IDS - do not switch off valve between segments if used in the next segment. SCREW - preparations for interrupts. Alarm Handling - low temperature. Homing - bi-directional.

15 files changed, 312 insertions, 82 deletions

diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.c
index e8c084cf7..93ee869e6 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.c
@@ -52,7 +52,7 @@ void   dispenser_homing_request__free_unpacked
   assert(message->base.descriptor == &dispenser_homing_request__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor dispenser_homing_request__field_descriptors[2] =
+static const ProtobufCFieldDescriptor dispenser_homing_request__field_descriptors[3] =
 {
   {
     "Index",
@@ -78,15 +78,28 @@ static const ProtobufCFieldDescriptor dispenser_homing_request__field_descriptor
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "Direction",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_ENUM,
+    offsetof(DispenserHomingRequest, has_direction),
+    offsetof(DispenserHomingRequest, direction),
+    &motor_direction__descriptor,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned dispenser_homing_request__field_indices_by_name[] = {
+  2,   /* field[2] = Direction */
   0,   /* field[0] = Index */
   1,   /* field[1] = Speed */
 };
 static const ProtobufCIntRange dispenser_homing_request__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 2 }
+  { 0, 3 }
 };
 const ProtobufCMessageDescriptor dispenser_homing_request__descriptor =
 {
@@ -96,7 +109,7 @@ const ProtobufCMessageDescriptor dispenser_homing_request__descriptor =
   "DispenserHomingRequest",
   "",
   sizeof(DispenserHomingRequest),
-  2,
+  3,
   dispenser_homing_request__field_descriptors,
   dispenser_homing_request__field_indices_by_name,
   1,  dispenser_homing_request__number_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.h
index 32bc8c117..be6e49a24 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/DispenserHomingRequest.pb-c.h
@@ -14,6 +14,7 @@ PROTOBUF_C__BEGIN_DECLS
 # error This file was generated by an older version of protoc-c which is incompatible with your libprotobuf-c headers. Please regenerate this file with a newer version of protoc-c.
 #endif
 
+#include "MotorDirection.pb-c.h"
 
 typedef struct _DispenserHomingRequest DispenserHomingRequest;
 
@@ -30,10 +31,12 @@ struct  _DispenserHomingRequest
   int32_t index;
   protobuf_c_boolean has_speed;
   double speed;
+  protobuf_c_boolean has_direction;
+  MotorDirection direction;
 };
 #define DISPENSER_HOMING_REQUEST__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&dispenser_homing_request__descriptor) \
-    , 0, 0, 0, 0 }
+    , 0, 0, 0, 0, 0, MOTOR_DIRECTION__Forward }
 
 
 /* DispenserHomingRequest methods */
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.c b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.c
index 53b923973..6899399f5 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.c
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.c
@@ -52,7 +52,7 @@ void   motor_homing_request__free_unpacked
   assert(message->base.descriptor == &motor_homing_request__descriptor);
   protobuf_c_message_free_unpacked ((ProtobufCMessage*)message, allocator);
 }
-static const ProtobufCFieldDescriptor motor_homing_request__field_descriptors[2] =
+static const ProtobufCFieldDescriptor motor_homing_request__field_descriptors[3] =
 {
   {
     "MotorType",
@@ -78,15 +78,28 @@ static const ProtobufCFieldDescriptor motor_homing_request__field_descriptors[2]
     0,             /* flags */
     0,NULL,NULL    /* reserved1,reserved2, etc */
   },
+  {
+    "Direction",
+    3,
+    PROTOBUF_C_LABEL_OPTIONAL,
+    PROTOBUF_C_TYPE_ENUM,
+    offsetof(MotorHomingRequest, has_direction),
+    offsetof(MotorHomingRequest, direction),
+    &motor_direction__descriptor,
+    NULL,
+    0,             /* flags */
+    0,NULL,NULL    /* reserved1,reserved2, etc */
+  },
 };
 static const unsigned motor_homing_request__field_indices_by_name[] = {
+  2,   /* field[2] = Direction */
   0,   /* field[0] = MotorType */
   1,   /* field[1] = Speed */
 };
 static const ProtobufCIntRange motor_homing_request__number_ranges[1 + 1] =
 {
   { 1, 0 },
-  { 0, 2 }
+  { 0, 3 }
 };
 const ProtobufCMessageDescriptor motor_homing_request__descriptor =
 {
@@ -96,7 +109,7 @@ const ProtobufCMessageDescriptor motor_homing_request__descriptor =
   "MotorHomingRequest",
   "",
   sizeof(MotorHomingRequest),
-  2,
+  3,
   motor_homing_request__field_descriptors,
   motor_homing_request__field_indices_by_name,
   1,  motor_homing_request__number_ranges,
diff --git a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.h b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.h
index 137c6460a..b94b0465a 100644
--- a/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.h
+++ b/Software/Embedded_SW/Embedded/Communication/PMR/Diagnostics/MotorHomingRequest.pb-c.h
@@ -15,6 +15,7 @@ PROTOBUF_C__BEGIN_DECLS
 #endif
 
