version 1.4.6.0 - going forward

51 files changed, 748 insertions, 322 deletions

diff --git a/Software/Embedded_SW/Embedded/.cproject b/Software/Embedded_SW/Embedded/.cproject
index 1998a5e88..c46e66ca2 100644
--- a/Software/Embedded_SW/Embedded/.cproject
+++ b/Software/Embedded_SW/Embedded/.cproject
@@ -269,7 +269,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Embedded.cfg|EmbParam.cfg|src" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="EmbParam.cfg|src" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -441,7 +441,7 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry excluding="Embedded.cfg|EmbParam.cfg|Drivers/Uart_Comm/Uart.c|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+						<entry excluding="EmbParam.cfg|Drivers/Uart_Comm/Uart.c|JigCommands.c|PWM.c|USBCDCD.c|Message.c|Pin_config.c|src|Configuration.c|SlowMotors.c|Timer.c|Communication.c|FastMotors.c|ADCUtils.c|Drivers/L6470|Pin.c|ADCLogger.c|Flashstore.c|Profile.c" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
diff --git a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
index 8818d51e5..e15ae2dc4 100644
--- a/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
+++ b/Software/Embedded_SW/Embedded/Common/SWUpdate/FirmwareUpgrade.c
@@ -130,7 +130,7 @@ uint32_t    ActivateVersionRequestFunc(MessageContainer* requestContainer)
             CurrentRunningFile = 0;
             File_i = 0;
             //add control 1 second
-            ActivateVersionControlId = AddControlCallback( ActivateVersionCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+            ActivateVersionControlId = AddControlCallback(NULL, ActivateVersionCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
         }
         for (File_i = 0;File_i<VersionPackage->n_filedescriptors;File_i++)
         {
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 67e778c73..5e0a5c31a 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 = {1,4,5,95}; 
+TangoVersion_t _gTangoVersion = {1,4,6,0};
 #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/DiagnosticsMonitors.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.c
index 2a5974162..dfa72d2db 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.c
@@ -52,7 +52,7 @@ void   diagnostics_monitors__free_unpacked
   assert(message->base.descriptor == &diagnostics_monitors__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor diagnostics_monitors__field_descriptors[63] =
+static const ProtobufCFieldDescriptor diagnostics_monitors__field_descriptors[65] =
 {
   {
     "Dancer1Angle",
@@ -810,6 +810,30 @@ static const ProtobufCFieldDescriptor diagnostics_monitors__field_descriptors[63
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "DispensersInkLevel",
+    64,
+    PROTOBUF_C_LABEL_REPEATED,
+    PROTOBUF_C_TYPE_MESSAGE,
+    offsetof(DiagnosticsMonitors, n_dispensersinklevel),
+    offsetof(DiagnosticsMonitors, dispensersinklevel),
+    &double_array__descriptor,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
+  {
+    "MidTanksInkLevel",
+    65,
+    PROTOBUF_C_LABEL_REPEATED,
+    PROTOBUF_C_TYPE_MESSAGE,
+    offsetof(DiagnosticsMonitors, n_midtanksinklevel),
+    offsetof(DiagnosticsMonitors, midtanksinklevel),
+    &double_array__descriptor,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned diagnostics_monitors__field_indices_by_name[] = {
   38,   /* field[38] = BlowerVoltage */
@@ -834,6 +858,7 @@ static const unsigned diagnostics_monitors__field_indices_by_name[] = {
   34,   /* field[34] = Dispenser8MotorFrequency */
   46,   /* field[46] = Dispenser8Pressure */
   22,   /* field[22] = DispensersAngularEncoders */
+  63,   /* field[63] = DispensersInkLevel */
   23,   /* field[23] = DispensersLinearPositions */
   21,   /* field[21] = DispensersMotorsFrequency */
   24,   /* field[24] = DispensersPressure */
@@ -867,6 +892,7 @@ static const unsigned diagnostics_monitors__field_indices_by_name[] = {
   52,   /* field[52] = MidTank6Level */
   53,   /* field[53] = MidTank7Level */
   54,   /* field[54] = MidTank8Level */
+  64,   /* field[64] = MidTanksInkLevel */
   62,   /* field[62] = Mixer1HeaterCurrent */
   9,   /* field[9] = MixerTemperature */
   5,   /* field[5] = PollerMotor */
@@ -879,7 +905,7 @@ static const unsigned diagnostics_monitors__field_indices_by_name[] = {
 static const ProtobufCIntRange diagnostics_monitors__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 63 }
+  { 0, 65 }
 };
 const ProtobufCMessageDescriptor diagnostics_monitors__descriptor =
 {
@@ -889,7 +915,7 @@ const ProtobufCMessageDescriptor diagnostics_monitors__descriptor =
   "DiagnosticsMonitors",
   "",
   sizeof(DiagnosticsMonitors),
-  63,
+  65,
   diagnostics_monitors__field_descriptors,
   diagnostics_monitors__field_indices_by_name,
   1,  diagnostics_monitors__number_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h
index 13ebbaf21..ef860a31f 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DiagnosticsMonitors.pb-c.h
@@ -153,10 +153,14 @@ struct  _DiagnosticsMonitors
   double *headzone5_6heatercurrent;
   size_t n_mixer1heatercurrent;
   double *mixer1heatercurrent;
+  size_t n_dispensersinklevel;
+  DoubleArray **dispensersinklevel;
+  size_t n_midtanksinklevel;
+  DoubleArray **midtanksinklevel;
 };
 #define DIAGNOSTICS_MONITORS__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&diagnostics_monitors__descriptor) \
-    , 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL }
+    , 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL, 0,NULL }
 
 
 /* DiagnosticsMonitors methods */
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 b15763408..e51a7693c 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[41] =
+static const ProtobufCEnumValue interface_ios__enum_values_by_number[42] =
 {
   { "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[41] =
   { "Midtank7Cartridge", "INTERFACE_IOS__Midtank7Cartridge", 179 },
   { "Midtank8Cartridge", "INTERFACE_IOS__Midtank8Cartridge", 180 },
   { "SW_SPARE", "INTERFACE_IOS__SW_SPARE", 224 },
+  { "GPO_BUZZER", "INTERFACE_IOS__GPO_BUZZER", 270 },
   { "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 },
@@ -52,15 +53,16 @@ static const ProtobufCEnumValue interface_ios__enum_values_by_number[41] =
   { "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},{224, 30},{274, 31},{296, 32},{318, 33},{341, 35},{0, 41}
+{0, 0},{19, 1},{43, 6},{54, 9},{64, 11},{163, 12},{224, 30},{270, 31},{274, 32},{296, 33},{318, 34},{341, 36},{0, 42}
 };
-static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[41] =
+static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[42] =
 {
   { "ANALOG_MIXCHIP_TEMP", 0 },
-  { "GPI_WCONTAINER_FULL", 35 },
-  { "GPI_WCONTAINER_WARN", 36 },
-  { "GPO_BLOWER_PWM", 37 },
-  { "GPO_CHILLER_SSR9_CTRL", 38 },
+  { "GPI_WCONTAINER_FULL", 36 },
+  { "GPI_WCONTAINER_WARN", 37 },
+  { "GPO_BLOWER_PWM", 38 },
+  { "GPO_BUZZER", 31 },
+  { "GPO_CHILLER_SSR9_CTRL", 39 },
   { "GPO_DILUTORPUMP_SSR10_CTRL", 12 },
   { "GPO_DRYER_SSR1_CTRL", 6 },
   { "GPO_DRYER_SSR2_CTRL", 7 },
@@ -70,15 +72,15 @@ static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[41] =
   { "GPO_DYEINGH_SSR7_CTRL", 4 },
   { "GPO_DYEINGH_SSR8_CTRL", 5 },
   { "GPO_EXTWINDER_SSR11_CTRL", 11 },
-  { "GPO_LED4", 31 },
+  { "GPO_LED4", 32 },
   { "GPO_MIXCHIP_SSR4_CTRL", 1 },
-  { "GPO_SPARE1_1", 33 },
-  { "GPO_SPARE1_2", 34 },
+  { "GPO_SPARE1_1", 34 },
+  { "GPO_SPARE1_2", 35 },
   { "GPO_SPARE_SSR12_CTRL", 9 },
   { "GPO_SPARE_SSR13_CTRL", 10 },
-  { "GPO_TFEED_BREAK_1", 32 },
+  { "GPO_TFEED_BREAK_1", 33 },
   { "GPO_WASTECH_PUMP2", 13 },
-  { "GPO_WHS_WTANKPUMP2", 39 },
+  { "GPO_WHS_WTANKPUMP2", 40 },
   { "Midtank1Air", 14 },
   { "Midtank1Cartridge", 22 },
   { "Midtank2Air", 15 },
@@ -96,7 +98,7 @@ static const ProtobufCEnumValueIndex interface_ios__enum_values_by_name[41] =
   { "Midtank8Air", 21 },
   { "Midtank8Cartridge", 29 },
   { "SW_SPARE", 30 },
-  { "VALVE_WASTE_TANK", 40 },
+  { "VALVE_WASTE_TANK", 41 },
 };
 const ProtobufCEnumDescriptor interface_ios__descriptor =
 {
@@ -105,11 +107,11 @@ const ProtobufCEnumDescriptor interface_ios__descriptor =
   "InterfaceIOs",
   "InterfaceIOs",
   "",
-  41,
+  42,
   interface_ios__enum_values_by_number,
-  41,
+  42,
   interface_ios__enum_values_by_name,
-  11,
+  12,
   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 eea1cb6b8..31e40ba6e 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__SW_SPARE = 224,
+  INTERFACE_IOS__GPO_BUZZER = 270,
   INTERFACE_IOS__GPO_LED4 = 274,
   INTERFACE_IOS__GPO_TFEED_BREAK_1 = 296,
   INTERFACE_IOS__GPO_SPARE1_1 = 318,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.c
index 53754f409..70d17789c 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.c
@@ -199,12 +199,12 @@ static const ProtobufCFieldDescriptor job_ticket__field_descriptors[14] =
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
   {
-    "units",
+    "NumberOfUnits",
     13,
     PROTOBUF_C_LABEL_OPTIONAL,
     PROTOBUF_C_TYPE_UINT32,
-    offsetof(JobTicket, has_units),
-    offsetof(JobTicket, units),
+    offsetof(JobTicket, has_numberofunits),
+    offsetof(JobTicket, numberofunits),
     NULL,
     NULL,
     0,             /* flags */
@@ -231,13 +231,13 @@ static const unsigned job_ticket__field_indices_by_name[] = {
   10,   /* field[10] = JobDescriptionFile */
   4,   /* field[4] = Length */
   1,   /* field[1] = Name */
+  12,   /* field[12] = NumberOfUnits */
   5,   /* field[5] = ProcessParameters */
   13,   /* field[13] = SampleWinding */
   8,   /* field[8] = Segments */
   7,   /* field[7] = Spool */
   9,   /* field[9] = UploadStrategy */
   6,   /* field[6] = WindingMethod */
-  12,   /* field[12] = units */
 };
 static const ProtobufCIntRange job_ticket__number_ranges[1 + 1] =
 {
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.h
index d54a9c32e..3d555b717 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Printing/JobTicket.pb-c.h
@@ -50,8 +50,8 @@ struct  _JobTicket
   char *jobdescriptionfile;
   protobuf_c_boolean has_enablelubrication;
   protobuf_c_boolean enablelubrication;
-  protobuf_c_boolean has_units;
-  uint32_t units;
+  protobuf_c_boolean has_numberofunits;
+  uint32_t numberofunits;
   protobuf_c_boolean has_samplewinding;
   protobuf_c_boolean samplewinding;
 };
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 26996ad48..1f871a4cc 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
@@ -547,17 +547,18 @@ bool Is_FPGA_WD_Occurred()
         LOG_ERROR (FPGA_WD_Counter, "FPGA WD Occurred");
         FPGA_WD_Counter = FPGA_WD_Counter+1;
         FPGA_WD_Occurred = true;
-/*
+
            //To recover:
                //1. Disable all FPGA's WD:
                Control_WD(DISABLE,0);
                //2. Enqable all FPGA's WD:
                Control_WD(ENABLE,250);
                //3. Call FPGA_SetMotorsInit:
-               FPGA_SetMotorsInit();
+               //FPGA_SetMotorsInit();
                //4. Init Motor's Drivers:
-               Init_Motors_Drivers_After_FPGA_WD();
-
+               //Init_Motors_Drivers_After_FPGA_WD();
+               Motor_ReconfigAllMotors();
+/*
                //OR
                //Reset MCU (will reset also the FPGA):
                //Power_Reset();
@@ -789,7 +790,7 @@ uint32_t SecondaryPumpCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 void PumpActivation(uint32_t seconds)
 {
     Pumps_Control(WASTECH_PUMP2, OPEN);
-    SecondaryPumpControlId = AddControlCallback( SecondaryPumpCallBackFunction, seconds*1000/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
+    SecondaryPumpControlId = AddControlCallback(NULL, 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/I2C_Communication/ADC_MUX/ADC_MUX.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
index 331913816..fe8a96b32 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.c
@@ -26,6 +26,7 @@
 
 #include "ADC_MUX.h"
 #include "Modules/AlarmHandling/AlarmHandling.h"
+#include "modules/ids/ids_ex.h"
 
 bool MidTank_Pressure_Read_Enable[NUM_OF_MIDTANKS] = {true,true,true,true,true,true,true,true};
 double MidTank_Pressure[NUM_OF_MIDTANKS] = {1.0,1.0,1.0,1.0,1.0,1.0,1.0,1.0};
@@ -388,10 +389,10 @@ double Get_MidTank_Pressure_Sensor(MidTank_t MidTank_ID) //0-7
     assert (MidTank_ID<NUM_OF_MIDTANKS);
     return MidTank_Pressure[MidTank_ID];
 }
-int Get_MidTank_Int100_Sensor(MidTank_t MidTank_ID) //0-7
+int Get_MidTank_Int1000_Sensor(MidTank_t MidTank_ID) //0-7
 {
     assert (MidTank_ID<NUM_OF_MIDTANKS);
-    return (int)(MidTank_Pressure[MidTank_ID]*100);
+    return (int)(MidTank_Pressure[MidTank_ID]*1000);
 }
 
 /////////////////////////  Head_MixChip_Heaters_Current //////////////////////////////
@@ -406,13 +407,18 @@ uint32_t Heaters_Current_Bits[9];//just for debug
 void Enable_Reading_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-8
 {
     assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
-    //Heaters_Current_Read_Enable[Heater_ID] = true;
+    Heaters_Current_Read_Enable[Heater_ID] = true;
 }
 void Disable_Reading_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-8
 {
     assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
     Heaters_Current_Read_Enable[Heater_ID] = false;
 }
+bool Get_Heater_Current_Reading_State(HEATERS_CURRENT Heater_ID) //0-8
+{
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
+    return Heaters_Current_Read_Enable[Heater_ID];
+}
 
 uint32_t Read_Heaters_Current(HEATERS_CURRENT Heater_ID) //0-8
 {
@@ -522,6 +528,16 @@ bool Get_Heaters_Current_Integer(HEATERS_CURRENT Heater_ID, int32_t* value ) //0
 
     return OK;
 }
+bool Get_Heaters_Current_float(HEATERS_CURRENT Heater_ID, double* value ) //0-8 //Shai add default value
+{
+    assert (Heater_ID<NUM_OF_CURRENT_HEATERS);
+    if (Heaters_Current_Read_Enable[Heater_ID] == false)
+           return ERROR; // Heaters_Current[Heater_ID]
+    else *value = Heaters_Current[Heater_ID]*100;
+    //Report("Get_Heaters_Current_Integer ",__FILE__,Heater_ID,*value,RpWarning,(int)(Heaters_Current[Heater_ID]*100),0);
+
+    return OK;
+}
 
 void ADC_MUX_Init()
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h
index 8f7ed8a64..103e3e764 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/ADC_MUX/ADC_MUX.h
@@ -43,9 +43,11 @@ extern double Heaters_Current[9];
 
 extern uint32_t Heaters_Current_Bits[9];
 
+void Trigger_MidTank_Current_Read(void);
+
 double Read_MidTank_Pressure_Sensor(MidTank_t MidTank_ID);
 double Get_MidTank_Pressure_Sensor(MidTank_t MidTank_ID); //0-7
-int Get_MidTank_Int100_Sensor(MidTank_t MidTank_ID); //0-7
+int Get_MidTank_Int1000_Sensor(MidTank_t MidTank_ID); //0-7
 void MidTankPressureCorrection(double Offset);
 
 void Enable_MidTank_Pressure_Reading(MidTank_t MidTank_ID); //0-7
@@ -53,9 +55,11 @@ void Disable_MidTank_Pressure_Reading(MidTank_t MidTank_ID); //0-7
 
 void Enable_Reading_Heaters_Current(HEATERS_CURRENT Heater_ID);
 void Disable_Reading_Heaters_Current(HEATERS_CURRENT Heater_ID); //0-5
+bool Get_Heater_Current_Reading_State(HEATERS_CURRENT Heater_ID); //0-8
 uint32_t Read_Head_MixChip_Heaters_Current(HEATERS_CURRENT Heater_ID);
 double Get_Heaters_Current(HEATERS_CURRENT Heater_ID);
 bool Get_Heaters_Current_Integer(HEATERS_CURRENT Heater_ID,int32_t* value );
+bool Get_Heaters_Current_float(HEATERS_CURRENT Heater_ID, double* value );
 //int Get_Heaters_Current_Integer(HEATERS_CURRENT Heater_ID); //0-8
 uint32_t Read_Heaters_Current(HEATERS_CURRENT Heater_ID);
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
index 1cbd88f3b..2edda0ce4 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/DAC/Blower.c
@@ -214,7 +214,7 @@ uint32_t Gradual_Increase_Blower(uint32_t Initial_mV,uint32_t Target_mV)
     mInitial_mV = Initial_mV+100;
     Control_Voltage_To_Blower(mInitial_mV);
     Report("Increasing blower",__FILE__,__LINE__,(int)mInitial_mV,RpWarning,(int)millisecondCounter,0);
-    BlowerControlId = AddControlCallback( Gradual_Increase_Blower_Callback, mInterval,getBlowerState ,0, 0, 0 );
+    BlowerControlId = AddControlCallback(NULL, Gradual_Increase_Blower_Callback, mInterval,getBlowerState ,0, 0, 0 );
     if (BlowerControlId == 0xFF)
     {
         Report("Add control callback failed",__FILE__,__LINE__,(int)0,RpWarning,(int)BlowerControlId,0);
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
index c86cb8bad..44ee2edd0 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.c
@@ -348,6 +348,10 @@ uint8_t Read_Dispensers_IO_Registers(/*TCA9534Regs* Regs*/)
 }
 
