uint32_t tfast;
+  int32_t tfast;
   protobuf_c_boolean has_tonmin;
-  uint32_t tonmin;
+  int32_t tonmin;
   protobuf_c_boolean has_toffmin;
-  uint32_t toffmin;
+  int32_t toffmin;
 };
 #define HARDWARE_MOTOR__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&hardware_motor__descriptor) \
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
index a8bdaf95c..dd700563b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.c
@@ -730,7 +730,23 @@ void Pumps_Control(PUMPS_ENUM Pump_Id, bool Direction) //1 - OPEN, 0 - CLOSE ??
 
     F1_gpo_01 = F1_GPO_Reg.ushort;
 }
+uint32_t SecondaryPumpControlId;
 
+uint32_t SecondaryPumpCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
+{
+    Pumps_Control(WASTECH_PUMP2, CLOSE);
+    if (SafeRemoveControlCallback(SecondaryPumpControlId, SecondaryPumpCallBackFunction )==OK)
+        SecondaryPumpControlId = 0xFF;
+    else
+        Report("Remove control callback failed",__FILE__,__LINE__,(int)SecondaryPumpControlId,RpWarning,(int)SecondaryPumpCallBackFunction,0);
+
+}
+
+void PumpActivation(uint32_t seconds)
+{
+    Pumps_Control(WASTECH_PUMP2, OPEN);
+    SecondaryPumpControlId = AddControlCallback( SecondaryPumpCallBackFunction, seconds*1000/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
+}
 /*
 uint8_t Buttons_LEDS(BUTTON Button, OPERATION_MODE LED_Mode)
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
index 9767837f1..420a82b47 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h
@@ -237,6 +237,7 @@ typedef enum
 
 
 void Pumps_Control(PUMPS_ENUM Pump_Id, bool Direction);
+void PumpActivation(uint32_t seconds);
 uint32_t Control_Dryer_Fan(bool StartStop, uint8_t PWM_Command_Precent);
 bool Check_Disp_Safety_Stop_Indication(uint8_t Dispenser_ID);
 bool Emergency_Push_Button_Report();
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
index 07625d314..e130f4831 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_SPI_Comm.c
@@ -1167,7 +1167,8 @@ void FPGA_SetMotKvalRun(TimerMotors_t _motorId)
 
     Fpga_Spi[_motorId].TX_MOSI = temp;
     Fpga_Spi[_motorId].AMT_OF_Words = 4;
-    FPGA_SPI_Transnit(_motorId);
+    MillisecWriteToMotor(_motorId, temp, 4, NULL);
+    //FPGA_SPI_Transnit(_motorId);
 }
 
 void FPGA_SetMotKvalAcc(TimerMotors_t _motorId)
@@ -1192,7 +1193,8 @@ void FPGA_SetMotKvalAcc(TimerMotors_t _motorId)
 
     Fpga_Spi[_motorId].TX_MOSI = temp;
     Fpga_Spi[_motorId].AMT_OF_Words = 4;
-    FPGA_SPI_Transnit(_motorId);
+    MillisecWriteToMotor(_motorId, temp, 4, NULL);
+//    FPGA_SPI_Transnit(_motorId);
 }
 
 void FPGA_SetMotKvalDec(TimerMotors_t _motorId)
diff --git a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c
index c58be6664..94f341b7d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Flash_Memory/FATFS/Control_File_System.c
@@ -91,6 +91,7 @@ static FATFS g_sFatFs;
 //tFResultString;
 
 //static int response  ;
+extern Semaphore_Handle FFS_Sem;
 
 char FlashReadstring [35];
 char FlashReadstring1 [35];
@@ -128,6 +129,8 @@ FRESULT Init_Flash_File_System(bool Need_mkfs)
     if(Need_mkfs == true)
         iFResult = f_mkfs( 0, 0, 512 ); //Create File System on the Drive
 