 #include "HardwareMotorType.pb-c.h"
+#include "MotorDirection.pb-c.h"
 
 typedef struct _MotorHomingRequest MotorHomingRequest;
 
@@ -31,10 +32,12 @@ struct  _MotorHomingRequest
   HardwareMotorType motortype;
   protobuf_c_boolean has_speed;
   double speed;
+  protobuf_c_boolean has_direction;
+  MotorDirection direction;
 };
 #define MOTOR_HOMING_REQUEST__INIT \
  { PROTOBUF_C_MESSAGE_INIT (&motor_homing_request__descriptor) \
-    , 0, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD, 0, 0 }
+    , 0, HARDWARE_MOTOR_TYPE__MOTO_DH_CLEANHEAD, 0, 0, 0, MOTOR_DIRECTION__Forward }
 
 
 /* MotorHomingRequest methods */
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c
index 4da372ed5..e5c78cf79 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.c
@@ -16,19 +16,21 @@
 
 #include "Drivers/Motors/Motor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
+#include "drivers/FPGA/FPGA_INTERRUPTS/fpga_interrupts.h"
 
 #define Screw_Not_Busy_Mask 0x02
 
 volatile uint32_t delay;
 
 static bool flag = 0;
+SCREW_InterruptCallback Callback_Fptr = NULL;
 
 void PortPIntHandler(void)//FPGA1_INTn()
 {
 
     volatile uint32_t temp = F1_Moto_Driver_NBUSY2_D; // read the busy value
 
-    delay=400;
+    /*delay=400;
 
     if (GPIOIntStatus(GPIO_PORTP_BASE, false) & GPIO_PIN_0)
     {
@@ -53,14 +55,18 @@ void PortPIntHandler(void)//FPGA1_INTn()
     while(delay)
     {
         delay -=1;
-    }
+    }*/
     // must be done minimum 20uSec after the move command !!!
-    temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value (read it after moving to prevent interrupt before movement)
+//    temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value (read it after moving to prevent interrupt before movement)
     GPIOIntClear(GPIO_PORTP_BASE, GPIO_INT_PIN_0);
+
+    if (Callback_Fptr)
+        Callback_Fptr();
 }
 
 
-void Screw_Interrupt(bool IsEnable)
+
+void Screw_Interrupt(bool IsEnable ,SCREW_InterruptCallback callback)
 {
     volatile short temp = F1_Moto_Driver_NBUSY2_M;
 
@@ -69,12 +75,14 @@ void Screw_Interrupt(bool IsEnable)
         temp |= Screw_Not_Busy_Mask; // Mask F1_MOTO_SCREW_A1_NBUSY
         F1_Moto_Driver_NBUSY2_M = temp;
         temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value
+        Callback_Fptr = callback;
     }
     else
     {
         temp &= ~Screw_Not_Busy_Mask; // Unask F1_MOTO_SCREW_A1_NBUSY
         F1_Moto_Driver_NBUSY2_M = temp;
         temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value
+        Callback_Fptr = NULL;
     }
 }
 
@@ -86,10 +94,10 @@ void Init_GPI_Interrupts()
     // **** Settings for FPGA1_INTn *****
 