 
+uint8_t Get_Notification_Disp_Full(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/)
+{
+    return Regs.Input[Dispenser_ID].Uchar;
+}
 
 bool Get_Notification_Disp_UP(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/)
 {
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h
index 9168843da..85e03a9ba 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/Dispenser_Card/IO_Ports/Dispenser_IO.h
@@ -58,6 +58,7 @@ uint8_t TCA9534ReadInputReg(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/);
 uint8_t TCA9534TestRelay(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/, bool EnableTestRelay);
 uint8_t TCA9534ByPass(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/, bool EnableByPass);
 uint8_t TCA9534TestByPassTestRelay(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/);
+uint8_t Get_Notification_Disp_Full(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/);
 bool Get_Notification_Disp_UP(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/);
 bool Get_Notification_Disp_Down(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/);
 bool Get_Notification_Realy_On(uint8_t Dispenser_ID/*, TCA9534Regs* Regs*/);
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
index fdeca7b85..b0da72345 100644
--- a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C.h
@@ -22,5 +22,7 @@ uint32_t I2C_ReadBuff(uint32_t I2C_BASE, unsigned char addr, unsigned char* data
 uint32_t I2C_Write(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Write_buf, uint32_t No_BytesToWrite );
 uint32_t I2C_Read(uint32_t I2C_ID, uint32_t Slave_Add, uint32_t *I2C_Read_buf, uint32_t No_BytesToRead );
 
+void Trigger_Heater_Current_Read(void);
+void Trigger_MidTank_Pressure_Read(void);
 
 #endif /* DRIVERS_I2C_COMMUNICATION_I2C_H_ */
diff --git a/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
new file mode 100644
index 000000000..aa6bfccac
--- /dev/null
+++ b/Software/Embedded_SW/Embedded/Drivers/I2C_Communication/I2C_Task.c
@@ -0,0 +1,85 @@
+/*
+ * I2C_Task.c
+ *
+ *  Created on: Oct 23, 2019
+ *      Author: shlomo
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "include.h"
+#include "inc/hw_memmap.h"
+
+#include "drivers/ADC_Sampling/adc.h"
+
+#include "ADC_MUX/ADC_MUX.h"
+#include "modules/ids/ids_ex.h"
+
+Mailbox_Handle          I2C_ReadingMsgQ = NULL;
+typedef enum
+{
+    Midtank_Pressure_Reading,
+    Heater_Current_Reading
+}I2C_ReadingMessages;
+
+typedef struct I2C_ReadingMessage{
+    uint16_t messageId;
+    uint16_t parameter;
+}I2C_ReadingMessageStruc;
+
+void Trigger_Heater_Current_Read(void)
+{
+    I2C_ReadingMessageStruc I2C_ReadingMessage;
+    uint8_t Heater_i;
+
+    for (Heater_i = 0;Heater_i < NUM_OF_CURRENT_HEATERS;Heater_i++)
+    {
+        I2C_ReadingMessage.messageId = Heater_Current_Reading;
+        I2C_ReadingMessage.parameter = Heater_i;
+        if (I2C_ReadingMsgQ != NULL)
+            Mailbox_post(I2C_ReadingMsgQ , &I2C_ReadingMessage, BIOS_NO_WAIT);
+    }
+    return;
+
+}
+
+void Trigger_MidTank_Pressure_Read(void)
+{
+    I2C_ReadingMessageStruc I2C_ReadingMessage;
+    uint8_t Midtank_i;
+
+    for (Midtank_i = 0;Midtank_i < MAX_SYSTEM_DISPENSERS;Midtank_i++)
+    {
+        I2C_ReadingMessage.messageId = Midtank_Pressure_Reading;
+        I2C_ReadingMessage.parameter = Midtank_i;
+        if (I2C_ReadingMsgQ != NULL)
+            Mailbox_post(I2C_ReadingMsgQ , &I2C_ReadingMessage, BIOS_NO_WAIT);
+    }
+    return;
+
+}
+void I2C_ReadingTask(UArg arg0, UArg arg1)
+{
+    I2C_ReadingMessageStruc I2C_ReadingMessage;
+    Error_Block eb;
+    Error_init(&eb);
+    I2C_ReadingMsgQ = Mailbox_create(sizeof(I2C_ReadingMessageStruc), 40, NULL,&eb);
+
+    while(1)
+    {
+        Mailbox_pend(I2C_ReadingMsgQ , &I2C_ReadingMessage, BIOS_WAIT_FOREVER);
+        switch (I2C_ReadingMessage.messageId)
+        {
+        case Midtank_Pressure_Reading:
+            //Report("Read_MidTank_Pressure_Sensor",__FILE__,__LINE__,255,RpWarning,0,0);
+            Read_MidTank_Pressure_Sensor(I2C_ReadingMessage.parameter);
+            break;
+        case Heater_Current_Reading:
+            //Report("Read_Heaters_Current",__FILE__,__LINE__,255,RpWarning,0,0);
+            Read_Heaters_Current(I2C_ReadingMessage.parameter);
+            break;
+        default:
+            break;
+        }
+    }
+}
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
index 7ea2ea79a..4a5a48f04 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.c
@@ -86,7 +86,19 @@ uint32_t MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorConfig
         return FPGA_MotorConfig( _motorId, MotorConfig);
     #endif
 }
-
+uint32_t Motor_ReconfigAllMotors(void)
+{
+    TimerMotors_t Motor_i;
+    uint32_t status = PASSED;
+    for (Motor_i = 0; Motor_i < NUM_OF_MOTORS ; Motor_i++)
+    {
+        if (isMotorConfigured(Motor_i))
+        {
+            status |= MotorConfig( Motor_i,  &MotorsCfg[Motor_i]);
+        }
+    }
+    return status;
+}
 bool isMotorConfigured(TimerMotors_t _motorId)
 {
     return MotorConfigState[_motorId];
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
index afacb50c3..59a8726f3 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/Motor.h
@@ -131,6 +131,7 @@ extern MotorDriverConfigStruc  MotorsCfg[NUM_OF_MOTORS];
 uint32_t MotorsInit(void);
 //set the motor configuration
 uint32_t MotorConfig(TimerMotors_t _motorId, MotorDriverConfigStruc *MotorConfig);
+uint32_t Motor_ReconfigAllMotors(void);
 
 bool isMotorConfigured(TimerMotors_t _motorId);
 
diff --git a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
index 5c25a87ca..b39b9f325 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Motors/MotorActions.c
@@ -147,7 +147,7 @@ uint32_t MotorGotoWithCallback (TimerMotors_t MotorId, uint32_t Steps,  uint32_t
     MotorStop(MotorId,Hard_Hiz );
     Task_sleep(100);
     MotorGoTo(MotorId,Steps );
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveToLimitSwitchCallBackFunction,  eTenMillisecond, FPGA_Read_limit_Switches,(IfTypeMotors*0x100+MotorId), LimitSwitchId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveToLimitSwitchCallBackFunction,  eTenMillisecond, FPGA_Read_limit_Switches,(IfTypeMotors*0x100+MotorId), LimitSwitchId, 0 );
     MotorControlCallback[MotorId] = MotorMoveToLimitSwitchCallBackFunction;
     return MotorControlId[MotorId];
 }
@@ -163,7 +163,7 @@ uint32_t MotorGotoWithBusyCallback (TimerMotors_t MotorId,bool direction, uint32
     //MotorStop(MotorId,Hard_Hiz );
     int sign = direction?1:-1;
     MotorGoTo(MotorId,Steps*sign );
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveCallBackFunction;
     return MotorControlId[MotorId];
 }
@@ -184,7 +184,7 @@ uint32_t MotorMoveWithCallback (TimerMotors_t MotorId,bool direction, uint32_t S
 
     //MotorStop(MotorId,Hard_Hiz );
     MotorMove(MotorId,direction,Steps );
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveCallBackFunction,  /*eTenMillisecond*/20, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveCallBackFunction;
     return MotorControlId[MotorId];
 }
@@ -284,7 +284,7 @@ uint32_t MotorMoveToStopper (TimerMotors_t MotorId,bool direction, uint32_t Spee
     StoredMotorPosition[MotorId] = MotorGetPosition(MotorId);
     REPORT_MSG(StoredMotorPosition[MotorId],"MotorMoveToStopper initial position");
     MotorSetSpeed (MotorId, Speed);
-    MotorControlId[MotorId] = AddControlCallback( MotorVerifiedCallBackFunction,  20,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorVerifiedCallBackFunction,  10,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorVerifiedCallBackFunction;
     return MotorControlId[MotorId];
 }
@@ -321,7 +321,7 @@ uint32_t MotorMoveToDrierPositionCallBackFunction(uint32_t IfIndex, uint32_t Rea
            MotorStop(MotorId,Hard_Stop );
 
        //possibly: start regular control (speed etc)
-       //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
+       //uint32_t ControlId = AddControlCallback(NULL,ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
 
        //call the module callback
        if (MotorCallback[MotorId])
@@ -359,7 +359,7 @@ uint32_t MotorMovetoEncoderPosition (TimerMotors_t MotorId,  callback_fptr callb
 
     //MotorSetDirection( MotorId, direction);
     MotorSetSpeed (MotorId, 50);
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveToDrierPositionCallBackFunction,  2,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveToDrierPositionCallBackFunction,  2,Control_Read_Dryer_Position,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorMoveToDrierPositionCallBackFunction;
     return MotorControlId[MotorId];
 
@@ -370,7 +370,7 @@ uint32_t MotorSetSpeedWithCallback (TimerMotors_t MotorId, uint32_t _freq, callb
     //assert (callback);
     MotorCallback[MotorId] = callback;
 
-    MotorControlId[MotorId] = AddControlCallback( MotorSetSpeedCallBackFunction,  eTenMillisecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorSetSpeedCallBackFunction,  eTenMillisecond, MotorControlGetnBusyState,(IfTypeMotors*0x100+MotorId), MotorId, 0 );
     MotorControlCallback[MotorId] = MotorSetSpeedCallBackFunction;
     MotorSetSpeed(MotorId, _freq);
 
@@ -409,7 +409,7 @@ uint32_t MotorMoveCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TODO
            MotorControlCallback[MotorId] = 0;
            MotorControlId[MotorId] = 0xFF;
            //possibly: start regular control (speed etc)
-           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
+           //uint32_t ControlId = AddControlCallback(NULL,ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
 
            //call the module callback
            if (MotorCallback[MotorId])
@@ -436,7 +436,7 @@ uint32_t MotorSetSpeedCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag) //TO
            MotorControlCallback[MotorId] = 0;
            MotorControlId[MotorId] = 0xFF;
            //possibly: start regular control (speed etc)
-           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
+           //uint32_t ControlId = AddControlCallback(NULL,ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
 
            //call the module callback
            if (MotorCallback[MotorId])
@@ -483,7 +483,7 @@ uint32_t MotorMoveToLimitSwitchCallBackFunction(uint32_t IfIndex, uint32_t Limit
        }
 
        //possibly: start regular control (speed etc)
-       //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
+       //uint32_t ControlId = AddControlCallback(NULL,ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
        if (MotorId == HARDWARE_MOTOR_TYPE__MOTO_DH_LID)
        {
            if (CloseMagnet == true)
@@ -542,7 +542,7 @@ uint32_t MotorMovetoLimitSwitch (TimerMotors_t MotorId,bool direction, uint32_t
 
     MotorSetDirection( MotorId, direction);
     MotorSetSpeed(MotorId, Freq);
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveToLimitSwitchCallBackFunction, MotorTimeLag[MotorId] , FPGA_Read_limit_Switches,(IfTypeMotors*0x100+MotorId), LimitSwitchId, 0 );
+    MotorControlId[MotorId] = AddControlCallback("MoveToLimitSwitch", MotorMoveToLimitSwitchCallBackFunction, MotorTimeLag[MotorId] , FPGA_Read_limit_Switches,(IfTypeMotors*0x100+MotorId), LimitSwitchId, 0 );
     if ( MotorControlId[MotorId] == 0xFF)
         return ERROR;
     MotorCallback[MotorId] = callback;
@@ -575,7 +575,7 @@ uint32_t MotorMoveToBreakSensorCallBackFunction(uint32_t IfIndex, uint32_t Limit
            MotorStop(MotorId,Hard_Hiz);  //TODO in run time limit switch just reverse direction
 
            //possibly: start regular control (speed etc)
-           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
+           //uint32_t ControlId = AddControlCallback(NULL,ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
 
            //call the module callback
            if (MotorCallback[MotorId])
@@ -601,7 +601,7 @@ uint32_t MotorMovetoBreakSensor (TimerMotors_t MotorId,bool direction, uint32_t
 
     MotorSetDirection( MotorId, direction);
     MotorSetSpeed(MotorId, Freq);
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveToBreakSensorCallBackFunction, eOneMillisecond , ReadBreakSensor,(IfTypeMotors*0x100+MotorId), 0, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveToBreakSensorCallBackFunction, eOneMillisecond , ReadBreakSensor,(IfTypeMotors*0x100+MotorId), 0, 0 );
     if ( MotorControlId[MotorId] == 0xFF)
         return ERROR;
     MotorCallback[MotorId] = callback;
@@ -646,7 +646,7 @@ uint32_t MotorMoveToDancerPositionCallBackFunction(uint32_t IfIndex, uint32_t Re
        MotorStop(MotorId,Hard_Hiz);  //TODO in run time limit switch just reverse direction
 
        //possibly: start regular control (speed etc)
-       //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
+       //uint32_t ControlId = AddControlCallback(NULL,ControlCBFunction Callback,  eOneMillisecond, (IfTypeMotors*0x100+MotorId), deviceId, Parameter );
 
        //call the module callback
        if (MotorCallback[MotorId])
@@ -669,7 +669,7 @@ uint32_t MotorMovetoDancerPosition (TimerMotors_t MotorId,bool direction, uint32
     DancerId = dancerid;
     MotorSetDirection( MotorId, direction);
     MotorSetSpeed(MotorId, Freq);
-    MotorControlId[MotorId] = AddControlCallback( MotorMoveToDancerPositionCallBackFunction, eTenMillisecond , Control_Read_Dancer_Position,(IfTypeMotors*0x100+MotorId), DancerId, 0 );
+    MotorControlId[MotorId] = AddControlCallback(NULL, MotorMoveToDancerPositionCallBackFunction, eTenMillisecond , Control_Read_Dancer_Position,(IfTypeMotors*0x100+MotorId), DancerId, 0 );
     if ( MotorControlId[MotorId] == 0xFF)
         return ERROR;
     MotorCallback[MotorId] = callback;
diff --git a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
index 66be6a21a..06e5b4b0d 100644
--- a/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
+++ b/Software/Embedded_SW/Embedded/Drivers/Valves/Valve.c
@@ -371,7 +371,7 @@ uint32_t Control3WayValvesWithCallback (Valves_t _ValveId, bool direction, callb
 
     Valve3WayModuleCallback[_ValveId] = callback;
 
-    Valve3WayControlId[_ValveId] = AddControlCallback( Valve3WayCallBackFunction,  eOneSecond/*eHundredMillisecond*/, FPGA_GetDispenserValveBusyOCD,(IfTypeDisopenser*0x100+_ValveId), _ValveId, 0 );
+    Valve3WayControlId[_ValveId] = AddControlCallback("Valve3WayControlId", 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
diff --git a/Software/Embedded_SW/Embedded/Embedded.cfg b/Software/Embedded_SW/Embedded/Embedded.cfg
index 4d70067e9..8cdb27e47 100644
--- a/Software/Embedded_SW/Embedded/Embedded.cfg
+++ b/Software/Embedded_SW/Embedded/Embedded.cfg
@@ -102,6 +102,12 @@ FPGALoad.stackSize = 4096;
 FPGALoad.priority = 5;
 Program.global.FPGALoad = Task.create("&FPGALoadTask", FPGALoad);
 
+var I2C_Reading = new Task.Params();
+I2C_Reading.instance.name = "I2C_Reading";
+I2C_Reading.stackSize = 2048;
+I2C_Reading.priority = 3;
+Program.global.I2C_Reading = Task.create("&I2C_ReadingTask", I2C_Reading);
+
 var ControlTaskParams = new Task.Params();
 ControlTaskParams.instance.name = "control";
 ControlTaskParams.stackSize = 2048;
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index c7a3a5e22..daaf922cf 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -54,6 +54,8 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/Flash_ram/FlashProgram.h"
 
+#include "drivers/Valves/Valve.h"
+
 Task_Handle AlarmHandling_Task_Handle;
 Mailbox_Handle          AlarmHandlingMsgQ = NULL;
 
@@ -213,22 +215,31 @@ AlarmHandlingItemStruc  HardCodedAlarmItem[MAX_SYSTEM_ALARMS]={
      {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_7_OVERPRESSURE},
      {eOneSecond,ALARM_SOURCE_TYPE__DoNotPollAlarm,0,0,0,0,DEBUG_LOG_CATEGORY__Critical,0xFF,0,EVENT_TYPE__DISPENSER_8_OVERPRESSURE},
 
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_1_LOW_LEVEL},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_2_LOW_LEVEL},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_3_LOW_LEVEL},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_4_LOW_LEVEL},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_5_LOW_LEVEL},
-     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_6_LOW_LEVEL},
-     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_7_LOW_LEVEL},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,50/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_8_LOW_LEVEL},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_1_EMPTY},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_2_EMPTY},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_3_EMPTY},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_4_EMPTY},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_5_EMPTY},
-     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_6_EMPTY},
-     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_7_EMPTY},
-     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,20/*500cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_8_EMPTY},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_1_LOW_LEVEL},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_2_LOW_LEVEL},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_3_LOW_LEVEL},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_4_LOW_LEVEL},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_5_LOW_LEVEL},
+     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_6_LOW_LEVEL},
+     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_7_LOW_LEVEL},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,500/*500cc*/,false,DEBUG_LOG_CATEGORY__Warning,  0xFF,2,EVENT_TYPE__MID_TANK_8_LOW_LEVEL},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_1_EMPTY},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_2_EMPTY},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_3_EMPTY},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_4_EMPTY},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_5_EMPTY},
+     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_6_EMPTY},
+     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_7_EMPTY},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,200/*200cc*/,false,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_8_EMPTY},
+
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,0,0,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_1_OVERFLOW},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,1,1,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_2_OVERFLOW},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,2,2,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_3_OVERFLOW},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,3,3,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_4_OVERFLOW},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,4,4,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_5_OVERFLOW},
+     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,5,5,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_6_OVERFLOW},
+     //{eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,6,6,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_7_OVERFLOW},
+     {eOneSecond,ALARM_SOURCE_TYPE__FluidLevelAlarm,7,7,1800/*1800cc*/,true,DEBUG_LOG_CATEGORY__Error,    0xFF,2,EVENT_TYPE__MID_TANK_8_OVERFLOW},
 