+    Semaphore_post(FFS_Sem);
+
     return iFResult;
 }
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 83e041591..e2b0ed701 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -201,7 +201,7 @@ uint32_t MotorVerifiedCallBackFunction(uint32_t IfIndex, uint32_t ArmPosition) /
     if (CallbackCalls%20 == 0)
     {
 //        REPORT_MSG(MotorPosition,"MotorVerifiedCallBackFunction");
-        Report("Move_To_Stopper_Callback",__FILE__,__LINE__,MotorPosition,RpMessage,StoredMotorPosition[MotorId],0);
+        //Report("Move_To_Stopper_Callback",__FILE__,__LINE__,MotorPosition,RpMessage,StoredMotorPosition[MotorId],0);
         //CallbackCalls = 0;
     }
 
@@ -285,7 +285,7 @@ uint32_t MotorMoveToDrierPositionCallBackFunction(uint32_t IfIndex, uint32_t Rea
         //CallbackCalls = 0;
     }
 
-   if (DrierZeroPosition == ReadValue) //thread running identified
+   //if (DrierZeroPosition == ReadValue) //thread running identified
    {
        //stop this control loop
        SafeRemoveControlCallback(MotorControlId[MotorId], MotorControlCallback[MotorId] );
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 8dc53256b..9aa9b2470 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -1,5 +1,6 @@
 var Hwi = xdc.useModule('ti.sysbios.family.arm.m3.Hwi');
 var Clock = xdc.useModule('ti.sysbios.knl.Clock');
+var Seconds = xdc.useModule('ti.sysbios.hal.Seconds');
 var BIOS = xdc.useModule('ti.sysbios.BIOS');
 var SysMin = xdc.useModule('xdc.runtime.SysMin');
 var System = xdc.useModule('xdc.runtime.System');
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index e3955793d..063d7c823 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -492,6 +492,8 @@ void setRapidPressureRead(bool value)
 {
     RapidPressureRead = value;
 }
+
+uint16_t PumpCounter = 0;
 uint32_t MillisecLowLoop(uint32_t tick)
 {
     uint8_t Motor_i,Disp_i,Heater_i,temp;
@@ -501,13 +503,14 @@ uint32_t MillisecLowLoop(uint32_t tick)
     //call all modules Millisec functions
     //test dancers and speed encoders
     //check all callback units (state machine waiting for completion of a change)
-    bool Ten_msTick, Hundred_msTick , m90msecTick, Onesecond_Tick,O900Millisecond_Tick,OneMinute_Tick;
+    bool Ten_msTick, Hundred_msTick , m90msecTick, Onesecond_Tick,O900Millisecond_Tick,OneMinute_Tick,OneHourTick;
     Ten_msTick      =   (tick%eTenMillisecond == 0)      ?true:false;
     Hundred_msTick  =   (tick%eHundredMillisecond == 0)  ?true:false;
     m90msecTick  =   (tick%eHundredMillisecond == 90)  ?true:false;
     O900Millisecond_Tick  =   (tick%eOneSecond == 900)           ?true:false;
     Onesecond_Tick  =   (tick%eOneSecond == 0)           ?true:false;
     OneMinute_Tick  =   (tick%eOneMinute == 0)           ?true:false;
+    OneHourTick  =   (tick%eOneHour == 0)           ?true:false;
     //gather Motor data from FPGA
     //ROM_IntMasterDisable();
 