     // Pin P0 setup
-    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);        // Enable port p
-    SysCtlDelay(3);
-    GPIOPinTypeGPIOInput(GPIO_PORTP_BASE, GPIO_PIN_0);  // Init PP0 as input
-    GPIOPadConfigSet(GPIO_PORTP_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);  // Enable weak pullup resistor for PP0
+    //SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);        // Enable port p
+    //SysCtlDelay(3);
+    //GPIOPinTypeGPIOInput(GPIO_PORTP_BASE, GPIO_PIN_0);  // Init PP0 as input
+    //GPIOPadConfigSet(GPIO_PORTP_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);  // Enable weak pullup resistor for PP0
 
     // Interrupt setup
     GPIOIntDisable(GPIO_PORTP_BASE, GPIO_PIN_0);        // Disable interrupt for PP0 (in case it was enabled)
diff --git a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h
index f17ce0bac..7eafc551b 100644
--- a/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h
+++ b/Software/Embedded_SW/Embedded/Drivers/FPGA/FPGA_INTERRUPTS/FPGA_Interrupts.h
@@ -8,9 +8,12 @@
 #ifndef DRIVERS_FPGA_FPGA_INTERRUPTS_FPGA_INTERRUPTS_H_
 #define DRIVERS_FPGA_FPGA_INTERRUPTS_FPGA_INTERRUPTS_H_
 
+typedef  void (* SCREW_InterruptCallback)(void);
+
+
+void Screw_Interrupt(bool IsEnable ,SCREW_InterruptCallback callback);
 
 void Init_GPI_Interrupts();
-void Screw_Interrupt(bool IsEnable);
 
 
 #endif /* DRIVERS_FPGA_FPGA_INTERRUPTS_FPGA_INTERRUPTS_H_ */
diff --git a/Software/Embedded_SW/Embedded/Main.c b/Software/Embedded_SW/Embedded/Main.c
index 4fa7c52b3..77ad2f6e1 100644
--- a/Software/Embedded_SW/Embedded/Main.c
+++ b/Software/Embedded_SW/Embedded/Main.c
@@ -51,6 +51,7 @@ extern Semaphore_Handle sdCardSem;
 
 #include "drivers/FPGA/FPGA.h"
 #include <drivers/FPGA/FPGA_Comm.h>
+#include <drivers/FPGA/FPGA_INTERRUPTS/fpga_interrupts.h>
 
 #include <Drivers/I2C_Communication/Previous_Code/I2C.h>
 #include "Drivers/I2C_Communication/I2C.h"
@@ -129,6 +130,7 @@ int main(void)
     Calculateinit();
 