 
      {eOneSecond,ALARM_SOURCE_TYPE__MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,EVENT_TYPE__DRYER_MOTOR_OVERCURRENT  },
@@ -519,6 +530,7 @@ void     AlarmHandlingSetCurrentLimits(double currentalarmhighlimit,double curre
 {
     CurrentAlarmHighLimit = currentalarmhighlimit;
     CurrentAlarmLowLimit = currentalarmlowlimit;
+    ReportWithPackageFilter(AlarmFilter,"Alarm Current Limits", __FILE__,__LINE__,(int)(currentalarmhighlimit*100), RpMessage, (int)(currentalarmlowlimit*100), 0);
 }
 
 void     AlarmHandlingSetFlags(bool checkHardLimitAlarms,bool checkCurrentAlarms, bool checkTamperAlarms, bool checkMotorAlarms)
@@ -605,6 +617,18 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
                 }
             }
             break;
+        case ALARM_SOURCE_TYPE__FluidLevelAlarm:
+            if (Severity == DEBUG_LOG_CATEGORY__Error)
+            {
+                ReportWithPackageFilter(AlarmFilter,"fluid level alarm", __FILE__,AlarmItem[AlarmId].ModuleDeviceId,AlarmId, RpMessage, AlarmItem[AlarmId].AlarmSource, 0);
+                if (AlarmItem[AlarmId].EventType >= EVENT_TYPE__MID_TANK_1_OVERFLOW)
+                {
+                    Valve_Set(IDS_Id_to_AirValve[AlarmItem[AlarmId].DeviceId], AlarmItem[AlarmId].DeviceId );   //AlarmItem[AlarmId].DeviceId/ON
+                    Valve_Set(IDS_Id_to_CartrideValve[AlarmItem[AlarmId].DeviceId], AlarmItem[AlarmId].DeviceId );   //Atm_MidTank_OFF/ON
+                }
+            }
+
+            break;
         default:
             break;
     }
@@ -634,8 +658,8 @@ uint32_t AlarmHandlingConsequentActions(uint32_t AlarmId, DebugLogCategory Sever
         {
             JobEndReason = getEndReason(AlarmId);
             AbortJob(AlarmReasonStr);
-            //Report(AlarmReasonStr, __FILE__,__LINE__,AlarmId, RpMessage, DEBUG_LOG_CATEGORY__Error, 0);
-            ReportWithPackageFilter(AlarmFilter,AlarmReasonStr, __FILE__,__LINE__,AlarmId, RpMessage, DEBUG_LOG_CATEGORY__Error, 0);
+            //Report(AlarmReasonStr, __FILE__,__LINE__,AlarmId, RpMessage, Severity, 0);
+            ReportWithPackageFilter(AlarmFilter,AlarmReasonStr, __FILE__,__LINE__,AlarmId, RpMessage, Severity, 0);
         }
         /*switch (AlarmItem[AlarmId].AlarmSource)
         {
@@ -752,19 +776,27 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
             if (AlarmState[Alarm_i].Status == true)
             {
                 status = JOB_TAMPER_ALARM;
+                ReportWithPackageFilter(AlarmFilter,"tamper alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
                 AlarmId = Alarm_i;
                 break;
             }
         }
-        /*if (AlarmItem[Alarm_i].AlarmSource == ALARM_SOURCE_TYPE__FluidLevelAlarm)
+        if (AlarmItem[Alarm_i].AlarmSource == ALARM_SOURCE_TYPE__FluidLevelAlarm)
         {
             if (AlarmState[Alarm_i].Status == true)
             {
-                status = ERROR;
-                AlarmId = Alarm_i;
-                break;
+                if (AlarmItem[Alarm_i].Severity == DEBUG_LOG_CATEGORY__Error)
+                {
+                    if (DispenserUsedInJob[AlarmItem[Alarm_i].DeviceId] == true)
+                    {
+                        status = ERROR;
+                        ReportWithPackageFilter(AlarmFilter,"fluid level alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
+                        AlarmId = Alarm_i;
+                        break;
+                    }
+                }
             }
-        }*/
+        }
         if (AlarmItem[Alarm_i].AlarmSource == ALARM_SOURCE_TYPE__MotorAlarm)
         {
             if (AlarmState[Alarm_i].Status == true)
@@ -772,6 +804,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                 if(AlarmItem[Alarm_i].Severity>=DEBUG_LOG_CATEGORY__Error)
 				{
 	                status = JOB_MOTOR_ALARM;
+                    ReportWithPackageFilter(AlarmFilter,"motor alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
     	            AlarmId = Alarm_i;
         	        break;
 				}
@@ -795,6 +828,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                             {
                                 status = JOB_TEMPERATURE_ALARM;
                                 AlarmId = Alarm_i;
+                                ReportWithPackageFilter(AlarmFilter,"temperature alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
                                 break;
                             }
                         }
@@ -804,6 +838,7 @@ JobEndReasonEnum AlarmHandlingPrepareJob(void *CurrentJob)
                             {
                                 status = JOB_TEMPERATURE_ALARM;
                                 AlarmId = Alarm_i;
+                                ReportWithPackageFilter(AlarmFilter,"temperature alarm preventing job", __FILE__,__LINE__,AlarmItem[Alarm_i].EventType, AlarmItem[Alarm_i].Severity, AlarmItem[Alarm_i].DeviceId, 0);
                                 break;
                             }
                         }
@@ -874,6 +909,13 @@ void AlarmHandlingInternalSetAlarm(uint32_t AlarmId, bool value)
 	                    AlarmState[Alarm_i].Status = value;
                     }
                     ReportWithPackageFilter(AlarmFilter,"Alarm ON ", __FILE__,AlarmState[Alarm_i].EventPtr,AlarmItem[Alarm_i].EventType, RpMessage, value, Alarm_i);
+                    if ((AlarmItem[Alarm_i].Severity == DEBUG_LOG_CATEGORY__Critical)&&(JobIsActive()))
+                    {
+                        JobEndReason = getEndReason(Alarm_i);
+                        SendJobProgress(0.0,0, false, "Critical alarm!!!!");
+                        AbortJob("Critical alarm");
+                        ReportWithPackageFilter(AlarmFilter, AlarmReasonStr,__FILE__,__LINE__,Alarm_i,RpError, 0,0);
+                    }
                 }
                 else
                 {
@@ -900,7 +942,7 @@ uint32_t AlarmHandlingStart(void)
     if ( AlarmHandlingActive == false)
     {
             AlarmHandlingActive = true;
-            AlarmHandlingControlId = AddControlCallback(AlarmHandling_ControlTrigger,eTenMillisecond,TemplateDataReadCBFunction,0,0,0);
+            AlarmHandlingControlId = AddControlCallback("Alarm Handling",AlarmHandling_ControlTrigger,eTenMillisecond,TemplateDataReadCBFunction,0,0,0);
     }
     return OK;
 }
@@ -930,6 +972,8 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
     uint32_t drawer_small2;
     uint32_t drawer_small3;
 
+    double doubleValue = 0.0;
+
 
 
 
@@ -1027,20 +1071,22 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
             case ALARM_SOURCE_TYPE__CurrentAlarm:
                 if (CheckCurrentAlarms)
                  {
-                     if (Get_Heaters_Current_Integer(AlarmItem[Alarm_i].DeviceId, &value) == OK)
+                     if (Get_Heaters_Current_float(AlarmItem[Alarm_i].DeviceId, &doubleValue) == OK)
                      {
                          if (AlarmItem[Alarm_i].AlarmDirection == true)
                          {
-                             if ((value >= (AlarmItem[Alarm_i].AlarmValue*CurrentAlarmHighLimit)) || (value <= (AlarmItem[Alarm_i].AlarmValue*CurrentAlarmLowLimit)))
+                             if ((doubleValue >= (AlarmItem[Alarm_i].AlarmValue*CurrentAlarmHighLimit)) || (doubleValue <= (AlarmItem[Alarm_i].AlarmValue*CurrentAlarmLowLimit)))
                              {
                                  Status = true;
+                                 //ReportWithPackageFilter(AlarmFilter,"OverCurrent Alarm ON ", __FILE__,AlarmItem[Alarm_i].DeviceId,AlarmItem[Alarm_i].EventType, RpMessage, (int)doubleValue, 0);
                              }
                          }
                          else
                          {
-                             if (value == 0)
+                             if (doubleValue <= 0.1)
                              {
                                  Status = true;
+                                 //ReportWithPackageFilter(AlarmFilter,"llop break Alarm ON ", __FILE__,AlarmItem[Alarm_i].DeviceId,AlarmItem[Alarm_i].EventType, RpMessage, (int)doubleValue, 0);
                              }
                          }
 
@@ -1084,7 +1130,7 @@ uint32_t AlarmHandlingLoop(uint32_t tick)
                     FluidLevelWarning = AlarmItem[Alarm_i].AlarmValue;
                 else if (AlarmItem[Alarm_i].Severity == DEBUG_LOG_CATEGORY__Error)
                     FluidLevelError = AlarmItem[Alarm_i].AlarmValue;
-                value = Get_MidTank_Int100_Sensor(AlarmItem[Alarm_i].DeviceId);
+                value = Get_MidTank_Int1000_Sensor(AlarmItem[Alarm_i].DeviceId);
                 if (AlarmItem[Alarm_i].AlarmDirection == OVER_VALUE)
                 {
                     if (value > AlarmItem[Alarm_i].AlarmValue)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
index 881034e40..9dcb3affb 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/DriverWithCallbackExample.c
@@ -26,7 +26,7 @@ uint32_t DriverActionWithCallback (uint32_t deviceId, uint32_t parameter, callba
     ModuleCallback = callback;
     //start control:
 
-    uint32_t ControlId = AddControlCallback( callback,  eOneMillisecond, NULL, (IfTypeNone*0x100+deviceId),deviceId, parameter );
+    uint32_t ControlId = AddControlCallback(NULL, callback,  eOneMillisecond, NULL, (IfTypeNone*0x100+deviceId),deviceId, parameter );
     return ControlId;
 
 }
@@ -38,7 +38,7 @@ uint32_t ControlCallBackFunction(uint32_t deviceId, uint32_t ReadValue)
            //stop this control loop
            RemoveControlCallback(deviceId, ControlCallBackFunction );
            //possibly: start regular control (speed etc)
-           //uint32_t ControlId = AddControlCallback(ControlCBFunction Callback,  eOneMillisecond, NULL, deviceId, Parameter );
+           //uint32_t ControlId = AddControlCallback(NULL,ControlCBFunction Callback,  eOneMillisecond, NULL, deviceId, Parameter );
 
            //call the module callback
            ModuleCallback(deviceId,ReadValue);
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index 53ddda9f9..7e5020336 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -38,6 +38,7 @@
 #include <drivers/FPGA/FPGA_Comm.h>
 #include "drivers/Valves/Valve.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
+#include "Drivers/I2C_Communication/I2C.h"
 
 #include "modules/thread/thread_ex.h"
 #include "modules/ids/ids_ex.h"
@@ -557,7 +558,6 @@ uint32_t MillisecLowLoop(uint32_t tick)
             for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
             {
                 CalculateDispenserPressure(Disp_i);
-                //Read_MidTank_Pressure_Sensor(Disp_i);
             }
             ADC_TriggerCollection();
         }
@@ -576,13 +576,13 @@ uint32_t MillisecLowLoop(uint32_t tick)
             for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
             {
                 CalculateDispenserPressure(Disp_i);
-                //Read_MidTank_Pressure_Sensor(Disp_i);
             }
         }
         FPGA_GetAllDispensersValveBusyOCD();
         temp = Read_Fans_Tacho();
         DrawerFansStatus = temp & 0x1F;
         SystemFansStatus = temp & 0xE0;
+        MachineUpdateResponseFunc();
         //KeepAliveOneSecondCall();
         for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
@@ -593,24 +593,25 @@ uint32_t MillisecLowLoop(uint32_t tick)
         }
         if (!(OneMinute_Tick))
         {
-            for (Heater_i = 0;Heater_i < NUM_OF_CURRENT_HEATERS;Heater_i++)
+            Trigger_Heater_Current_Read();
+            /*for (Heater_i = 0;Heater_i < NUM_OF_CURRENT_HEATERS;Heater_i++)
             {
-                //Read_Heaters_Current(Heater_i);
-            }
+                Read_Heaters_Current(Heater_i);
+            }*/
         }
         for (Sensor_i = 0;Sensor_i < MAX_TEMPERATURE_SENSOR_ID;Sensor_i++)
         {
             TemperatureCalc[Sensor_i] =  MillisecCalculateTemperatures ( Sensor_i);
         }
-        MachineUpdateResponseFunc();
     }
     if (OneMinute_Tick)
     {
-        for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
+        Trigger_MidTank_Pressure_Read();
+        /*for (Disp_i = 0;Disp_i < MAX_SYSTEM_DISPENSERS;Disp_i++)
         {
             Read_MidTank_Pressure_Sensor(Disp_i);
-        }
-        //MachineUpdateResponseFunc();
+        }*/
+//        MachineUpdateResponseFunc();
         /*        for (Motor_i = 0;Motor_i < NUM_OF_MOTORS;Motor_i++)
         {
             if (Motor_i == HARDWARE_MOTOR_TYPE__MOTO_SCREW)
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.c b/Software/Embedded_SW/Embedded/Modules/Control/control.c
index 80afb7ac6..b7d117efe 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.c
@@ -71,6 +71,7 @@ typedef struct
   DataReadCBFunction ControlDataReadPtr;
   ControlCBFunction ControlCallbackPtr;
   uint32_t ControlTiming;
+  char *Name;
 }ControlDeviceStruc;
 
 typedef enum
@@ -132,6 +133,7 @@ void ControlInit(void)
         ControlArray[Device_i].ControlCallbackPtr = NULL;
         ControlArray[Device_i].ControlDataReadPtr = NULL;
         ControlArray[Device_i].ControlTiming = eNoControl;
+        ControlArray[Device_i].Name = NULL;
     }
     gateControlDB = GateMutex_create(NULL, &eb);
     if (gateControlDB == NULL)
@@ -166,7 +168,10 @@ uint32_t ControlActivityLed( uint32_t Parameter1)
         COMM_RED_LED_ON;
         ACTIVITY_RED_LED_OFF; // Heaters indication - all the Heaters OFF
         if(FPGA_WD_Occurred == true)
+        {
             ACTIVITY_GREEN_LED_ON;
+            HWConfigurationInit();
+        }
 
         if(power.color == fastBILNK)
             Pannel_Leds(POWER_ON_OFF,MODE_OFF);
@@ -298,7 +303,7 @@ void ControlStart(void)
         TimerEnable(Control_timerBase, TIMER_A);
 
         ADCAcquireStart(0,1);
-        AddControlCallback( ControlEmptyCBFunction,  eHundredMillisecond, ControlActivityLed,0, 0, 0 );
+        AddControlCallback("ControlActivityLed", ControlEmptyCBFunction,  eHundredMillisecond, ControlActivityLed,0, 0, 0 );
 
         SysCtlDelay(12000000);
         MillisecStart();
@@ -313,7 +318,7 @@ void ControlStart(void)
  * both these callbacks can be removed. if a new call is arriving, it invalidates the previous one (no dual control or data)
  *
  ***************************************************************************************************************************************************/
-uint32_t  AddControlCallback( ControlCBFunction Callback, uint32_t CtrlFrequency, DataReadCBFunction DriverfPtr, uint16_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 )
+uint32_t  AddControlCallback(char* Name, ControlCBFunction Callback, uint32_t CtrlFrequency, DataReadCBFunction DriverfPtr, uint16_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 )
 {
     assert(Callback);
     assert(DriverfPtr);
@@ -364,6 +369,7 @@ uint32_t  AddControlCallback( ControlCBFunction Callback, uint32_t CtrlFrequency
     ControlArray[deviceId].Parameter1 = Parameter1;
     ControlArray[deviceId].IfIndex = IfIndex;
     ControlArray[deviceId].StartTick = millisecondCounter;
+    ControlArray[deviceId].Name = Name;
     GateMutex_leave(gateControlDB, key);
     //LOG_ERROR(deviceId, "Add Callback");
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/control.h b/Software/Embedded_SW/Embedded/Modules/Control/control.h
index 450646a68..4b82aab30 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/control.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/control.h
@@ -38,7 +38,7 @@ typedef enum
 void        ControlInit(void);
 void        ControlStop(void);
 void        ControlStart(void);
-uint32_t    AddControlCallback( ControlCBFunction Callback, uint32_t CtrlFrequency, DataReadCBFunction DriverfPtr, uint16_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 );
+uint32_t    AddControlCallback(char *Name, ControlCBFunction Callback, uint32_t CtrlFrequency, DataReadCBFunction DriverfPtr, uint16_t IfIndex, uint32_t Parameter1, uint32_t Parameter2 );
 int         RemoveControlCallback(uint32_t deviceId, ControlCBFunction Callback );
 //The safe remove command can be used ONLY when called from the control callback itself
 int         SafeRemoveControlCallback(uint32_t deviceId , ControlCBFunction Callback);
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
index 4597efa93..9a81854e6 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticActions.c
@@ -271,6 +271,12 @@ uint32_t SetDigitalOutRequestRequestFunc(MessageContainer* requestContainer)
         case INTERFACE_IOS__GPO_TFEED_BREAK_1:
                 Pumps_Control(WASTECH_PUMP2, request->value);
             break;
+        case INTERFACE_IOS__GPO_BUZZER:
+            if (request->value == true)
+                Buzzer(MODE_ON);//use START or STOP,  0 - 100%();
+            else
+                Buzzer(MODE_OFF);//use START or STOP,  0 - 100%();
+            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 6db76e842..d4e1636a5 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/Diagnostics.c
@@ -63,7 +63,7 @@ uint32_t DiagnosticsStop(void);
 uint32_t Diagnostics_ControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t Diagnostics_TenMiliControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 uint32_t Diagnostics_OneSecControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
-uint32_t DispensersCollection(uint32_t IfIndex, uint32_t ReadValue);
+uint32_t Diagnostics_OneMinControlTrigger(uint32_t IfIndex, uint32_t ReadValue);
 
 
 DiagnosticsMonitors DiagnosticsMonitor = DIAGNOSTICS_MONITORS__INIT;
@@ -100,12 +100,16 @@ double dryerzone3temperature[DIAGNOSTICS_LIMIT+1];
 
 double dispensermotorfrequency[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT+1];
 double dispenserspressure[MAX_SYSTEM_DISPENSERS][DIAGNOSTICS_LIMIT+1];
+double dispenserinklevel[MAX_SYSTEM_DISPENSERS][1];
+double midtankinklevel[MAX_SYSTEM_DISPENSERS][1];
 double MidTankpressure[MAX_SYSTEM_DISPENSERS][1];
 double HeatersCurrent[NUM_OF_CURRENT_HEATERS][1];
 double VOC_Sensor;
 