@@ -611,6 +614,16 @@ uint32_t MillisecLowLoop(uint32_t tick)
                 MotorGetStatusFromFPGA(Motor_i);
         }*/
     }
+    if (OneHourTick)
+    {
+#define PUMP_LIMIT 8
+        PumpCounter++;
+        if (PumpCounter>=PUMP_LIMIT)
+        {
+            PumpActivation(900);
+            PumpCounter = 0;
+        }
+    }
     //ROM_IntMasterEnable();
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index f8a57362a..4597efa93 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -268,6 +268,9 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
             else
                 Lubricant_2Way_Valve(STOP);//use START or STOP,  0 - 100%();
             break;
+        case INTERFACE_IOS__GPO_TFEED_BREAK_1:
+                Pumps_Control(WASTECH_PUMP2, request->value);
+            break;
         default:
             responseContainer.has_error = true;
             responseContainer.error = ERROR_CODE__GENERAL_ERROR;
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
index a22bfc815..98e760b32 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -115,7 +115,7 @@ DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS];
 HeaterState **heatersstates;
 HeaterState  HeaterInfo[HEATER_TYPE__MixerHeater+1];
 DigitalInterfaceState **digitalinterfacestates;
-DigitalInterfaceState DigitalOutputState[MAX_HEATERS_NUM+9];
+DigitalInterfaceState DigitalOutputState[MAX_HEATERS_NUM+10];
 /*double dispenser1motorfrequency[DIAGNOSTICS_LIMIT+1];
 double dispenser2motorfrequency[DIAGNOSTICS_LIMIT+1];
 double dispenser3motorfrequency[DIAGNOSTICS_LIMIT+1];
@@ -390,7 +390,7 @@ void Diagnostic100msecCollection(void)
         dispenserspressure[i][DiagnosticsIndex] = GetDispenserPressure(i); //Read_MidTank_Pressure_Sensor
         MidTankpressure[i][0] = Get_MidTank_Pressure_Sensor(i);
         //MidTankpressure[i][0] = IDS_Dispenser_Data[i].totalconsumedinnanolitter;
-		MidTankpressure[i][0] = IDS_Dispenser_Data[i].consumedinnanolitter;
+		MidTankpressure[i][0] = 1.00-(IDS_Dispenser_Data[i].consumedinnanolitter/5800000);
     }
 #ifndef REDUCED_DIAGNOSTICS
     for (i=0;i<NUM_OF_CURRENT_HEATERS;i++)
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 52f4a3447..7e6ce928a 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -459,7 +459,7 @@ uint32_t HWConfigurationFunc(MessageContainer* requestContainer)
     ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH, 4,&DataLen);
     ReadAppAndProgram(GENHWCFG_MAP_IN_FLASH+4, DataLen, requestContainer->data.data);
 
-    FileWrite(requestContainer->data.data, requestContainer->data.len,HwConfigPath);
+    FileWrite(requestContainer->data.data, requestContainer->data.len,HwConfigPath,BIOS_WAIT_FOREVER);
 
     UploadHardwareConfigurationRequest* UploadRequest = upload_hardware_configuration_request__unpack(NULL, requestContainer->data.len, requestContainer->data.data);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index 1c719d778..52f717626 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -538,14 +538,14 @@ uint32_t LoadStatMachine( button *pBtn)
     {
         case sttRDY :
             REPORT_MSG(parameter," ------------ load.state = sttRDY    ----------------- ");
-            switch (pBtn->Action)
+/*            switch (pBtn->Action)
             {
                 case (SHORTPB):
                 case (LONGPB):
                 case (REPLONGPB):
                     pBtn->state = sttPRELOAD;
-                    pBtn->color =  BLINK;
-                    if (ThreadLoadStateMachine( THREAD_LOAD_INIT))
+                    pBtn->color =  BLINK;*/
+                    if (ThreadLoadButton( THREAD_LOAD_INIT))
                     {
                         pBtn->state = sttPRELOAD ;    // to do
                         pBtn->color =  BLUE;
@@ -553,41 +553,54 @@ uint32_t LoadStatMachine( button *pBtn)
                     }
                     else
                     {
-                        pBtn->state = sttDISABLE ;
+                       // pBtn->state = sttDISABLE ;
                         Pannel_Leds(THREAD_LOAD, MODE_OFF);//AVI+
                     }
-                    break;
+                    /*break;
                 default :
                     break;
-            }
+            }*/
             break;
         case sttPRELOAD:
             REPORT_MSG(parameter," ------------ load.state = sttPRELOAD    ----------------- ");
-            switch (pBtn->Action)
+            /*switch (pBtn->Action)
             {
                 case (SHORTPB):
                 case (LONGPB):
                 case (REPLONGPB):
                     pBtn->color =  BLUE;
-                    Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
-                    if (ThreadLoadStateMachine( THREAD_LOAD_INITIAL_TENSION))
+                    Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+*/
+                    if (ThreadLoadButton( THREAD_LOAD_INITIAL_TENSION))
                     {
-                        pBtn->state = sttLOADSUCSESS ;    // to do
+                        pBtn->state = sttRDY ;    // to do
                         pBtn->color =  BLUE;
                         Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
                     }
                     else
                     {
-                        pBtn->state = sttLOADFAIL ;
+                        //pBtn->state = sttLOADFAIL ;
                         pBtn->color = fastBILNK ;    // to do
                     }
-                    break;
+                    /*break;
                 default :
                     break;
-            }
+            }*/
             break;
         case sttLOADING:
             REPORT_MSG(parameter," ------------ load.state = sttLOADING    ----------------- ");
+            pBtn->color =  fastBILNK;
+            Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
+            if (ThreadLoadButton( THREAD_LOAD_END))
+            {
+                pBtn->state = sttRDY ;    // to do
+                pBtn->color =  BLUE;
+                Pannel_Leds(THREAD_LOAD, MODE_ON);//AVI+
+            }
+            else
+            {
+                //pBtn->state = sttLOADFAIL ;
+                pBtn->color = fastBILNK ;    // to do
+            }
             break;
 //        case sttLOADSUCSESS ?????
 //            break;
@@ -596,7 +609,8 @@ uint32_t LoadStatMachine( button *pBtn)
 