 DoubleArray DispenserFreq[MAX_SYSTEM_DISPENSERS];
 DoubleArray DiagnosticsDispenserPressure[MAX_SYSTEM_DISPENSERS];
+DoubleArray DispenserInkLevel[MAX_SYSTEM_DISPENSERS];
+DoubleArray DiagnosticsMidTankInkLevel[MAX_SYSTEM_DISPENSERS];
 
 HeaterState **heatersstates;
 HeaterState  HeaterInfo[HEATER_TYPE__MixerHeater+1];
@@ -136,6 +140,7 @@ typedef enum
     DiagnosticsTrigger,
     DiagnosticsTenMiliTrigger,
     DiagnosticsOneSecTrigger,
+    DiagnosticsOneMinuteTrigger
 }DiagnosticsMessages;
 
 typedef struct DiagnosticsMessage{
@@ -164,14 +169,16 @@ void DiagnosticsInit(void)
 
     DiagnosticsMsgQ = Mailbox_create(sizeof(DiagnosticsMessageStruc), 40, NULL,&eb);
 
-    DiagnosticsMonitor.dispensersmotorsfrequency = (DoubleArray**)my_malloc(sizeof(DoubleArray *)*8);
-    DiagnosticsMonitor.dispenserspressure = (DoubleArray**)my_malloc(sizeof(DoubleArray)*8);
-    DiagnosticsMonitor.dispenserslinearpositions = (DoubleArray**)my_malloc(sizeof(DoubleArray)*8);
-    DiagnosticsMonitor.dispensersangularencoders = (DoubleArray**)my_malloc(sizeof(DoubleArray)*8);
+    DiagnosticsMonitor.dispensersmotorsfrequency = (DoubleArray**)my_malloc(sizeof(DoubleArray *)*MAX_SYSTEM_DISPENSERS);
+    DiagnosticsMonitor.dispenserspressure = (DoubleArray**)my_malloc(sizeof(DoubleArray)*MAX_SYSTEM_DISPENSERS);
+    DiagnosticsMonitor.midtanksinklevel = (DoubleArray**)my_malloc(sizeof(DoubleArray)*MAX_SYSTEM_DISPENSERS);
+    DiagnosticsMonitor.dispensersinklevel = (DoubleArray**)my_malloc(sizeof(DoubleArray)*MAX_SYSTEM_DISPENSERS);
     for (i = 0; i<MAX_SYSTEM_DISPENSERS;i++)
     {
         double_array__init(&DispenserFreq[i]);
         double_array__init(&DiagnosticsDispenserPressure[i]);
+        double_array__init(&DiagnosticsMidTankInkLevel[i]);
+        double_array__init(&DispenserInkLevel[i]);
     }
     heatersstates = (HeaterState**)my_malloc(sizeof(HeaterState *)*(HEATER_TYPE__MixerHeater+1));
     for(i=0;i<=HEATER_TYPE__MixerHeater;i++)
@@ -366,6 +373,7 @@ void DiagnosticTenMsecCollection(void)
         return;
     /*if (JobIsActive()== false)
         return;*/
+
     DiagnosticLoadDancer(WINDER_DANCER,Control_Read_Dancer_Position(WINDER_DANCER, 0,0));
     DiagnosticLoadDancer(POOLER_DANCER,Control_Read_Dancer_Position(POOLER_DANCER, 0,0));
     DiagnosticLoadDancer(FEEDER_DANCER,Control_Read_Dancer_Position(FEEDER_DANCER, 0,0));
@@ -376,6 +384,105 @@ void DiagnosticTenMsecCollection(void)
 
     //DiagnosticLoadSpeedSensor(getSensorSpeedData());
 }
+void DiagnosticOneMinuteCollection(void)
+{
+    int i;
+
+    DiagnosticsMonitor.n_dispensersinklevel = 0;
+    DiagnosticsMonitor.n_midtanksinklevel = 0;
+    for (i=0;i<MAX_SYSTEM_DISPENSERS;i++)
+    {
+        MidTankpressure[i][0] = Get_MidTank_Pressure_Sensor(i);
+        dispenserinklevel[i][0] = 1.00-(IDS_Dispenser_Data[i].consumedinnanolitter/5800000);
+        midtankinklevel[i][0] = Get_MidTank_Pressure_Sensor(i);
+        if (DiagnosticsMonitor.dispensersinklevel)
+        {
+            DiagnosticsMonitor.n_dispensersinklevel = MAX_SYSTEM_DISPENSERS;
+            //DiagnosticsDispenserPressure[i] = dispenserspressure[i];
+            //double_array__init(&DiagnosticsDispenserPressure[i]);
+            DispenserInkLevel[i].data = dispenserinklevel[i];
+            DispenserInkLevel[i].n_data = 1;
+            DiagnosticsMonitor.dispensersinklevel[i] = &DispenserInkLevel[i];
+        }
+        if (DiagnosticsMonitor.midtanksinklevel)
+        {
+            DiagnosticsMonitor.n_midtanksinklevel = MAX_SYSTEM_DISPENSERS;
+            //DiagnosticsDispenserPressure[i] = dispenserspressure[i];
+            //double_array__init(&DiagnosticsDispenserPressure[i]);
+            DiagnosticsMidTankInkLevel[i].data = midtankinklevel[i];
+            DiagnosticsMidTankInkLevel[i].n_data = 1;
+            DiagnosticsMonitor.midtanksinklevel[i] = &DiagnosticsMidTankInkLevel[i];
+        }
+
+    }
+
+    DiagnosticsMonitor.n_midtank1level = 1;
+    DiagnosticsMonitor.midtank1level = MidTankpressure[0];
+    DiagnosticsMonitor.n_midtank2level = 1;
+    DiagnosticsMonitor.midtank2level = MidTankpressure[1];
+    DiagnosticsMonitor.n_midtank3level = 1;
+    DiagnosticsMonitor.midtank3level = MidTankpressure[2];
+    DiagnosticsMonitor.n_midtank4level = 1;
+    DiagnosticsMonitor.midtank4level = MidTankpressure[3];
+    DiagnosticsMonitor.n_midtank5level = 1;
+    DiagnosticsMonitor.midtank5level = MidTankpressure[4];
+    DiagnosticsMonitor.n_midtank6level = 1;
+    DiagnosticsMonitor.midtank6level = MidTankpressure[5];
+    DiagnosticsMonitor.n_midtank7level = 1;
+    DiagnosticsMonitor.midtank7level = MidTankpressure[6];
+    DiagnosticsMonitor.n_midtank8level = 1;
+    DiagnosticsMonitor.midtank8level = MidTankpressure[7];
+
+    for (i=0;i<NUM_OF_CURRENT_HEATERS;i++)
+    {
+        if (Read_Head_MixChip_Heaters_Current(i) == true)
+        {
+            HeatersCurrent[i][0] = Get_Heaters_Current(i);
+            switch(i)
+            {
+            case HEATER_DRYER_CURRENT_1:
+                DiagnosticsMonitor.n_drierzone1heatercurrent = 1;
+                DiagnosticsMonitor.drierzone1heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_1];
+                break;
+            case HEATER_DRYER_CURRENT_2:
+                DiagnosticsMonitor.n_drierzone2heatercurrent = 1;
+                DiagnosticsMonitor.drierzone2heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_2];
+                break;
+            case HEATER_MIXCHIP_CURRENT:
+                DiagnosticsMonitor.n_mixer1heatercurrent = 1;
+                DiagnosticsMonitor.mixer1heatercurrent = HeatersCurrent[HEATER_MIXCHIP_CURRENT];
+                break;
+            case HEATER_HEAD_CURRENT_ZONE_1:
+                DiagnosticsMonitor.n_headzone1heatercurrent = 1;
+                DiagnosticsMonitor.headzone1heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_1];
+                break;
+            case HEATER_HEAD_CURRENT_ZONE_2:
+                DiagnosticsMonitor.n_headzone2heatercurrent = 1;
+                DiagnosticsMonitor.headzone2heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_2];
+                break;
+            case HEATER_HEAD_CURRENT_ZONE_3:
+                DiagnosticsMonitor.n_headzone3heatercurrent = 1;
+                DiagnosticsMonitor.headzone3heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_3];
+                break;
+            case HEATER_HEAD_CURRENT_ZONE_4:
+                DiagnosticsMonitor.n_headzone4heatercurrent = 1;
+                DiagnosticsMonitor.headzone4heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_4];
+                break;
+            case HEATER_HEAD_CURRENT_ZONE_5_6:
+                DiagnosticsMonitor.n_headzone5_6heatercurrent = 1;
+                DiagnosticsMonitor.headzone5_6heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_5_6];
+                break;
+            default:
+                break;
+            }
+        }
+    }
+
+    VOC_Sensor = (double) getGasReading();
+    DiagnosticsMonitor.n_filterdeltapressure = 1;
+    DiagnosticsMonitor.filterdeltapressure = &VOC_Sensor;
+
+}
 void DiagnosticOneSecCollection(void)
 {
     int i;
@@ -396,11 +503,7 @@ void DiagnosticOneSecCollection(void)
         //dispensermotorfrequency[i][DiagnosticsIndex] = IDS_Dispenser_Data[i].consumedinnanolitter;
 
         dispenserspressure[i][DiagnosticsIndex] = GetDispenserPressure(i); //Read_MidTank_Pressure_Sensor
-        //if (midtankDisplay)
-            MidTankpressure[i][0] = Get_MidTank_Pressure_Sensor(i);
-        //else
-        //    MidTankpressure[i][0] = 1.00-(IDS_Dispenser_Data[i].consumedinnanolitter/5800000);
-        //double dispcapacity = (1.00-(IDS_Dispenser_Data[i].consumedinnanolitter/5800000))*130*1000*1000;
+
     }
 }
 void Diagnostic100msecCollection(void)
@@ -410,7 +513,7 @@ void Diagnostic100msecCollection(void)
         return;
 
     //DiagnosticLoadSpeedSensor(getSensorSpeedData());
-    if (DiagnosticMode == Diagnostic_Extreme_Mode)
+    if (DiagnosticMode == Diagnostic_Extended_Mode)
         DiagnosticTenMsecCollection(); //call the 10msec function every 100 msec to reduce transport
 
     if (DiagnosticMode >= Diagnostic_Extended_Mode)
@@ -448,13 +551,7 @@ void Diagnostic100msecCollection(void)
             MidTankpressure[i][0] = 1.00-(IDS_Dispenser_Data[i].consumedinnanolitter/5800000);
     }
     */
-    if (DiagnosticMode == Diagnostic_Extreme_Mode)
-    {
-        for (i=0;i<NUM_OF_CURRENT_HEATERS;i++)
-        {
-            HeatersCurrent[i][0] = Get_Heaters_Current(i);
-        }
-    }
+
    /*dispenser1motorfrequency[DiagnosticsIndex] = MotorGetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1);
      dispenser2motorfrequency[DiagnosticsIndex] = MotorGetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_2);
      dispenser3motorfrequency[DiagnosticsIndex] = MotorGetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_3);
@@ -620,6 +717,7 @@ void SendDiagnostics(void)
             DiagnosticsMonitor.dispenserspressure[i] = &DiagnosticsDispenserPressure[i];
         }
     }
+
     /**/
     DiagnosticsMonitor.n_dispenserslinearpositions = 0;
     DiagnosticsMonitor.n_dispensersangularencoders = 0;
@@ -642,43 +740,6 @@ void SendDiagnostics(void)
     DiagnosticsMonitor.dispenser8pressure = dispenserspressure[7];
 
 
-    DiagnosticsMonitor.n_midtank1level = 1;
-    DiagnosticsMonitor.midtank1level = MidTankpressure[0];
-    DiagnosticsMonitor.n_midtank2level = 1;
-    DiagnosticsMonitor.midtank2level = MidTankpressure[1];
-    DiagnosticsMonitor.n_midtank3level = 1;
-    DiagnosticsMonitor.midtank3level = MidTankpressure[2];
-    DiagnosticsMonitor.n_midtank4level = 1;
-    DiagnosticsMonitor.midtank4level = MidTankpressure[3];
-    DiagnosticsMonitor.n_midtank5level = 1;
-    DiagnosticsMonitor.midtank5level = MidTankpressure[4];
-    DiagnosticsMonitor.n_midtank6level = 1;
-    DiagnosticsMonitor.midtank6level = MidTankpressure[5];
-    DiagnosticsMonitor.n_midtank7level = 1;
-    DiagnosticsMonitor.midtank7level = MidTankpressure[6];
-    DiagnosticsMonitor.n_midtank8level = 1;
-    DiagnosticsMonitor.midtank8level = MidTankpressure[7];
-
-    DiagnosticsMonitor.n_drierzone1heatercurrent = 1;
-    DiagnosticsMonitor.drierzone1heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_1];
-    DiagnosticsMonitor.n_drierzone2heatercurrent = 1;
-    DiagnosticsMonitor.drierzone2heatercurrent = HeatersCurrent[HEATER_DRYER_CURRENT_2];
-    DiagnosticsMonitor.n_mixer1heatercurrent = 1;
-    DiagnosticsMonitor.mixer1heatercurrent = HeatersCurrent[HEATER_MIXCHIP_CURRENT];
-    DiagnosticsMonitor.n_headzone1heatercurrent = 1;
-    DiagnosticsMonitor.headzone1heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_1];
-    DiagnosticsMonitor.n_headzone2heatercurrent = 1;
-    DiagnosticsMonitor.headzone2heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_2];
-    DiagnosticsMonitor.n_headzone3heatercurrent = 1;
-    DiagnosticsMonitor.headzone3heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_3];
-    DiagnosticsMonitor.n_headzone4heatercurrent = 1;
-    DiagnosticsMonitor.headzone4heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_4];
-    DiagnosticsMonitor.n_headzone5_6heatercurrent = 1;
-    DiagnosticsMonitor.headzone5_6heatercurrent = HeatersCurrent[HEATER_HEAD_CURRENT_ZONE_5_6];
-
-    VOC_Sensor = (double) getGasReading();
-    DiagnosticsMonitor.n_filterdeltapressure = 1;
-    DiagnosticsMonitor.filterdeltapressure = &VOC_Sensor;
 
     response.monitors = &DiagnosticsMonitor;
     //response.digitalpins = DigitalPinArray;
@@ -742,10 +803,31 @@ void SendDiagnostics(void)
         DiagnosticsStop();
     }
     DiagnosticsReset();
+/*    DiagnosticsMonitor.n_drierzone1heatercurrent = 0;
+    DiagnosticsMonitor.n_drierzone2heatercurrent = 0;
+    DiagnosticsMonitor.n_mixer1heatercurrent = 0;
+    DiagnosticsMonitor.n_headzone1heatercurrent = 0;
+    DiagnosticsMonitor.n_headzone2heatercurrent = 0;
+    DiagnosticsMonitor.n_headzone3heatercurrent = 0;
+    DiagnosticsMonitor.n_headzone4heatercurrent = 0;
+    DiagnosticsMonitor.n_headzone5_6heatercurrent = 0;
+    DiagnosticsMonitor.n_filterdeltapressure = 0;
+    DiagnosticsMonitor.n_midtank1level = 0;
+    DiagnosticsMonitor.n_midtank2level = 0;
+    DiagnosticsMonitor.n_midtank3level = 0;
+    DiagnosticsMonitor.n_midtank4level = 0;
+    DiagnosticsMonitor.n_midtank5level = 0;
+    DiagnosticsMonitor.n_midtank6level = 0;
+    DiagnosticsMonitor.n_midtank7level = 0;
+    DiagnosticsMonitor.n_midtank8level = 0;
+    DiagnosticsMonitor.n_dispensersinklevel = 0;
+    DiagnosticsMonitor.n_midtanksinklevel = 0;
+*/
 }
 uint32_t DiagnosticsControlId = 0xff;
 uint32_t Diagnostics10MSControlId = 0xff;
 uint32_t Diagnostics1SecControlId = 0xff;
+uint32_t Diagnostics1MinControlId = 0xFF;
 bool DiagnosticRequestAccepted = false;
 uint32_t DiagnosticsStart(void)
 {
@@ -756,17 +838,21 @@ uint32_t DiagnosticsStart(void)
         {
             DiagnosticsActive = true;
             if (DiagnosticsControlId == 0xFF)
-                DiagnosticsControlId = AddControlCallback(Diagnostics_ControlTrigger,DiagnosticLimit,TemplateDataReadCBFunction,0,0,0);
+                DiagnosticsControlId = AddControlCallback(NULL,Diagnostics_ControlTrigger,DiagnosticLimit,TemplateDataReadCBFunction,0,0,0);
             else
                 LOG_ERROR(DiagnosticsControlId,"Diagnostics restarted");
             if (Diagnostics10MSControlId == 0xFF)
-                Diagnostics10MSControlId = AddControlCallback(Diagnostics_TenMiliControlTrigger,DiagnosticFastLimit,TemplateDataReadCBFunction,0,0,0);
+                Diagnostics10MSControlId = AddControlCallback(NULL,Diagnostics_TenMiliControlTrigger,DiagnosticFastLimit,TemplateDataReadCBFunction,0,0,0);
             else
                 LOG_ERROR(DiagnosticsControlId,"Diagnostics restarted");
             if (Diagnostics1SecControlId == 0xFF)
-                Diagnostics1SecControlId = AddControlCallback(Diagnostics_OneSecControlTrigger,eOneSecond,TemplateDataReadCBFunction,0,0,0);
+                Diagnostics1SecControlId = AddControlCallback(NULL,Diagnostics_OneSecControlTrigger,eOneSecond,TemplateDataReadCBFunction,0,0,0);
             else
                 LOG_ERROR(Diagnostics1SecControlId,"Diagnostics restarted");
+            if (Diagnostics1MinControlId == 0xFF)
+                Diagnostics1MinControlId = AddControlCallback(NULL,Diagnostics_OneMinControlTrigger,eOneMinute,TemplateDataReadCBFunction,0,0,0);
+            else
+                LOG_ERROR(Diagnostics1MinControlId,"Diagnostics restarted");
        }
 
     }
@@ -783,10 +869,13 @@ uint32_t DiagnosticsStop(void)
             RemoveControlCallback(Diagnostics10MSControlId,Diagnostics_TenMiliControlTrigger);
         if (Diagnostics1SecControlId != 0xFF)
             RemoveControlCallback(Diagnostics1SecControlId,Diagnostics_OneSecControlTrigger);
+        if (Diagnostics1MinControlId != 0xFF)
+            RemoveControlCallback(Diagnostics1MinControlId,Diagnostics_OneMinControlTrigger);
 
         DiagnosticsControlId = 0xFF;
         Diagnostics10MSControlId = 0xFF;
         Diagnostics1SecControlId = 0xFF;
+        Diagnostics1MinControlId = 0xFF;
 
     }
     return OK;
@@ -848,7 +937,6 @@ uint32_t Diagnostics_TenMiliControlTrigger(uint32_t IfIndex, uint32_t ReadValue)
 
     if (DiagnosticMode == Diagnostic_Extreme_Mode)
     {
-        //send message to the Millisec task
         Message.messageId = DiagnosticsTenMiliTrigger;
         Message.msglen = sizeof(DiagnosticsMessageStruc);
         if (DiagnosticsMsgQ != NULL)
@@ -861,7 +949,6 @@ uint32_t Diagnostics_OneSecControlTrigger(uint32_t IfIndex, uint32_t ReadValue)
 {
     DiagnosticsMessageStruc Message;
 
-    //send message to the Millisec task
     Message.messageId = DiagnosticsOneSecTrigger;
     Message.msglen = sizeof(DiagnosticsMessageStruc);
     if (DiagnosticsMsgQ != NULL)
@@ -870,6 +957,18 @@ uint32_t Diagnostics_OneSecControlTrigger(uint32_t IfIndex, uint32_t ReadValue)
 
     return OK;
 }
+uint32_t Diagnostics_OneMinControlTrigger(uint32_t IfIndex, uint32_t ReadValue)
+{
+    DiagnosticsMessageStruc Message;
+
+    Message.messageId = DiagnosticsOneMinuteTrigger;
+    Message.msglen = sizeof(DiagnosticsMessageStruc);
+    if (DiagnosticsMsgQ != NULL)
+        Mailbox_post(DiagnosticsMsgQ , &Message, BIOS_NO_WAIT);
+
+
+    return OK;
+}
 /******************************************************************************
  *  ======== messageTsk ========
  *  Task for this function is created statically. See the project's .cfg file.
@@ -893,11 +992,15 @@ void DiagnosticsTask(UArg arg0, UArg arg1)
                 Diagnostic100msecCollection();
                 break;
             case DiagnosticsTenMiliTrigger:
-                DiagnosticTenMsecCollection();
+                if (DiagnosticMode >= Diagnostic_Extreme_Mode)
+                    DiagnosticTenMsecCollection();
                 break;
             case DiagnosticsOneSecTrigger:
                 DiagnosticOneSecCollection();
                 break;
+            case DiagnosticsOneMinuteTrigger:
+                DiagnosticOneMinuteCollection();
+                break;
             default:
                 break;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index 14c083b4d..497556878 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -27,6 +27,7 @@
 #include "drivers/Motors/Motor.h"
 #include "drivers/Valves/Valve.h"
 #include "Drivers/I2C_Communication/DAC/blower.h"
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 
 #include "ids/ids_ex.h"
 #include "General/process.h"
@@ -57,7 +58,7 @@ return OK;
 uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
 {
     uint32_t numberOfSteps = 0;
-    uint32_t LoadArmRounds = (int)dryerbufferlength;
+    uint32_t LoadArmRounds = 0;
 
     MessageContainer responseContainer;
 
@@ -66,6 +67,12 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
     MotorHomingResponse response = MOTOR_HOMING_RESPONSE__INIT;
 
     TimerMotors_t MotorId = (TimerMotors_t)request->motortype;
+
+    if (dryerbufferlength)
+        LoadArmRounds = (int)dryerbufferlength;
+    else
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmRounds);
+
     if (LoadArmRounds <= 2)
             LoadArmRounds = 20;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
index 58d1e1c37..dcbd6b9b0 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/GeneralHardware.c
@@ -214,7 +214,7 @@ void LoadConfigurationParameters(ConfigurationParameters *Params)
                 EmbeddedParameters->generalparameters[7] = AutoHoming_JobEnd_PowerOn_off; //
             }
             EmbeddedParameters->has_currentalarmlowlimit = true;
-            EmbeddedParameters->currentalarmlowlimit = 0.80;
+            EmbeddedParameters->currentalarmlowlimit = 0.77;
             EmbeddedParameters->has_currentalarmhighlimit = true;
             EmbeddedParameters->currentalarmhighlimit= 1.07;
             EmbeddedParameters->has_ids_segmentrefilltimeout = true;
@@ -485,7 +485,7 @@ uint32_t HWConfiguration(UploadHardwareConfigurationRequest* UploadRequest)
         Enable_MidTank_Pressure_Reading(Dispenser_i);
         Valve_Set(IDS_Id_to_AirValve[Dispenser_i], Atm_MidTank_ON );   //Atm_MidTank_OFF/ON
     }
-    GenHWControlId = AddControlCallback( GenHWInitCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    GenHWControlId = AddControlCallback(NULL, GenHWInitCallBackFunction, 2* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
 */
     ControlStart();
     AlarmHandlingStart();
diff --git a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c
index ff4909438..4958139e6 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/MachineStatus.c
@@ -68,7 +68,7 @@ int MachineUpdateResponseFunc(void)
             double dispcapacity = (1.00-(IDS_Dispenser_Data[i].consumedinnanolitter/5800000))*130*1000*1000;
             IDS_Level[i].dispenserlevel = (int32_t)dispcapacity;
             IDS_Level[i].has_midtanklevel = true;
-            IDS_Level[i].midtanklevel = Get_MidTank_Int100_Sensor(i);
+            IDS_Level[i].midtanklevel = Get_MidTank_Int1000_Sensor(i);
             MachineStatus.idspackslevels[MachineStatus.n_idspackslevels] = &IDS_Level[i];
             MachineStatus.n_idspackslevels++;
         }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/Safety.c b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
index a5a586e07..6a0b9a67b 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/Safety.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/Safety.c
@@ -33,7 +33,7 @@ bool AirFilterAlarmState = false;
 bool WasteOverflowAlarmState = false;
 void Safety_Init(void)
 {
-    SafetyControlId = AddControlCallback( Safety_Main_State, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    SafetyControlId = AddControlCallback("Safety", Safety_Main_State, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     //return;
 }
 uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
@@ -110,6 +110,10 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
                        //report dispenser over pressure
                        AlarmHandlingSetAlarm(EVENT_TYPE__DISPENSER_1_OVERPRESSURE+Disp_i, true);
                        DispenserAlarm[Disp_i] = EVENT_TYPE__DISPENSER_1_OVERPRESSURE+Disp_i;
+                       if (DispenserAlarm[Disp_i] == false)
+                       {
+                           IDS_Dispenser_Alarm_On(Disp_i);
+                       }
                        DispenserOverPressure[Disp_i] = true;
                        Report("Dispenser Safety - over pressure", __FILE__,__LINE__,Disp_i, RpFatalError, (int)(1000*GetDispenserPressure(Disp_i)), 0);
                    }
@@ -117,6 +121,10 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
                    {
                        AlarmHandlingSetAlarm(EVENT_TYPE__DISPENSER_1_UPPER_HARD_LIMIT+Disp_i, true);
                        DispenserAlarm[Disp_i] = EVENT_TYPE__DISPENSER_1_UPPER_HARD_LIMIT+Disp_i;
+                       if (DispenserAlarm[Disp_i] == false)
+                       {
+                           IDS_Dispenser_Alarm_On(Disp_i);
+                       }
                        DispenserOverPressure[Disp_i] = true;
                        Report("Dispenser upper hard limit", __FILE__,__LINE__,Disp_i, RpFatalError, Get_Notification_Disp_UP(Disp_i), 0);
                    }
@@ -124,12 +132,16 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
                    {
                        AlarmHandlingSetAlarm(EVENT_TYPE__DISPENSER_1_LOWER_HARD_LIMIT+Disp_i, true);
                        DispenserAlarm[Disp_i] = EVENT_TYPE__DISPENSER_1_LOWER_HARD_LIMIT+Disp_i;
+                       if (DispenserAlarm[Disp_i] == false)
+                       {
+                           IDS_Dispenser_Alarm_On(Disp_i);
+                       }
                        DispenserOverPressure[Disp_i] = true;
                        Report("Dispenser lower hard limit", __FILE__,__LINE__,Disp_i, RpFatalError, Get_Notification_Disp_Down(Disp_i), 0);
                    }
                    else
                    {
-                       Report("Dispenser unknown safety alarm", __FILE__,__LINE__,Disp_i, RpFatalError, 1-DispenserBypass, 0);
+                       Report("Dispenser unknown safety alarm", __FILE__,__LINE__,Disp_i, RpFatalError,Get_Notification_Disp_Full(Disp_i), 0);
                    }
 
                }
@@ -144,8 +156,11 @@ uint32_t Safety_Main_State(uint32_t IfIndex, uint32_t BusyFlag)
            {
                if (Check_Disp_Safety_Stop_Indication(Disp_i) == false)
                {
-                   //report dispenser over pressure
                    AlarmHandlingSetAlarm(DispenserAlarm[Disp_i], false);
+                   if (DispenserAlarm[Disp_i] == true)
+                   {
+                       IDS_Dispenser_Alarm_Off(Disp_i);
+                   }
                    DispenserAlarm[Disp_i] = 0;
                    DispenserOverPressure[Disp_i] = false;
                }
diff --git a/Software/Embedded_SW/Embedded/Modules/General/buttons.c b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
index d5ed5cef9..0a5cfc2f3 100644
--- a/Software/Embedded_SW/Embedded/Modules/General/buttons.c
+++ b/Software/Embedded_SW/Embedded/Modules/General/buttons.c
@@ -210,7 +210,7 @@ uint32_t Buttons_Init(void)
     power.state = sttON; //sttOFF, sttON, sttDISABLE, sttENABLE, sttIDLE, sttJOGGING
     power.count = 0;
 
-    AddControlCallback( ButtonPowerCBFunction, BUTTONS_SAMPLE_TIME, ButtonPowerCallBackFunction, 0,0,0 ); // eFiftyMillisecond
+    AddControlCallback("ButtonPowerCB", ButtonPowerCBFunction, BUTTONS_SAMPLE_TIME, ButtonPowerCallBackFunction, 0,0,0 ); // eFiftyMillisecond
 
     strcpy(jog.bttn_name, "jog");
     jog.bttn_status = RELEASE;    // 0=RELEASE 1=PRESS
@@ -220,7 +220,7 @@ uint32_t Buttons_Init(void)
     jog.state = sttENABLE; // sttDISABLE, sttENABLE, sttJOGGING
     jog.count = 0;
 
-    AddControlCallback( ButtonJogCBFunction, BUTTONS_SAMPLE_TIME, ButtonJogCallBackFunction, 0,0,0 ); //
+    AddControlCallback("ButtonJogCB", ButtonJogCBFunction, BUTTONS_SAMPLE_TIME, ButtonJogCallBackFunction, 0,0,0 ); //
 
     strcpy(load.bttn_name, "load");
     load.bttn_status = RELEASE;    // 0=RELEASE 1=PRESS
@@ -229,7 +229,7 @@ uint32_t Buttons_Init(void)
     load.state = sttRDY; //
     load.count = 0;
 
-    AddControlCallback( ButtonLoadCBFunction, BUTTONS_SAMPLE_TIME, ButtonLoadCallBackFunction, 0,0,0 ); //
+    AddControlCallback("ButtonLoadCB", ButtonLoadCBFunction, BUTTONS_SAMPLE_TIME, ButtonLoadCallBackFunction, 0,0,0 ); //
 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 2eab5225d..a086fe898 100644
--- a/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Heaters/Heaters_print.c
@@ -276,7 +276,7 @@ void HeatersControlStart(void)
         {
             if (ControlIdtoInternalId [i] == 0xFF)
             {
-                ControlIdtoInternalId [i] = AddControlCallback( HeatersTestInternalAlarmsCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+i),0,0);
+                ControlIdtoInternalId [i] = AddControlCallback("Internal Heaters", HeatersTestInternalAlarmsCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+i),0,0);
             }
         }
     }
@@ -535,7 +535,7 @@ void PrepareACHeater(int HeaterId,uint32_t Frequency, uint32_t SetTemperatue)
 {
     if (ControlIdtoHeaterId [HeaterId] == 0xFF)
     {
-        ControlIdtoHeaterId [HeaterId] = AddControlCallback( HeaterControlCBFunction, Frequency/*eOneSecond*/,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),DryerInternalPT100Id,0);
+        ControlIdtoHeaterId [HeaterId] = AddControlCallback("HeatersControl", HeaterControlCBFunction, Frequency/*eOneSecond*/,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),DryerInternalPT100Id,0);
         //HeaterPreviousRead[HeaterId] = MillisecGetTemperatures(DryerInternalPT100Id);
         HeaterPreviousRead[HeaterId] = MillisecGetTemperatures(HeaterId2PT100Id[HeaterId]);//
         //ReportWithPackageFilter(HeatersFilter,"PrepareHeater AC Read", __FILE__,HeaterId, SetTemperatue, RpWarning,HeaterPreviousRead[HeaterId], 0);
@@ -579,7 +579,7 @@ void PrepareACHeater(int HeaterId,uint32_t Frequency, uint32_t SetTemperatue)
         AlarmHandlingSetAlarm(HeaterEventType[HeaterId], false);
 
     if (ControlIdtoMaxHeaterId [HeaterId] == 0xFF)
-        ControlIdtoMaxHeaterId [HeaterId] = AddControlCallback( DcHeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
+        ControlIdtoMaxHeaterId [HeaterId] = AddControlCallback("HeatersMax", DcHeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
 
     Enable_Reading_Heaters_Current(HeaterId2CurrentId[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain]);
     Enable_Reading_Heaters_Current(HeaterId2CurrentId[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary]);
@@ -587,9 +587,9 @@ void PrepareACHeater(int HeaterId,uint32_t Frequency, uint32_t SetTemperatue)
     HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain, 0);
     HeaterRecalculateSharedHeatersParams(HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary, 0);
     if (MainDryerHeaterMaxTempControl == 0xFF)
-        MainDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain],0);
+        MainDryerHeaterMaxTempControl = AddControlCallback("HeatersMax", HeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterMain],0);
     if (SecondDryerHeaterMaxTempControl == 0xFF)
-        SecondDryerHeaterMaxTempControl = AddControlCallback( HeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary],0);
+        SecondDryerHeaterMaxTempControl = AddControlCallback("HeatersMax", HeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary),HeaterId2PT100Id[HARDWARE_PID_CONTROL_TYPE__DryerHeaterSecondary],0);
     //InitialHeating = true;
     HeaterReady[HeaterId] = false;
     HeaterAtTemp[HeaterId] = false;
@@ -616,7 +616,7 @@ void PrepareACHeater(int HeaterId,uint32_t Frequency, uint32_t SetTemperatue)
 int PrepareDCHeater(int HeaterId, uint32_t Frequency, uint32_t SetTemperatue)
 {
     if (DisasterControlId == 0xFF)
-        DisasterControlId = AddControlCallback( HeatersDisasterControl, eOneSecond,TemplateDataReadCBFunction,0,0, 0);
+        DisasterControlId = AddControlCallback("Heaters Disaster", HeatersDisasterControl, eOneSecond,TemplateDataReadCBFunction,0,0, 0);
 
     HeaterPreviousRead[HeaterId] = MillisecGetTemperatures(HeaterId2PT100Id[HeaterId]);//MillisecGetTemperatures(HeaterId2PT100Id[HeaterId]);
     if((HeaterPreviousRead[HeaterId]<=MINIMUM_HEATER_READ*100)||(MAXIMUM_HEATER_READ*100<=HeaterPreviousRead[HeaterId]))
@@ -639,7 +639,7 @@ int PrepareDCHeater(int HeaterId, uint32_t Frequency, uint32_t SetTemperatue)
         return ERROR;
     }
     if (ControlIdtoHeaterId [HeaterId] == 0xFF)
-        ControlIdtoHeaterId [HeaterId] = AddControlCallback( DCHeaterControlCBFunction, Frequency/*eOneSecond*/,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
+        ControlIdtoHeaterId [HeaterId] = AddControlCallback("DCHeatersControl", DCHeaterControlCBFunction, Frequency/*eOneSecond*/,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
     //HeaterPIDConfig[HeaterId].m_params.dt *=10;
     //DCInitialHeating[HeaterId] = true;
     HeaterReady[HeaterId] = false;
@@ -655,7 +655,7 @@ int PrepareDCHeater(int HeaterId, uint32_t Frequency, uint32_t SetTemperatue)
 
     //ReportWithPackageFilter(HeatersFilter,"PrepareHeater Read", __FILE__,HeaterId, SetTemperatue, RpWarning,HeaterPreviousRead[HeaterId], 0);
     if (ControlIdtoMaxHeaterId [HeaterId] == 0xFF)
-        ControlIdtoMaxHeaterId [HeaterId] = AddControlCallback( DcHeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
+        ControlIdtoMaxHeaterId [HeaterId] = AddControlCallback("DcHeatersMax", DcHeaterMaxTempCBFunction, eOneSecond,MillisecGetTemperatures,(IfTypeHeaters*0x100+HeaterId),HeaterId2PT100Id[HeaterId],0);
 
     return OK;
 }
@@ -697,7 +697,7 @@ uint32_t PrepareHeater(int HeaterId, uint32_t SetTemperatue)
     int band = 10;
     if (HeaterControl[HeaterId].outputproportionalband)
     {
-        band = HeaterControl[HeaterId].outputproportionalband+2; //sometimes the dryer heat drops after PID starts.
+        band = HeaterControl[HeaterId].outputproportionalband+2; //sometimes after PID is started the temp is falling a little bit. we want to avoid an alarm
     }
     temp = SetTemperatue*(100+band);
     //temp = SetTemperatue*110.0;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
index a919ce4e1..3e2cf6ecb 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS.h
@@ -15,6 +15,7 @@ extern uint32_t DispenserPrepareTimeLag ;
 
 extern int32_t CurrentDispenserSpeed[MAX_SYSTEM_DISPENSERS];
 extern uint32_t DispenserIdToMotorId[MAX_SYSTEM_DISPENSERS];
+extern bool JobStartStopBackLash[MAX_SYSTEM_DISPENSERS];
 extern float DispenserPressure[MAX_SYSTEM_DISPENSERS];
 uint32_t DispenserConfigMessage(HardwareDispenser * request);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
index b9ab97714..9c15885fc 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_dispenser.c
@@ -111,7 +111,7 @@ uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t Re
     {
         Report("Cannot Add control callback",__FILE__,(int)DispenserId,GetControlCallbackFuncPtr(DispenserControlId[DispenserId]),RpWarning,(int)DispenserControlId[DispenserId],0);
     }
-    DispenserControlId[DispenserId] = AddControlCallback( IDS_Dispenser_Build_Pressure_Callback, DispenserPrepareTimeLag,TemplateDataReadCBFunction ,DispenserId, DispenserId, 0 );
+    DispenserControlId[DispenserId] = AddControlCallback(NULL, IDS_Dispenser_Build_Pressure_Callback, DispenserPrepareTimeLag,TemplateDataReadCBFunction ,DispenserId, DispenserId, 0 );
     if (DispenserControlId[DispenserId] == 0xFF)
         Report("Add control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
     else
@@ -156,7 +156,7 @@ uint32_t IDS_Dispenser_Build_Pressure_Callback(uint32_t DispenserId, uint32_t Re
     if (DispenserControlId[DispenserId] != 0xFF)
         Report("Cannot Add control callback",__FILE__,(int)DispenserId,GetControlCallbackFuncPtr(DispenserControlId[DispenserId]),RpWarning,(int)DispenserControlId[DispenserId],0);
 