         default: //sttDISABLE
             REPORT_MSG(parameter," ------------ load.state = default    ----------------- ");
-            pBtn->color =  colorOFF;
+            pBtn->state = sttRDY ;    // to do
+            pBtn->color =  BREATHING;
             Pannel_Leds(THREAD_LOAD, MODE_OFF);//AVI+
             break;
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/process.c b/Software/Embedded_SW/Embedded/Modules/General/process.c
index b968381c6..2c8788bdc 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/process.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/process.c
@@ -191,7 +191,7 @@ void ProcessRequestFunc(MessageContainer* requestContainer)
     ProcessParameters*  ProcessParams = request->processparameters;
     if ((ProcessParams->dryerzone1temp > 0.1)&&(ProcessParams->headzone2temp > 0.1)&&(ProcessParams->headzone3temp > 0.1)&&(ProcessParams->headzone4temp > 0.1))//NOT turning off heaters
     {
-        FileWrite(requestContainer->data.data, requestContainer->data.len,ProcessParamsConfigPath);
+        FileWrite(requestContainer->data.data, requestContainer->data.len,ProcessParamsConfigPath,BIOS_WAIT_FOREVER);
         Bytes = sizeof(ProcessParameters);
         EraseFlashSection(PROCESS_PARAMETERS_MAP_IN_FLASH,Bytes+4);
         ReadAppAndProgram(PROCESS_PARAMETERS_MAP_IN_FLASH, 4,&Bytes);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index 6d7f0df96..88032f756 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -298,7 +298,7 @@ uint32_t IDS_Dispenser_Store_Data (void)
     ReadAppAndProgram(DISPENSERS_MAP_IN_FLASH, 4,&response_size);
     ReadAppAndProgram(DISPENSERS_MAP_IN_FLASH+4, response_size, IDS_Dispenser_Data);
 