-    DispenserControlId[DispenserId] = AddControlCallback( IDS_Dispenser_StopMotorCallback, CloseValveTimeout, TemplateDataReadCBFunction,DispenserId, DispenserId, 0 );
+    DispenserControlId[DispenserId] = AddControlCallback(NULL, IDS_Dispenser_StopMotorCallback, CloseValveTimeout, TemplateDataReadCBFunction,DispenserId, DispenserId, 0 );
     if (DispenserControlId[DispenserId] == 0xFF)
         Report("Add control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
     else
@@ -207,7 +207,7 @@ uint32_t IDS_Dispenser_Start_Motor_and_Open_Valve(int DispenserId, int MotorSpee
             Report("Cannot Add control callback",__FILE__,(int)DispenserId,GetControlCallbackFuncPtr(DispenserControlId[DispenserId]),RpWarning,(int)DispenserControlId[DispenserId],0);
         //Report("IDS_Dispenser_Start_Motor_and_Open_Valve",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)msec_millisecondCounter,0);
 
-        DispenserControlId[DispenserId] = AddControlCallback( IDS_Dispenser_OpenValveCallback, OpenValveTimeout, TemplateDataReadCBFunction,DispenserId, DispenserId, 0 );
+        DispenserControlId[DispenserId] = AddControlCallback(NULL, IDS_Dispenser_OpenValveCallback, OpenValveTimeout, TemplateDataReadCBFunction,DispenserId, DispenserId, 0 );
         if (DispenserControlId[DispenserId] == 0xFF)
             Report("Add control callback failed",__FILE__,__LINE__,(int)DispenserId,RpWarning,(int)DispenserControlId[DispenserId],0);
         //else
@@ -235,6 +235,12 @@ void IDS_Dispenser_Content_Init (void)
         HW_Motor_Id = DispenserIdToMotorId[i];
         dispenser_running_data__init(&IDS_Dispenser_Data[i]);
         dispenserdata[i] = &IDS_Dispenser_Data[i];
+        IDS_Dispenser_Data[i].has_consumedinnanolitter = true;
+        IDS_Dispenser_Data[i].has_direction = true;
+        IDS_Dispenser_Data[i].has_microsteps = true;
+        IDS_Dispenser_Data[i].has_nanolitterperpulse = true;
+        IDS_Dispenser_Data[i].has_numberofrefills = true;
+        IDS_Dispenser_Data[i].has_totalconsumedinnanolitter = true;
         IDS_Dispenser_Data[i].nanolitterperpulse = DEFAULT_NANOLITER_PER_PULSE;
         IDS_Dispenser_Data[i].microsteps = MotorsCfg[HW_Motor_Id].microstep;
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 1302d262a..f3528d4c8 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -136,7 +136,7 @@ uint32_t IDS_HomeDispenserWaitForHomingEnd(uint32_t DispenserId,  uint32_t timeo
         DispenserBacklashControlId[DispenserId] = 0xFF;
         //return ERROR;
     }
-    DispenserBacklashControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserWaitForHomingEnd,eOneSecond , TemplateDataReadCBFunction,DispenserId,0, 0 );
+    DispenserBacklashControlId[DispenserId] = AddControlCallback(NULL, IDS_HomeDispenserWaitForHomingEnd,eOneSecond , TemplateDataReadCBFunction,DispenserId,0, 0 );
     if ( DispenserBacklashControlId[DispenserId] == 0xFF)
         return ERROR;
 
@@ -146,7 +146,7 @@ uint32_t IDS_HomeDispenserWaitForHomingEnd(uint32_t DispenserId,  uint32_t timeo
 uint32_t IDS_HomeDispenserBackMoveCallback(uint32_t motorId, uint32_t ReadValue)
 {
     uint8_t DispenserId = motorId-HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1;
-    if ((GetDispenserPressure(DispenserId)>=InitialDispenserPressure)||(DispenserHomingTime[DispenserId]>InitialDispenserTimeout))
+    if ((GetDispenserPressure(DispenserId)>=InitialDispenserPressure)||(DispenserHomingTime[DispenserId]>InitialDispenserTimeout)||(JobStartStopBackLash[DispenserId] == true))
     {
         MotorStop(motorId,Hard_Hiz);
         CurrentDispenserSpeed[DispenserId] = 0;
@@ -161,6 +161,8 @@ uint32_t IDS_HomeDispenserBackMoveCallback(uint32_t motorId, uint32_t ReadValue)
         Valve_Set(IDS_Id_to_AirValve[DispenserId], Atm_MidTank_OFF);
         Disable_MidTank_Pressure_Reading(DispenserId);
 
+        if (JobStartStopBackLash[DispenserId] == true)
+            JobStartStopBackLash[DispenserId] = false;
         Report("End backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
         if (SafeRemoveControlCallback(DispenserHomingControlId[DispenserId], IDS_HomeDispenserBackMoveCallback )==OK)
             DispenserHomingControlId[DispenserId] = 0xFF;
@@ -191,7 +193,7 @@ uint32_t IDS_HomeDispenserCallback(uint32_t motorId, uint32_t ReadValue)
 //    HomingActive[DispenserId]= false;
     IDS_Dispenser_RefillEnded ( DispenserId, MotorsCfg[motorId].microstep);
     Report("Start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
-    DispenserHomingControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
+    DispenserHomingControlId[DispenserId] = AddControlCallback(NULL, IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
     MotorSetDirection(motorId,MotorsCfg[motorId].directionthreadwize);
     Task_sleep(10);
     MotorSetSpeed(motorId, InitialDispenserSpeed);
@@ -213,7 +215,7 @@ uint32_t IDS_HomeDispenser (uint32_t DispenserId, uint32_t speed , callback_fptr
     }
     if (Get_MidTank_Pressure_Sensor(DispenserId)<0.2)
     {
-        Report("IDS_HomeDispenser - Midtank is empty",__FILE__,Get_MidTank_Int100_Sensor(DispenserId),(int)DispenserId,RpWarning,LIMIT,0);
+        Report("IDS_HomeDispenser - Midtank is empty",__FILE__,Get_MidTank_Int1000_Sensor(DispenserId),(int)DispenserId,RpWarning,LIMIT,0);
         return ERROR;
     }
     //if Safety is active
@@ -363,7 +365,7 @@ uint32_t IDS_StopHomeDispenserBuildPressure (uint32_t DispenserId)
     }
 //    HomingActive[DispenserId]= false;
     Report("Start backlash",__FILE__,millisecondCounter,(int)DispenserId,RpWarning,(int)DispenserHomingTime[DispenserId],0);
-    DispenserHomingControlId[DispenserId] = AddControlCallback( IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
+    DispenserHomingControlId[DispenserId] = AddControlCallback("DispenserBackLash", IDS_HomeDispenserBackMoveCallback, InitialDispenserTimeLag, GetDispenserPressure,motorId, motorId, 0 );
     Task_sleep(10);
     MotorSetDirection(motorId,MotorsCfg[motorId].directionthreadwize);
     Task_sleep(10);
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 791b3c47b..1bab2c65d 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -55,6 +55,7 @@ uint32_t IDS_Valve_DistanceToSpoolReady(uint32_t deviceID, uint32_t ReadValue);
 uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue);
 uint32_t IDSBrushStopRestartCallback(uint32_t IfIndex, uint32_t readValue);
 //bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId);
+bool JobStartStopBackLash[MAX_SYSTEM_DISPENSERS] = {false,false,false,false,false,false,false,false};
 /******************** GLOBAL PARAMETERS  ********************************************/
 DispenserControlConfig_t DispenserControlConfig[MAX_SYSTEM_DISPENSERS];
 uint32_t    ControlIdtoDispenserId [MAX_SYSTEM_DISPENSERS] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF};
@@ -549,6 +550,7 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
          if (DispenserUsedInJob[i] == true) //we actually should check for all dispensers
          {
              IDS_StopHomeDispenser(i);
+             JobStartStopBackLash[i] = true;
              NumOfActiveDispensers++;
          }
          else
@@ -585,7 +587,7 @@ c.  Go to step 2.a x Segment.BrushStopsCount.
          }
      }
      DispenserBuildTimeCounter = 0;
-     DispenserPrepareControlId = AddControlCallback( IDS_Prepare_Callback, PRESSURE_READ_TIME_GAP,TemplateDataReadCBFunction ,0, 0, 0 );
+     DispenserPrepareControlId = AddControlCallback(NULL, IDS_Prepare_Callback, PRESSURE_READ_TIME_GAP,TemplateDataReadCBFunction ,0, 0, 0 );
      setRapidPressureRead(true);
 
  }
@@ -978,7 +980,7 @@ uint32_t IDSPreSegmentState(void *SegmentDetails, int SegmentId)
             lInterSegmentLength = ((IntersegmentLength*100)*1000/dyeingspeed);
             lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
             InterSegmentStepsCount = 0;
-            DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
+            DispenserPreSegmentControlId = AddControlCallback(NULL,IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
             if (DispenserPreSegmentControlId == 0xFF)
             {
                 Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
@@ -1256,7 +1258,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
     JobBrushStopId++;
     if ((BrushStopTime)&&(SegmentNumOfBrushStops > 1))
     {
-        BrushStopControlId = AddControlCallback( IDSBrushStopRestartCallback, BrushStopTime,TemplateDataReadCBFunction ,SegmentDetails, 0, 0 );
+        BrushStopControlId = AddControlCallback(NULL, IDSBrushStopRestartCallback, BrushStopTime,TemplateDataReadCBFunction ,SegmentDetails, 0, 0 );
         if (BrushStopControlId == 0xFF)
         {
             Report("Add control callback failed",__FILE__,__LINE__,(int)BrushStopTime,RpWarning,(int)0,0);
@@ -1327,7 +1329,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          lInterSegmentLength = (dryerbufferCentimeters*1000/dyeingspeed);
          lInterSegmentLength-=(lInterSegmentLength%100);   //round to a 100 multiplication
          InterSegmentStepsCount = 0;
-         DispenserPreSegmentControlId = AddControlCallback( IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
+         DispenserPreSegmentControlId = AddControlCallback(NULL, IDSPreSegmentStateCallbackRunner, 100,TemplateDataReadCBFunction ,0, 0, 0 );
          if (DispenserPreSegmentControlId == 0xFF)
          {
              Report("Add control callback failed",__FILE__,__LINE__,(int)100,RpWarning,(int)0,0);
diff --git a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
index 8f9628f20..79e4b202a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
+++ b/Software/Embedded_SW/Embedded/Modules/Stubs_Handler/Progress.c
@@ -16,8 +16,6 @@
 #include "drivers/ADC_Sampling/adc.h"
 
 #include "Drivers/I2C_Communication/Head_Card/PT100/PT100_ADC.h"
-#include "Drivers/I2C_Communication/Head_Card/Fan/fan_click.h"
-#include "Drivers/I2C_Communication/Head_Card/Fan/Head_Fan.h"
 #include "drivers/Motors/Motor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "Modules/IFS/ifs.h"
@@ -25,10 +23,6 @@
 //#include "graphics_adapter.h"
 extern uint8_t Input_Voltage;
 extern uint8_t Test_Read_Buf[4];
-
-extern uint8_t Head_Fan_PWM_1_Command;
-extern uint16_t Head_Fan_Tach[2];
-
 void Stub_ProgressRequest(MessageContainer* requestContainer)
 {
     MessageContainer responseContainer;
@@ -79,16 +73,6 @@ void Stub_ProgressRequest(MessageContainer* requestContainer)
 
     }
     else
-        if((request->amount == 0xFAC) /*&& (request->delay == 0xFAC)*/) //measured sensor voltage without flow (orifice flow meter)
-    {
-        Head_Fan_PWM_1_Command = (request->delay & 0xFF) ;
-        Test_fan_Click();
-        //response.progress = Fan_Click_Info.Product_ID;
-        response.progress = Head_Fan_Tach[0];
-        response.has_progress = true;
-
-    }
-    else
         if((request->amount == 0x0A) && ((request->delay >= 0) && (request->delay < 8))) //read the midtank calibration
         {
             response.progress = Initial_Offset_A[request->delay];
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
index 5a1bb9063..50fad6503 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/ThreadLoad.c
@@ -29,6 +29,7 @@
 #include "drivers/I2C_Communication/DAC/Blower.h"
 #include "drivers/SSI_Comm/Dancer/Dancer.h"
 #include "drivers/motors/motor.h"
+#include "drivers/Flash_ram/MCU_E2Prom.h"
 
 #include "PMR/Stubs/StubHeatingTestRequest.pb-c.h"
 #include "PMR/Stubs/StubHeatingTestResponse.pb-c.h"
@@ -78,7 +79,7 @@
         uint32_t LoadArmBackLash;
     }LoadArmInfoStruc;
     LoadArmInfoStruc LoadArmInfo;
-    char LoadArmPath[50] = "0://SysInfo//LoadArm.cfg";
+    //char LoadArmPath[50] = "0://SysInfo//LoadArm.cfg";
 
     //RUN MOTOR TO SWITCH WITH TIMEOUT
     //RUN MOTOR TO BREAK SENSOR
@@ -96,14 +97,21 @@
     }
     uint32_t Thread_Load_Init(void)
     {
-        void* buffer = NULL;
-        uint32_t Bytes = 0;
-        FRESULT Fresult = FR_OK;
+        //void* buffer = NULL;
+        //uint32_t Bytes = 0;
+        //FRESULT Fresult = FR_OK;
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
 
         LoadArmInfo.LoadArmBackLash = 5;
-        LoadArmInfo.LoadArmRounds = 0xFF;
-        Fresult = f_mkdir(SW_INFO_DIR);
+        //LoadArmInfo.LoadArmRounds = 0xFF;
+        //EEPROM_STORAGE_DRYER_CYCLES
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
+        if (LoadArmInfo.LoadArmRounds <= 2)
+                LoadArmInfo.LoadArmRounds = 20;
+        MCU_E2PromRead(EEPROM_STORAGE_DRYER_CYCLES,&LoadArmInfo.LoadArmRounds);
+        Report("MotorMovetoEncoderPosition",__FILE__,__LINE__,LoadArmInfo.LoadArmRounds,RpWarning,LoadArmInfo.LoadArmBackLash,0);
+
+        /*Fresult = f_mkdir(SW_INFO_DIR);
         if ((Fresult == FR_OK)||(Fresult == FR_EXIST))
         {
 
@@ -114,9 +122,9 @@
                    memcpy (&LoadArmInfo,buffer,sizeof(LoadArmInfo));
                free (buffer);
             }
-        }
+        }*/
 
-        Report("Thread_Load_Init",__FILE__,__LINE__,LoadArmInfo.LoadArmBackLash,RpMessage,LoadArmInfo.LoadArmRounds,0);
+        Report("Thread_Load_Init",__FILE__,__LINE__,LoadArmInfo.LoadArmRounds,RpMessage,LoadArmInfo.LoadArmRounds,0);
         StopInitSequence();
         memcpy (&ProcessParametersRecover,&ProcessParametersKeep,sizeof(ProcessParameters));
         //NumberOfDrierLoaderCycles = loadLoadArmParameters();
@@ -175,6 +183,8 @@
         {
             Report("Thread_Load_Set_Load_Arm_To_Start_Position_Callback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
             //storeLoadArmParameters();
+            MotorMove(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].directionthreadwize,LoadArmInfo.LoadArmBackLash );
+
             SetMotHome(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM);  //set this point as the spool home
             LoadStages++;
             ThreadLoadStateMachine(LoadStages);
@@ -228,7 +238,7 @@
         }
         else //number of circles is not known - compare to position of the motor to verify location at the stopper
         {
-            Report("Thread_Load_Set_Load_Arm_To_Start_Position",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
+            Report("Thread_Load_Set_Load_Arm_To_Start_Position unknown cycles",__FILE__,__LINE__,LoadStages,RpMessage,NumberOfDrierLoaderCycles,0);
             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/2, Thread_Load_Set_Load_Arm_To_Stopper_Callback,LoadArmInfo.LoadArmBackLash,1000);
 
@@ -251,6 +261,15 @@
     {
         Report("Thread_Load_HomingCallback",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
 //        REPORT_MSG(MotorId, "Thread_Load_HomingCallback Motor Id");
+        if ((LoadStages == THREAD_LOAD_CLOSE_ROCKERS)||(LoadStages == THREAD_LOAD_LIFT_ROCKERS))
+        {
+            if((MotorId == HARDWARE_MOTOR_TYPE__MOTO_RLOADING)||(MotorId == HARDWARE_MOTOR_TYPE__MOTO_LLOADING))
+            {
+                MotorSetMicroStep(MotorId, keepmicrostep);
+                MotorSetKvalRun(MotorId, keepkvalrun);
+            }
+        }
+
         if (CallbackCounter)
         {
             CallbackCounter--;
@@ -269,13 +288,6 @@
                 else
                 {
                     LoadStages++;
-                    if (LoadStages == THREAD_LOAD_CLOSE_ROCKERS)
-                    {
-                        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_CLOSE_DANCERS)
                     {
                         MotorSetKvalHold(HARDWARE_MOTOR_TYPE__MOTO_RDANCER, keepkvalhold);
@@ -331,6 +343,10 @@
     {
         keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
         keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+        if (keepkvalrun>=25)
+            keepkvalrun = 25;
+        Report("Thread_Load_Lift_Rockers",__FILE__,__LINE__,keepkvalrun,RpMessage,keepmicrostep,0);
+
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 8);
         MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 8);
@@ -360,6 +376,17 @@
     }
     uint32_t Thread_Load_Close_Rockers(void)
     {
+        keepmicrostep = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].microstep;
+        keepkvalrun = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].kvalrun;
+        if (keepkvalrun>=25)
+            keepkvalrun = 25;
+        Report("Thread_Load_Close_Rockers",__FILE__,__LINE__,keepkvalrun,RpMessage,keepmicrostep,0);
+
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 8);
+        MotorSetMicroStep(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 8);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_RLOADING, 70);
+        MotorSetKvalRun(HARDWARE_MOTOR_TYPE__MOTO_LLOADING, 70);
+
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         CallbackCounter++;
         MotorMovetoLimitSwitch (HARDWARE_MOTOR_TYPE__MOTO_RLOADING,MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_RLOADING].directionthreadwize, 250,  Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_RLOADING], Thread_Load_HomingCallback,25000);
@@ -464,15 +491,19 @@
     uint32_t Thread_Load_Dryer_Loading(void)
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
-        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
-        if (LoadArmInfo.LoadArmRounds <= 2)
-            LoadArmInfo.LoadArmRounds = 20;
+
+        if (dryerbufferlength)
+            LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
+        //if (LoadArmInfo.LoadArmRounds <= 2)
+        //    LoadArmInfo.LoadArmRounds = 20;
         float numberOfSteps = 0;
         //Start Feeder Pid, Rotate Loading Arm Counter Thread Direction X Circles According To Rml. Feeder Speed Is 40
         SetOriginMotorSpeed(19);
 //        OriginalMotorSpd_2PPS[FEEDER_MOTOR] = 1000;
 //        CurrentControlledSpeed[FEEDER_MOTOR] = 1000;
 
+        MCU_E2PromProgram(EEPROM_STORAGE_DRYER_CYCLES,LoadArmInfo.LoadArmRounds);
+
         numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*LoadArmInfo.LoadArmRounds*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
         numberOfSteps -= 100;
         //numberOfSteps = MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround*3.3*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].microstep*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius;
@@ -498,7 +529,7 @@
 
         MotorSetMaxSpeed (HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulseperround/4*MotorsCfg[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM].pulleyradius);
 
-        LoadingControlId = AddControlCallback(ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
+        LoadingControlId = AddControlCallback(NULL,ThreadLoadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         Report("AddControlCallback feeder",__FILE__,__LINE__,LoadingControlId,RpMessage,IfTypeThread*0x100+FEEDER_MOTOR,0);
         CallbackCounter++;
         Report("Thread_Load_Dryer_Loading",__FILE__,__LINE__,LoadStages,RpMessage,CallbackCounter,0);
@@ -507,7 +538,7 @@
 
         //Keep Notation How Many Rotations In The Dryer
         //LoadArmInfo.LoadArmBackLash = 0;
-        LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
+        //LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
         //FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }
@@ -526,7 +557,7 @@
     {
         REPORT_MSG(LoadStages, "Thread Load State Machine step");
         ThreadJoggingFunc(20);
-        LoadingControlId = AddControlCallback(Thread_Load_Jog_ThreadStop, eOneSecond*5,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
+        LoadingControlId = AddControlCallback(NULL,Thread_Load_Jog_ThreadStop, eOneSecond*5,Control_Read_Dancer_Position,(IfTypeThread*0x100+FEEDER_MOTOR),FEEDER_DANCER,FEEDER_MOTOR);
         return OK;
     }
     uint32_t Thread_Load_End(void)
@@ -592,7 +623,7 @@
         MotorControlConfig[POOLER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         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);
+        PullerControlId = AddControlCallback(NULL,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;
@@ -614,7 +645,7 @@
         MotorControlConfig[WINDER_MOTOR].m_SetParam = 0;//need to update SetParams on presegment stage
         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);
+        WinderControlId = AddControlCallback(NULL,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);
 
 ////////////////////////
@@ -631,9 +662,9 @@
                                         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.LoadArmBackLash = 5;
         LoadArmInfo.LoadArmRounds = (int)dryerbufferlength;
-        FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
+        //FileWrite(&LoadArmInfo, sizeof(LoadArmInfo),LoadArmPath,BIOS_WAIT_FOREVER);
         return OK;
     }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index 9d57cd29f..a93387e0a 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -547,7 +547,7 @@ uint32_t Winder_Presegment(void *SegmentDetails, uint32_t SegmentId)
    }
     if (SegmentId == 0)
     {
-            ScrewControlId = AddControlCallback(Screw100msecDirectionChange, eHundredMillisecond,TemplateDataReadCBFunction,0,0,0);
+            ScrewControlId = AddControlCallback("screw control",Screw100msecDirectionChange, eHundredMillisecond,TemplateDataReadCBFunction,0,0,0);
     }
     PreSegmentReady(Module_Winder,ModuleDone);
 
@@ -583,7 +583,7 @@ uint32_t WinderDistanceToSpoolState(void )
     double DTS_Time = (dryerbufferCentimeters/dyeingspeed)*1000;//distance to spool time in milliseconds
     REPORT_MSG ((int)DTS_Time,"WinderDistanceToSpoolState");
 
-    ScrewDTSControlId = AddControlCallback(ScrewDTSCallback, DTS_Time-WinderBackToBaseTime,TemplateDataReadCBFunction,0,0,0);
+    ScrewDTSControlId = AddControlCallback("screw DTS",ScrewDTSCallback, DTS_Time-WinderBackToBaseTime,TemplateDataReadCBFunction,0,0,0);
     REPORT_MSG ((int)msec_millisecondCounter,"ScrewDTSCallback start");
 
     return OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
index 8c42735cb..416b53494 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_init.c
@@ -148,12 +148,13 @@ char DancerConfigPath[50] = "0://SysInfo//DancCfg.cfg";
 
 uint32_t StoreDancerConfigMessage()
 {
-    FRESULT Fresult = FR_OK;
-    HardwareConfiguration DancerConfig;
-    HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
-    uint8_t* response_buffer;
-    size_t response_size = 0;
-    int Dancer_i;
+    uint32_t status = OK;
+  /*  FRESULT Fresult = FR_OK;
+  //  HardwareConfiguration DancerConfig;
+  //  HardwareDancer Dancers[MAX_SYSTEM_DANCERS];
+  //  uint8_t* response_buffer;
+  //  size_t response_size = 0;
+  //  int Dancer_i;
 
     hardware_configuration__init(&DancerConfig);
     DancerConfig.dancers = (HardwareDancer**)my_malloc(sizeof(HardwareDancer*)*MAX_SYSTEM_DANCERS);
@@ -168,11 +169,12 @@ uint32_t StoreDancerConfigMessage()
         DancerConfig.n_dancers++;
         DancersCfg[Dancer_i].zeropoint = DancerConfig.dancers[Dancer_i]->zeropoint;
     }
-    MCU_E2PromProgram(EEPROM_STORAGE_DANCER_0,DancersCfg[0].zeropoint);
-    MCU_E2PromProgram(EEPROM_STORAGE_DANCER_1,DancersCfg[1].zeropoint);
-    MCU_E2PromProgram(EEPROM_STORAGE_DANCER_2,DancersCfg[2].zeropoint);
+    */
+    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_0,DancersCfg[0].zeropoint);
+    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_1,DancersCfg[1].zeropoint);
+    status |= MCU_E2PromProgram(EEPROM_STORAGE_DANCER_2,DancersCfg[2].zeropoint);
     Report("Store eeprom 0",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg[1].zeropoint,RpWarning,(int)DancersCfg[2].zeropoint,0);
-
+/*
     response_buffer = my_malloc(hardware_configuration__get_packed_size(&DancerConfig));
     if (response_buffer)
     {
@@ -187,43 +189,23 @@ uint32_t StoreDancerConfigMessage()
 
 
     my_free(response_buffer);
-
-    return Fresult;
+*/
+    return status;
 }
 uint32_t LoadDancerConfigMessage()
 {
-    void* buffer = NULL;
-    uint32_t Bytes = 0;
-    FRESULT Fresult = FR_OK;
-
-    HardwareConfiguration *DancerConfig;
-    int Dancer_i;
-    HardwareDancer DancersCfg1[MAX_SYSTEM_DANCERS] = {0};
-    HardwareDancer DancersCfg2[MAX_SYSTEM_DANCERS] = {0};
+    uint32_t status = OK;
 
-    memcpy(DancersCfg1,(void *)DANCERS_MAP_IN_FLASH,sizeof(DancersCfg1));
-
-    Fresult = FileRead(DancerConfigPath, &Bytes, &buffer);
-    if (Fresult == FR_OK)
-    {
-        DancerConfig = hardware_configuration__unpack(NULL, Bytes, buffer);
-        for (Dancer_i = 0; Dancer_i < DancerConfig->n_dancers ; Dancer_i++)
-        {
-            DancersCfg2[Dancer_i].zeropoint = DancerConfig->dancers[Dancer_i]->zeropoint;
-        }
-        hardware_configuration__free_unpacked(DancerConfig,NULL);
-        free (buffer);
-    }
     MCU_E2PromRead(EEPROM_STORAGE_DANCER_0,&DancersCfg[0].zeropoint);
     MCU_E2PromRead(EEPROM_STORAGE_DANCER_1,&DancersCfg[1].zeropoint);
     MCU_E2PromRead(EEPROM_STORAGE_DANCER_2,&DancersCfg[2].zeropoint);
 
 
-    Report("Dancer 0 Store data flash, internal flash, eeprom ",__FILE__,DancersCfg[0].zeropoint,(int)DancersCfg1[0].zeropoint,RpWarning,(int)DancersCfg2[0].zeropoint,0);
-    Report("Dancer 1 Store data flash, internal flash, eeprom ",__FILE__,DancersCfg[1].zeropoint,(int)DancersCfg1[1].zeropoint,RpWarning,(int)DancersCfg2[1].zeropoint,0);
-    Report("Dancer 2 Store data flash, internal flash, eeprom ",__FILE__,DancersCfg[2].zeropoint,(int)DancersCfg1[2].zeropoint,RpWarning,(int)DancersCfg2[2].zeropoint,0);
+    status |= Report("Dancer 0 Store data eeprom ",__FILE__,__LINE__,0,RpWarning,(int)DancersCfg[0].zeropoint,0);
+    status |= Report("Dancer 1 Store data eeprom ",__FILE__,__LINE__,1,RpWarning,(int)DancersCfg[1].zeropoint,0);
+    status |= Report("Dancer 2 Store data eeprom ",__FILE__,__LINE__,2,RpWarning,(int)DancersCfg[2].zeropoint,0);
 
-    return Fresult;
+    return status;
 
 }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
index 45acfabea..28ba11fcd 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_print.c
@@ -732,6 +732,18 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
 
     MotorStop(HARDWARE_MOTOR_TYPE__MOTO_DRYER_LOADARM, Hard_Stop);
 
+    if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DH_LID]) != LIMIT)
+    {
+        ReportWithPackageFilter(ThreadFilter,"Dyeing head is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DH_LID,RpFatalError,LIMIT,0);
+        PrepareReady(Module_Thread,ModuleFail);
+        return ERROR;
+    }
+    if (FPGA_Read_limit_Switches(Motor_Id_to_LS_IdDown[HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID]) != LIMIT)
+    {
+        ReportWithPackageFilter(ThreadFilter,"Dryer lid is open!!!",__FILE__,__LINE__,HARDWARE_MOTOR_TYPE__MOTO_DRYER_LID,RpFatalError,LIMIT,0);
+        PrepareReady(Module_Thread,ModuleFail);
+        return ERROR;
+    }
 
     //start thread control for all motors
     for (Motor_i = 0;Motor_i < MAX_THREAD_MOTORS_NUM;Motor_i++)
@@ -768,7 +780,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
                 }
                 //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
                 LengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
-                SpeedControlId = AddControlCallback(ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
+                SpeedControlId = AddControlCallback(NULL,ThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
             }
             if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
             {
@@ -781,7 +793,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
                 }
                 //SetMotHome(ThreadMotorIdToMotorId[Motor_i]);
                 PoolerLengthCalculationMultiplier = (MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulleyradius*2*PI)/(MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].pulseperround*MotorsCfg[ThreadMotorIdToMotorId[Motor_i]].microstep);
-                PoolerSpeedControlId = AddControlCallback(PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
+                PoolerSpeedControlId = AddControlCallback(NULL,PoolerThreadLengthCBFunction, eHundredMillisecond,MotorGetPositionFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
             }
             if (Motor_i == FEEDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
             {
@@ -793,8 +805,8 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
                     CurrentControlledSpeed[Motor_i] = 0;
                 }
 #ifndef TEST_PID_THREAD
-                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
-                //AddControlCallback(ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+                //AddControlCallback(NULL,ThreadControlSpeedReadFunction, eHundredMillisecond,MotorGetSpeedFromFPGA,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToMotorId[Motor_i],Motor_i);
 #endif
             }
             if (Motor_i == POOLER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
@@ -807,7 +819,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
                     ControlIdtoMotorId[Motor_i] = 0xFF;
                 }
 #ifndef TEST_PID_THREAD
-                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
 #endif
             }
             if (Motor_i == WINDER_MOTOR) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will n//ot be controlled
@@ -821,7 +833,7 @@ uint32_t ThreadInitialTestStub(HardwareMotor * request)
                     ControlIdtoMotorId[Motor_i] = 0xFF;
                 }
 #ifndef TEST_PID_THREAD
-                ControlIdtoMotorId[Motor_i] = AddControlCallback(ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
+                ControlIdtoMotorId[Motor_i] = AddControlCallback(NULL,ThreadControlCBFunction, eOneMillisecond,Control_Read_Dancer_Position,(IfTypeThread*0x100+Motor_i),ThreadMotorIdToDancerId[Motor_i],Motor_i);
 #endif
             }
 //            if (HW_Motor_Id == HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING) // dryer motor is speed controlled. later a speed sensor will be utilized, but for now it will not be controlled
@@ -912,7 +924,7 @@ uint32_t ThreadPreSegmentState(void *SegmentDetails, uint32_t SegmentId)
 #else
         InitialDryerSpeed = OriginalMotorSpd_2PPS[DRYER_MOTOR]/10;
         MotorSetSpeed(HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,InitialDryerSpeed );
-        ControlIdtoMotorId[DRYER_MOTOR] = AddControlCallback(ThreadDryerRampUp, 200,TemplateDataReadCBFunction,0,0,0);
+        ControlIdtoMotorId[DRYER_MOTOR] = AddControlCallback("DryerRampUp",ThreadDryerRampUp, 200,TemplateDataReadCBFunction,0,0,0);
 #endif
 #endif
 #ifdef HUNDRED_MICROSECONDS_DANCER_READ
diff --git a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
index c2451118d..90df9cfb1 100644
--- a/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
+++ b/Software/Embedded_SW/Embedded/Modules/Waste/Waste_init.c
@@ -589,7 +589,7 @@ bool initWHS_WasteTank()
     WHS_info.WHS_sensors.waste_tank_empty_sensor = RdWasteTankEmptySensor();
     WHS_info.WHS_sensors.waste_tank_full_sensor =  SENSORnotFULL;
     UpdateStateMachine();
-    AddControlCallback(WasteTankCBFunction, WasteTankCallBackTime , WasteTankCallBackFunction, 0,0,0);//eOneMinute
+    AddControlCallback("Waste tank",WasteTankCBFunction, WasteTankCallBackTime , WasteTankCallBackFunction, 0,0,0);//eOneMinute
     return OK;
 }
 
@@ -663,7 +663,7 @@ WHS_sensor WasteTankCallBackFunction()
 /*
 bool start_WHS_machin()
 {
-    AddControlCallback( WasteTankCBFunction,  eTenMillisecond, WasteTankCallBackFunction, 0,0,0 );// eOneMinute
+    AddControlCallback(NULL, WasteTankCBFunction,  eTenMillisecond, WasteTankCallBackFunction, 0,0,0 );// eOneMinute
     return OK;
 }
  */
@@ -700,7 +700,7 @@ bool WasteTankCBFunction()
                     REPORT_MSG(WHS_filling," ------------ WHS_empty ----------------- ");
                     ret = CartridgeWasteFilling(OFF);
                     WHS_info.Cartridge_Cover_device_Id = RemoveControlCallback(WHS_info.Cartridge_Cover_device_Id, WasteTankCBFunction );
-                    WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeCoverCallBackTime, CartridgeCoverCallBackFunction, 0,0,0 );//eOneSecond
+                    WHS_info.Cartridge_Cover_device_Id = AddControlCallback(NULL, WasteTankCBFunction, CartridgeCoverCallBackTime, CartridgeCoverCallBackFunction, 0,0,0 );//eOneSecond
                     WrRFIDStatus(WHS_info.active_cartridge, WasteFull);//write RFID status todo
                 }
                 else
@@ -726,7 +726,7 @@ bool WasteTankCBFunction()
                 WHS_info.sttMachine = WHS_full;
                 REPORT_MSG(WHS_emptying," ------------ WHS_full ----------------- ");
                 WHS_info.Cartridge_Cover_device_Id = RemoveControlCallback(WHS_info.Cartridge_Cover_device_Id, WasteTankCBFunction );
-                WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeCoverCallBackFastTime , CartridgeCoverCallBackFunction, 0,0,0 );//eTenMillisecond
+                WHS_info.Cartridge_Cover_device_Id = AddControlCallback(NULL, WasteTankCBFunction, CartridgeCoverCallBackFastTime , CartridgeCoverCallBackFunction, 0,0,0 );//eTenMillisecond
                 if (RdRFIDStatus (WHS_info.active_cartridge) == WasteEmpty)
                 {
                     ret = WrRFIDStatus(WHS_info.active_cartridge, WasteFilling);//write RFID status todo
@@ -794,9 +794,9 @@ bool WasteTankCBFunction()
 
                 if ( !PowerOffInProcessGetState() )
                 {
-                    IFS_info.Cartridge_Ink_device_Id    = AddControlCallback( WasteTankCBFunction, CartridgeInkCallBackTime   , CartridgeInkCallBackFunction   , 0,0,0 ); //eOneSecond
-                    WHS_info.Cartridge_Waste1_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeWaste1CallBackTime, CartridgeWaste1CallBackFunction, 0,0,0 ); //eOneSecond
-                    WHS_info.Cartridge_Waste2_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeWaste2CallBackTime, CartridgeWaste2CallBackFunction, 0,0,0 ); //eOneSecond
+                    IFS_info.Cartridge_Ink_device_Id    = AddControlCallback(NULL, WasteTankCBFunction, CartridgeInkCallBackTime   , CartridgeInkCallBackFunction   , 0,0,0 ); //eOneSecond
+                    WHS_info.Cartridge_Waste1_device_Id = AddControlCallback(NULL, WasteTankCBFunction, CartridgeWaste1CallBackTime, CartridgeWaste1CallBackFunction, 0,0,0 ); //eOneSecond
+                    WHS_info.Cartridge_Waste2_device_Id = AddControlCallback(NULL, WasteTankCBFunction, CartridgeWaste2CallBackTime, CartridgeWaste2CallBackFunction, 0,0,0 ); //eOneSecond
                 }
                 else
                 {
@@ -848,11 +848,11 @@ bool WasteTankCBFunction()
                     cart1.color  = BLINK;
                     //add timeout
                     IFS_info.Ink.time_out = 1;
-                    IFS_info.Cartridge_Ink_TimeOut_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeInkTimeOutCallBackTime, CartridgeInkTimeOutCallBackFunction, 0,0,0 ); //eOneSecond
+                    IFS_info.Cartridge_Ink_TimeOut_device_Id = AddControlCallback(NULL, WasteTankCBFunction, CartridgeInkTimeOutCallBackTime, CartridgeInkTimeOutCallBackFunction, 0,0,0 ); //eOneSecond
 