-    Status = FileWrite(IDS_Dispenser_Data,response_size,DispenserStorePath);
+    Status = FileWrite(IDS_Dispenser_Data,response_size,DispenserStorePath,BIOS_NO_WAIT);
     DispenserDataUpdated = false;
     REPORT_MSG(msec_millisecondCounter - timing, "Updating dispensers file - time");
     return Status;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 837221274..366f4b163 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -45,18 +45,24 @@
         5 THREAD_LOAD_LIFT_DANCERS,
         6 THREAD_LOAD_LIFT_ROCKERS,                          //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
         7 THREAD_LOAD_INITIAL_TENSION,                       //CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
-        8 THREAD_LOAD_CLOSE_ROCKERS,
         9 THREAD_LOAD_CLOSE_DANCERS,                         //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
         10 THREAD_LOAD_CLOSE_LIDS,
-        11 THREAD_LOAD_RESUME_HEATING,
-        12 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,           //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
-        13 THREAD_LOAD_DRYER_LOADING,                        //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
+        12 THREAD_LOAD_DRYER_LOADING,                        //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
                                                              //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
+        8 THREAD_LOAD_CLOSE_ROCKERS,
+        11 THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,           //JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+        13 THREAD_LOAD_RESUME_HEATING,
         14 THREAD_LOAD_JOG_THREAD,                           //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
         15 THREAD_LOAD_END
     }THREAD_LOAD_STAGES_ENUM;*/
     THREAD_LOAD_STAGES_ENUM LoadStages = THREAD_LOAD_INIT;
     ProcessParameters ProcessParametersClear,ProcessParametersRecover;
+
+    int32_t keepmicrostep;
+    int32_t keepkvalrun;
+    uint8_t CallbackCounter = 0;
+    uint8_t TimeoutsCounter = 0;
+
     uint8_t NumberOfDrierLoaderCycles = 0;
     uint32_t status = OK;
     uint32_t ControlId = 0xFF,PullerControlId = 0xFF,WinderControlId = 0xFF;
@@ -163,7 +169,7 @@
         }
         else*/
         {
-            Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+            Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             //storeLoadArmParameters();
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
@@ -173,6 +179,7 @@
     }
     uint32_t Thread_Load_Set_Load_Arm_To_Stopper_Callback(uint32_t deviceID, uint32_t BusyFlag)
     {
+
         if(PullerControlId != 0xFF)
         {
             MotorStop(ThreadMotorIdToMotorId[POOLER_MOTOR],Hard_Hiz);
@@ -192,7 +199,8 @@
         MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,Hard_Hiz);
 
 //        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-        Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        CallbackCounter = 0;
+        Report("Thread_Load_Set_Load_Arm_To_Stopper_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
         NumberOfDrierLoaderCycles=0;
         //storeLoadArmParameters();
         LoadStages++;
@@ -224,13 +232,11 @@
         //Use Notation How Many Rotations In The Drier, Or Check Against Stopper. Move Slowly
         return OK;
     }
-    uint8_t CallbackCounter = 0;
-    uint8_t TimeoutsCounter = 0;
 
     uint32_t Thread_Load_HomingCallback(uint32_t MotorId, uint32_t ReadValue)
     {
-        Report("Thread Load State Machine Callback.",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
-        REPORT_MSG(MotorId, "Thread_Load_HomingCallback Motor Id");
+        Report("Thread_Load_HomingCallback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
+//        REPORT_MSG(MotorId, "Thread_Load_HomingCallback Motor Id");
         if (CallbackCounter)
         {
             CallbackCounter--;
@@ -249,12 +255,12 @@
                 else
                 {
                     LoadStages++;
-                    if (LoadStages == THREAD_LOAD_LIFT_ROCKERS)
+                    if (LoadStages == THREAD_LOAD_CLOSE_ROCKERS)
                     {
-                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep);
-                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING,  MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep);
-                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep);
-                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].microstep);
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING,  keepmicrostep);
+                        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, keepmicrostep);
+                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, keepkvalrun);
+                        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, keepkvalrun);
                     }
                     if (LoadStages != THREAD_LOAD_INITIAL_TENSION) //on this stage we should wait for user call
                     {
@@ -303,16 +309,18 @@
     uint32_t Thread_Load_Lift_Rockers(void)
     //Machine Is Ready. Send Message, Start Timer To Close Lids, Wait For Operator Response
     {
+        keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
+        keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
-        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 1);
-        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 1);
-        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 35);
-        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 35);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 2);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 2);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 70);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 70);
         Task_sleep(10);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 50,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,25000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 400,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,20000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 50,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,25000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 400,  Motor_Id_to_LS_IdUp[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,20000);
 
         return OK;
     }
@@ -334,9 +342,9 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,12000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,20000);
         CallbackCounter++;
-        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,12000);
+        MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_LLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LLOADING].directionthreadwize, 300,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_LLOADING], Thread_Load_HomingCallback,20000);
 
         return OK;
     }
@@ -388,7 +396,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
-        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 200, FEEDER_DANCER ,true, Thread_Load_HomingCallback,10000);
+        MotorMovetoDancerPosition (HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RDRIVING].directionthreadwize, 100, FEEDER_DANCER ,true, Thread_Load_HomingCallback,2000);
         return OK;
     }
 