 
 //                    //add callback for midtank status is full
-//                    IFS_info.Cartridge_Ink_TimeOut_device_Id = AddControlCallback( WasteTankCBFunction, CartridgeInkTimeOutCallBackTime, CartridgeInkTimeOutCallBackFunction, 0,0,0 ); //eOneSecond
+//                    IFS_info.Cartridge_Ink_TimeOut_device_Id = AddControlCallback(NULL, WasteTankCBFunction, CartridgeInkTimeOutCallBackTime, CartridgeInkTimeOutCallBackFunction, 0,0,0 ); //eOneSecond
 //                    Enable_MidTank_Pressure_Reading(IFS_info.Ink.cart_color);
 //                    Read_MidTank_Pressure_Sensor(IFS_info.Ink.cart_color);
 //                    if ( Get_MidTank_Pressure_Sensor(IFS_info.Ink.cart_color) > MidTank_Pressure_FULL )
@@ -1257,11 +1257,11 @@ bool InitCartStatus()
     if (WHS_info.WHS_sensors.cartridge_cover == WHS_CartridgeCoverOPEN)
     {
         REPORT_MSG(parameter," ------------ WHS_CartridgeCoverOPEN  : add callback for cart1 and cart 2   ----------------- ");
-        IFS_info.Cartridge_Ink_device_Id = AddControlCallback( WasteTankCBFunction, eOneSecond, CartridgeInkCallBackFunction, 0,0,0 );
-        WHS_info.Cartridge_Waste1_device_Id = AddControlCallback( WasteTankCBFunction, eOneSecond, CartridgeWaste1CallBackFunction, 0,0,0 );
-        WHS_info.Cartridge_Waste2_device_Id = AddControlCallback( WasteTankCBFunction, eOneSecond, CartridgeWaste2CallBackFunction, 0,0,0 );
+        IFS_info.Cartridge_Ink_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeInkCallBackFunction, 0,0,0 );
+        WHS_info.Cartridge_Waste1_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeWaste1CallBackFunction, 0,0,0 );
+        WHS_info.Cartridge_Waste2_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeWaste2CallBackFunction, 0,0,0 );
     }
-    WHS_info.Cartridge_Cover_device_Id = AddControlCallback( WasteTankCBFunction, eOneSecond, CartridgeCoverCallBackFunction, 0,0,0 );
+    WHS_info.Cartridge_Cover_device_Id = AddControlCallback(NULL, WasteTankCBFunction, eOneSecond, CartridgeCoverCallBackFunction, 0,0,0 );
 
     return OK;
 }
@@ -1355,7 +1355,7 @@ U8 RdWastePrecenseSensor(cartridge_name name)
 /*
 U8 cartridge_handeling()
 {
-    AddControlCallback( CartridgePrecenceCBFunction, eOneMinute, CartridgePrecenceCallBackFunction, 0,0,0 ); //
+    AddControlCallback(NULL, CartridgePrecenceCBFunction, eOneMinute, CartridgePrecenceCallBackFunction, 0,0,0 ); //
     return OK;
 }
 */
@@ -1802,23 +1802,23 @@ uint32_t start_WHS_machin()
     switch( WHS_info.sttMachine )
         {
             case WHS_empty: // last OnOffPBstate was OFF
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankEmptyCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankEmptyCallBackFunction, 0,0,0 ); //
                break;
             case WHS_filling : // last OnOffPBstate was COUNTPB
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankEmptyCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankEmptyCallBackFunction, 0,0,0 ); //
                 break;
             case WHS_emptying: // last OnOffPBstate was SHORTPB
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankEmptyCallBackFunction, 0,0,0 ); //
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankEmptyCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
                  break;
             case WHS_full:
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankOverflowCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankOverflowCallBackFunction, 0,0,0 ); //
                  break;
             case WHS_overflow:
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
-                AddControlCallback( EmptyWasteTankCBFunction, eOneMinute, WasteTankOverflowCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankFullCallBackFunction, 0,0,0 ); //
+                AddControlCallback(NULL, EmptyWasteTankCBFunction, eOneMinute, WasteTankOverflowCallBackFunction, 0,0,0 ); //
                  break;
           default:              // WHS_sttError
                break;
diff --git a/Software/Embedded_SW/Embedded/Software Release Notes.txt b/Software/Embedded_SW/Embedded/Software Release Notes.txt
index ac9a49feb..e366ef378 100644
--- a/Software/Embedded_SW/Embedded/Software Release Notes.txt
+++ b/Software/Embedded_SW/Embedded/Software Release Notes.txt
@@ -1,3 +1,43 @@
+Embedded SW Release note - Version 1.4.5.9 (alpha 3)
+=============================================================
+I2C reading task for better handling of slow I2C interactions (head etc)
+textual names for control calls to help debuggng
+add midtank and dispenser ink content to diagnostics
+*observe and handle FPGA watchdog reset (reinitialize motors) 
+
+alarm handling: midtamk overflow, fix current alarms, consequent actions and job verification, critical alrms.
+diagnostics: improved 
+*heaters: band alarm fixed 
+IDS: *dispenser data, *improve autofill on job start, *puller_tension from RML as cleaner speed
+Thread: *real dryer rampup. dancers from EEPROM only. *insure rockers motors voltage value;
+print: *prevent job on open covers (dryer, head)
+
+
+Embedded SW Release note - Version 1.4.5.95 (alpha 2)
+=============================================================
+Embedded SW Release note - Version 1.4.5.9 (alpha 1)
+=============================================================
+common:
+	log filtering by severity and modules
+	file transfer chuck size reduced (slower transfer
+drivers:
+	fpga: motor init improved, WD handling fixed, secondary pump, powerstep 01 handling.
+	I2C: midtank calibration, safety improved, head card and RFID preparations
+	valves: bug fixed.
+modules:
+	alarm handling: current alarms, fans alarms, bugs fixes.
+	control: current reading disabled, machine status, led on FPGA reset.
+	general: buttons fixed. handling of config failures, dryer buffer length: number of dryer cycles *76 cm + 90 cm (dryer to winder), safety alarms.
+	heaters: machine internal alrms, bugs fixed.
+	IDS: dispenser data store in FFS, homing - consider safety bypass, midtank content, active homing. use RML's feeder_tension as pressure buildup limit.
+	thread: load fixed. hold dryer arm.
+	waste, IFS: tested and fixed
+state machines
+	Init: open and cloase dispensers valve, fix problems, 
+	power off sequence and clean job fixed.
+	print: job length fixed.
+
+
 Embedded SW Release note - Version 1.4.4.6
 =============================================================
 drivers:
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
index cb30919bf..fe6f12053 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/InitSequence.c
@@ -116,8 +116,8 @@ uint32_t Start_InitSequence(void)
 {
     MachineStateDetail = MACHINE_STATE_HW_CONFIG;
     SetMachineStatus(MACHINE_STATE__Initializing);
-    HWControlId = AddControlCallback( InitSequenceCallBackFunction, 4* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
-    InitSchedulerControlId = AddControlCallback( InitScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    HWControlId = AddControlCallback("Init HW Init", InitSequenceCallBackFunction, 4* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    InitSchedulerControlId = AddControlCallback("InitScheduler", InitScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     return OK;
 }
 void InitSequenceResetReason(void)
@@ -211,13 +211,13 @@ uint32_t InitSequenceInitialBlowerActivation(void)
         Control_Voltage_To_Blower(BlowerCfg.voltage);
     else
         Control_Voltage_To_Blower(3000);
-    HWControlId = AddControlCallback( InitSequenceBlowerCallBackFunction, 10* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    HWControlId = AddControlCallback("Init Blower", InitSequenceBlowerCallBackFunction, 10* eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     /*if (RdInkCartridgeSensor()) //if there is a cartridge in the ink slot skip the valves procedure
     {
         MidTankOperationCounter = 32;
         Report("There is a cartridge in the ink slot. skipping the valves procedure",__FILE__,__LINE__,(int)MidTankOperationCounter,RpWarning,(int)InitStages,0);
     }*/
-    MidTankControlId = AddControlCallback( InitSequenceMidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
+    MidTankControlId = AddControlCallback("Init Midtank", InitSequenceMidTankCallBackFunction, 300/*eHundredMillisecond*/, TemplateDataReadCBFunction,0,0, 0 );
 
     return OK;
 }
@@ -265,6 +265,7 @@ uint32_t InitSequenceStartHeatingCallBackFunction(uint32_t IfIndex, uint32_t Bus
     if (HeaterCheckReady()==true)
     {
         MachineStateDetail = MACHINE_STATE_MACHINE_READY_TO_DYE;
+        SetMachineStatus(MACHINE_STATE__Ready);
         if (SafeRemoveControlCallback(HWControlId, InitSequenceStartHeatingCallBackFunction )==OK)
             HWControlId = 0xFF;
         else
@@ -287,7 +288,7 @@ uint32_t InitSequenceStartHeating(void)
         if (ProcessParamsInit() ==OK)
         {
             MachineStateDetail = MACHINE_STATE_HEATING_STARTED;
-            HWControlId = AddControlCallback( InitSequenceStartHeatingCallBackFunction, 2*eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+            HWControlId = AddControlCallback("Init Heating", InitSequenceStartHeatingCallBackFunction, 2*eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
             //start heaters with predefined / store process parameters
         }
         else
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
index 3cf2a363d..df2f3705c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerIdle.c
@@ -94,7 +94,7 @@ uint32_t PowerIdleCallBackFunction(uint32_t IfIndex, uint32_t BusyFlag)
 }
 void PowerIdleInit(void)
 {
-    IdleControlId = AddControlCallback( PowerIdleCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    IdleControlId = AddControlCallback("IdleCounter", PowerIdleCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     if (IdleControlId == 0xFF)
         Report("AddControlCallback failed",__FILE__,__LINE__,(int)IdleControlId,RpWarning,(int)0,0);
     Report("PowerIdleInit ",__FILE__,__LINE__,(int)powerIdleSecondsLimit,RpWarning,(int)0,0);
@@ -128,7 +128,7 @@ void PowerIdleOutOfIdleState(void)
             return ;
         }
         if (IdleControlId == 0xFF)
-            IdleControlId = AddControlCallback( PowerIdleCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+            IdleControlId = AddControlCallback("IdleCounter", PowerIdleCallBackFunction, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
         if (IdleControlId == 0xFF)
             Report("AddControlCallback failed",__FILE__,__LINE__,(int)IdleControlId,RpWarning,(int)0,0);
         SetMachineStatus(MACHINE_STATE__Ready);
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
index 94567a1c7..67e86397c 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Initialization/PowerOffSequence.c
@@ -90,7 +90,7 @@ uint32_t PowerOffInit(void)
     StopInitSequence();
     setmachineActive(true);
     PowerOffInProcess = true;
-    PowerOffControlId = AddControlCallback( PowerOffScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+    PowerOffControlId = AddControlCallback("PowerOff", PowerOffScheduler, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     SetMachineStatus(MACHINE_STATE__PowerOff);
     return OK;
 }
@@ -133,7 +133,7 @@ uint32_t PowerOffHeadClean(void)
             PowerOffHeadCleanControlId = 0xFF;
             //return ERROR;
         }
-        PowerOffHeadCleanControlId = AddControlCallback( PowerOffHeadCleanCallback,eOneSecond , TemplateDataReadCBFunction,0,0, 0 );
+        PowerOffHeadCleanControlId = AddControlCallback(NULL, PowerOffHeadCleanCallback,eOneSecond , TemplateDataReadCBFunction,0,0, 0 );
     }
     else
     {
@@ -187,7 +187,7 @@ uint32_t PowerOffMixerFlushDispenserStopCallback(void)
 {
     REPORT_MSG (PowerOffMachineState, "PowerOffMixerFlushDispenserStopCallback");
     IDS_Dispenser_Start_Motor_and_Open_Valve(TI_DISPENSER_ID,DEFAULT_MIXER_CLEANING_SPEED,NULL);
-    PowerOffHeadCleanControlId = AddControlCallback( PowerOffMixerFlushCallback,DEFAULT_MIXER_CLEANING_TIMEOUT , TemplateDataReadCBFunction,0,0, 0 );
+    PowerOffHeadCleanControlId = AddControlCallback("Poweroff cleaning", PowerOffMixerFlushCallback,DEFAULT_MIXER_CLEANING_TIMEOUT , TemplateDataReadCBFunction,0,0, 0 );
     return OK;
 }
 /*******************************************************************************************************/
@@ -296,7 +296,7 @@ uint32_t PowerOffWaitForProcesses(void)
     {
         WaitForProcessCounter = 0; //15 minutes wait
         REPORT_MSG (PowerOffMachineState, "Ongoing processes, wait for end of process");
-        WaitForProcessControlId = AddControlCallback( PowerOffWaitForProcessesCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+        WaitForProcessControlId = AddControlCallback("ongoing processes", PowerOffWaitForProcessesCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     }
     else
     {
@@ -373,7 +373,7 @@ uint32_t PowerOffWaitForTemperature(void)
     if (WaitForProcessControlId == 0xFF)
     {
         WaitForProcessCounter = 0;
-        WaitForProcessControlId = AddControlCallback( PowerOffWaitForTemperatureCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
+        WaitForProcessControlId = AddControlCallback("poweroff cooling", PowerOffWaitForTemperatureCallback, eOneSecond, TemplateDataReadCBFunction,0,0, 0 );
     }
     //TBD
     return OK;
diff --git a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
index 3cdc4d1b8..1f6ff685e 100644
--- a/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
+++ b/Software/Embedded_SW/Embedded/StateMachines/Printing/JobSTM.c
@@ -102,7 +102,7 @@ JobUploadStrategy uploadstrategy = JOB_UPLOAD_STRATEGY__Default;
 
 ModuleStateEnum PrepareWaiting[MAX_SYSTEM_MODULES] = {ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle,ModuleIdle};
 
-uint16_t job_length = 0;
+double job_length = 0.0;
 
 /********************************************************************************************
 * functions describes motor operation flow and movement state during profile execution
@@ -517,7 +517,23 @@ void ThreadJoggingRequestFunc(MessageContainer* requestContainer)
 
     ThreadJoggingResponse response = THREAD_JOGGING_RESPONSE__INIT;
 
-    status = ThreadJoggingFunc(request->speed);
+    if (JobIsActive() == true)
+    {
+        AbortJob(0);
+        //set the job handler to handle heaters, ids and waste in the state machine
+        Task_sleep(100); //let the job end procedure role before returning the configuration to normal.
+        usnprintf(ErrorMsg, 80,"Copy Configured T %d W %d I %d H %d W %d",CopyConfigured[Module_Thread],CopyConfigured[Module_Winder],CopyConfigured[Module_IDS],CopyConfigured[Module_Heaters],CopyConfigured[Module_Waste]);
+        Report(ErrorMsg, __FILE__, __LINE__, 0, RpWarning,   0, 0);
+
+
+        my_free(Ticket.segments);
+        my_free(TSegment);
+        my_free(Tspool);
+    }
+    else
+    {
+        status = ThreadJoggingFunc(request->speed);
+    }
 
     responseContainer = createContainer(MESSAGE_TYPE__ThreadJoggingResponse, requestContainer->token, true, &response, &thread_jogging_response__pack, &thread_jogging_response__get_packed_size);
     if (status!= OK)
@@ -536,7 +552,7 @@ void ThreadJoggingRequestFunc(MessageContainer* requestContainer)
 }
 void ThreadAbortJoggingFunc(void)
 {
-    if (JobIsActive() == true)
+/*    if (JobIsActive() == true)
     {
         AbortJob(0);
         //set the job handler to handle heaters, ids and waste in the state machine
@@ -549,7 +565,7 @@ void ThreadAbortJoggingFunc(void)
         my_free(TSegment);
         my_free(Tspool);
     }
-
+*/
 }
 void ThreadAbortJoggingRequestFunc(MessageContainer* requestContainer)
 {
@@ -640,7 +656,7 @@ void Stub_JobRequest(MessageContainer* requestContainer)
     StubLength  = Ticket->length*100;
     StubLengthCounter = 0;
     ustrncpy (JobToken, requestContainer->token,36);
-    StubControlId =  AddControlCallback( SendStubJobProgress, eOneSecond,TemplateDataReadCBFunction,0,0,0);
+    StubControlId =  AddControlCallback(NULL, SendStubJobProgress, eOneSecond,TemplateDataReadCBFunction,0,0,0);
 
     jobStatus.has_progress = true;
     jobStatus.progress = 0.0;
@@ -753,9 +769,9 @@ void JobRequestFunc(MessageContainer* requestContainer)
                 if (JobAlarmReason ==OK)
                 {
                     n_unit_segments = n_segments;
-                    if ((Ticket->has_units)&&(Ticket->units > 1))
+                    if ((Ticket->has_numberofunits)&&(Ticket->numberofunits > 1))
                     {
-                        n_units = Ticket->units;
+                        n_units = Ticket->numberofunits;
                     }
                     if (n_units>1)
                     {
diff --git a/Software/Embedded_SW/Embedded/embeddedparametersbuild.cs b/Software/Embedded_SW/Embedded/embeddedparametersbuild.cs
index 4aad16764..3b2ff042b 100644
--- a/Software/Embedded_SW/Embedded/embeddedparametersbuild.cs
+++ b/Software/Embedded_SW/Embedded/embeddedparametersbuild.cs
@@ -81,7 +81,7 @@ configurationParameters.SwitchToIdleTimeinSeconds = 3600;
 configurationParameters.IdleDrierTemperature = 80;
 configurationParameters.IdleHeadTemperature = 80;
 configurationParameters.IdleMixerTemperature = 0;
-configurationParameters.PowerOffTemperatureLimit = 100;
+configurationParameters.PowerOffTemperatureLimit = 50;
 
 //general parameters, ORDER MUST BE PRESERVED!!!!
 //check the dispensers hard limit alarms