@@ -459,6 +467,7 @@
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4);
 
         ControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
+        Report("AddControlCallback feeder",__FILE__,__LINE__,ControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
         CallbackCounter++;
         MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
                                numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
@@ -466,7 +475,7 @@
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
         LoadArmInfo.LoadArmRounds = 0xFF;
-        FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath);
+        FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }
     uint32_t Thread_Load_Jog_ThreadStop(uint32_t index, uint32_t ReadValue)
@@ -490,6 +499,24 @@
     uint32_t Thread_Load_End(void)
     {
         REPORT_MSG(LoadStages,"Loading Ended");
+        if(ControlId != 0xFF)
+        {
+            MotorStop(ThreadMotorIdToMotorId[FEEDER_MOTOR],Hard_Hiz);
+            RemoveControlCallback(ControlId, ThreadLoadControlCBFunction );
+            ControlId = 0xFF;
+        }
+        if(PullerControlId != 0xFF)
+        {
+            MotorStop(ThreadMotorIdToMotorId[POOLER_MOTOR],Hard_Hiz);
+            RemoveControlCallback(PullerControlId, ThreadLoadControlCBFunction );
+            PullerControlId = 0xFF;
+        }
+        if(WinderControlId != 0xFF)
+        {
+            MotorStop(ThreadMotorIdToMotorId[WINDER_MOTOR],Hard_Hiz);
+            RemoveControlCallback(WinderControlId, ThreadLoadControlCBFunction );
+            WinderControlId = 0xFF;
+        }
         return OK;
     }
     uint32_t Thread_Load_Dryer_UnLoading(void)
@@ -523,6 +550,7 @@
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_LDRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_LDRIVING].directionthreadwize);
 
         PullerControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+POOLER_MOTOR),POOLER_DANCER,POOLER_MOTOR);
+        Report("AddControlCallback Puller",__FILE__,__LINE__,PullerControlId,RpMessage,IfTypeThread*0x100+POOLER_MOTOR,0);
 ////////////////////////
         MotorControlConfig[WINDER_MOTOR].m_params.MAX = 1;
         MotorControlConfig[WINDER_MOTOR].m_params.MIN = MotorsControl[WINDER_MOTOR].outputproportionalpowerlimit*-1;
@@ -544,6 +572,7 @@
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_WINDER,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_WINDER].directionthreadwize);
 
         WinderControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+WINDER_MOTOR),WINDER_DANCER,WINDER_MOTOR);
+        Report("AddControlCallback Winder",__FILE__,__LINE__,WinderControlId,RpMessage,IfTypeThread*0x100+WINDER_MOTOR,0);
 
 ////////////////////////
         MotorSetDirection(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING].directionthreadwize);
@@ -553,13 +582,15 @@
         //MotorMoveWithCallback (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,
         //                       numberOfSteps,    Thread_Load_Dryer_Loading_Callback, 100000);
         Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+        LoadArmInfo.LoadArmBackLash = 10;
+
         status |= MotorMoveToStopper(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, (1-MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize),
                                         MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
         LoadArmInfo.LoadArmRounds = 0xFF;
-        FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath);
+        FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }
 
@@ -613,10 +644,6 @@
             //LoadStages++;
             Thread_Load_Close_Lids();
             break;
-        case THREAD_LOAD_RESUME_HEATING:
-            //LoadStages++;
-            Thread_Load_Resume_Heating();
-            break;
         case THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT://JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
             //LoadStages++;
             Thread_Load_Jog_Feeder_To_Middle_Point();
@@ -626,6 +653,10 @@
             //LoadStages++;
             Thread_Load_Dryer_Loading();
             break;
+        case THREAD_LOAD_RESUME_HEATING:
+            //LoadStages++;
+            Thread_Load_Resume_Heating();
+            break;
         case THREAD_LOAD_JOG_THREAD: //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
             //LoadStages++;
             Thread_Load_Jog_Thread();
@@ -640,7 +671,18 @@
     }
     return OK;
 }
-
+uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue)
+{
+    Report("ThreadLoadButton",__FILE__,__LINE__,LoadStages,RpMessage,ReadValue,0);
+    if (LoadStages > ReadValue)
+    {
+        ThreadLoadStateMachine(LoadStages+1);
+    }
+    else
+    {
+        ThreadLoadStateMachine(ReadValue);
+    }
+}
 uint32_t ThreadLoadControlCBFunction(uint32_t IfIndex, uint32_t ReadValue)
 {
     //read value is the dancer angle
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
index 167616afe..1544af59e 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_ex.h
@@ -58,17 +58,17 @@ typedef enum
     THREAD_LOAD_LIFT_DANCERS,
     THREAD_LOAD_LIFT_ROCKERS, //MACHINE IS READY. SEND MESSAGE, START TIMER TO CLOSE LIDS, WAIT FOR OPERATOR RESPONSE
     THREAD_LOAD_INITIAL_TENSION,//CHECK SPOOL PRESENCERUN WINDER UNTIL BREAK SENSOR IS IDENTIFIEING MOVEMENT FOR A SECOND
-    THREAD_LOAD_CLOSE_ROCKERS,
     THREAD_LOAD_CLOSE_DANCERS, //SEND DANCER MOTORS TO PRESET LOCATION, CHECK THAT THE DANCERS ARE ON THE THREAD
     THREAD_LOAD_CLOSE_LIDS,
-    THREAD_LOAD_RESUME_HEATING,
-    THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
     THREAD_LOAD_DRYER_LOADING, //START FEEDER PID, ROTATE LOADING ARM COUNTER THREAD DIRECTION X CIRCLES ACCORDING TO RML. FEEDER SPEED IS 40
                                 //KEEP NOTATION HOW MANY ROTATIONS IN THE DRYER
+    THREAD_LOAD_CLOSE_ROCKERS,
+    THREAD_LOAD_JOG_FEEDER_TO_MIDDLE_POINT,//JOG THE FEEDER MOTOR UNTIL THE FEEDER DANCER IS AT MIDDLE POSITION
+    THREAD_LOAD_RESUME_HEATING,
     THREAD_LOAD_JOG_THREAD, //JOG THREAD SHORTLY TO MAKE SURE SPOOL IS RUNNING. REPORT END OF LOADING
     THREAD_LOAD_END
 }THREAD_LOAD_STAGES_ENUM;
-uint32_t ThreadLoadStateMachine( THREAD_LOAD_STAGES_ENUM ReadValue);
+uint32_t ThreadLoadButton(THREAD_LOAD_STAGES_ENUM ReadValue);
 bool ThreadLoadingActive(void);
 
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 500ba9a39..38c0f86f1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -174,7 +174,7 @@ uint32_t StoreDancerConfigMessage()
     {
         response_size = hardware_configuration__pack(&DancerConfig, response_buffer);
     }
-    Fresult = FileWrite(response_buffer,response_size,DancerConfigPath);
+    Fresult = FileWrite(response_buffer,response_size,DancerConfigPath,BIOS_WAIT_FOREVER);
     EraseFlashSection(DANCERS_MAP_IN_FLASH,1024);
     for (Dancer_i = 0; Dancer_i < MAX_SYSTEM_DANCERS; Dancer_i++)
     {
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
index bdf8bd15d..3b972cc23 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
@@ -81,7 +81,10 @@ uint32_t InitSequenceCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
     else
     {
         if (MachineState == MACHINE_STATE_HW_CONFIG)
+        {
+            Report("HWConfigurationInit failed",__FILE__,__LINE__,(int)HWControlId,RpWarning,(int)InitSequenceCallBackFunction,0);
             MachineState = MACHINE_STATE_NO_CFG_FILE;
+        }
     }
         return OK;
 }
@@ -284,6 +287,8 @@ uint32_t InitSequenceStartHeating(void)
     }
     else
         MachineState = MACHINE_STATE_MACHINE_READY_TO_DYE;
+    //activate second pump for 10 minutes
+    PumpActivation(600);
     return OK;
 }
 uint32_t InitSequenceMachineReadyToDye(void)