 	PortFunctionInit();
+	Init_GPI_Interrupts();
     #ifdef EVALUATION_BOARD
         Init_EVB();
     #endif
diff --git a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
index 15ebfc632..4ec82cfc2 100644
--- a/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
+++ b/Software/Embedded_SW/Embedded/Modules/AlarmHandling/AlarmHandling.c
@@ -100,42 +100,54 @@ typedef struct
     char *EventName;
 }AlarmHandlingItem;
 AlarmHandlingItem  AlarmItem[MAX_SYSTEM_ALARMS]={
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_1,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser1Empty,NULL,"Dispenser1Empty"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_2,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser2Empty,NULL,"Dispenser2Empty"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_3,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser3Empty,NULL,"Dispenser3Empty"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_4,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser4Empty,NULL,"Dispenser4Empty"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_5,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser5Empty,NULL,"Dispenser5Empty"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_6,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Empty,NULL,"Dispenser6Empty"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_7,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Empty,NULL,"Dispenser7Empty"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmEmpty_8,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Empty,NULL,"Dispenser8Empty"},
-/*{100,LimitSwitchAlarm,LimitSwitchAlarmLow_1,false,true,DEBUG_LOG_CATEGORY__Warning,0,0,0,false,EVENT_TYPE__Dispenser1LowLevel,NULL,"Dispenser1LowLevel"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmLow_2,false,true,DEBUG_LOG_CATEGORY__Warning,1,0,0,false,EVENT_TYPE__Dispenser2LowLevel,NULL,"Dispenser2LowLevel"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmLow_3,false,true,DEBUG_LOG_CATEGORY__Warning,2,0,0,false,EVENT_TYPE__Dispenser3LowLevel,NULL,"Dispenser3LowLevel"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmLow_4,false,true,DEBUG_LOG_CATEGORY__Warning,3,0,0,false,EVENT_TYPE__Dispenser4LowLevel,NULL,"Dispenser4LowLevel"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmLow_5,false,true,DEBUG_LOG_CATEGORY__Warning,4,0,0,false,EVENT_TYPE__Dispenser5LowLevel,NULL,"Dispenser5LowLevel"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmLow_6,false,true,DEBUG_LOG_CATEGORY__Warning,5,0,0,false,EVENT_TYPE__Dispenser6LowLevel,NULL,"Dispenser6LowLevel"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmLow_7,false,true,DEBUG_LOG_CATEGORY__Warning,6,0,0,false,EVENT_TYPE__Dispenser7LowLevel,NULL,"Dispenser7LowLevel"},
-{100,LimitSwitchAlarm,LimitSwitchAlarmLow_8,false,true,DEBUG_LOG_CATEGORY__Warning,7,0,0,false,EVENT_TYPE__Dispenser8LowLevel,NULL,"Dispenser8LowLevel"},*/
-{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternalOverTemperature"},
-//{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternalOverTemperature"},
-//{100,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternalOverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL,"DyeingHead6OverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead1OverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL,"DyeingHead2OverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL,"DyeingHead3OverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL,"DyeingHead4OverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead5OverTemperature,NULL,"DyeingHead5OverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"DryerOverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"DryerOverTemperature"},
-{100,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"DryerOverTemperature"},
-{100,PressureAlarm,1,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser1Pressure,NULL,"Dispenser1Pressure"},
-{100,PressureAlarm,2,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser2Pressure,NULL,"Dispenser2Pressure"},
-{100,PressureAlarm,3,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser3Pressure,NULL,"Dispenser3Pressure"},
-{100,PressureAlarm,4,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser4Pressure,NULL,"Dispenser4Pressure"},
-{100,PressureAlarm,5,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser5Pressure,NULL,"Dispenser5Pressure"},
-{100,PressureAlarm,6,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Pressure,NULL,"Dispenser6Pressure"},
-{100,PressureAlarm,7,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Pressure,NULL,"Dispenser7Pressure"},
-{100,PressureAlarm,8,7,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Pressure,NULL,"Dispenser8Pressure"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_1,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser1Empty,NULL,"Dispenser1Empty"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_2,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser2Empty,NULL,"Dispenser2Empty"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_3,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser3Empty,NULL,"Dispenser3Empty"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_4,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser4Empty,NULL,"Dispenser4Empty"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_5,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser5Empty,NULL,"Dispenser5Empty"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_6,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser6Empty,NULL,"Dispenser6Empty"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_7,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser7Empty,NULL,"Dispenser7Empty"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmEmpty_8,false,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__Dispenser8Empty,NULL,"Dispenser8Empty"},
+/*{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_1,false,true,DEBUG_LOG_CATEGORY__Warning,0,0,0,false,EVENT_TYPE__Dispenser1LowLevel,NULL,"Dispenser1LowLevel"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_2,false,true,DEBUG_LOG_CATEGORY__Warning,1,0,0,false,EVENT_TYPE__Dispenser2LowLevel,NULL,"Dispenser2LowLevel"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_3,false,true,DEBUG_LOG_CATEGORY__Warning,2,0,0,false,EVENT_TYPE__Dispenser3LowLevel,NULL,"Dispenser3LowLevel"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_4,false,true,DEBUG_LOG_CATEGORY__Warning,3,0,0,false,EVENT_TYPE__Dispenser4LowLevel,NULL,"Dispenser4LowLevel"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_5,false,true,DEBUG_LOG_CATEGORY__Warning,4,0,0,false,EVENT_TYPE__Dispenser5LowLevel,NULL,"Dispenser5LowLevel"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_6,false,true,DEBUG_LOG_CATEGORY__Warning,5,0,0,false,EVENT_TYPE__Dispenser6LowLevel,NULL,"Dispenser6LowLevel"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_7,false,true,DEBUG_LOG_CATEGORY__Warning,6,0,0,false,EVENT_TYPE__Dispenser7LowLevel,NULL,"Dispenser7LowLevel"},
+{eHundredMillisecond,LimitSwitchAlarm,LimitSwitchAlarmLow_8,false,true,DEBUG_LOG_CATEGORY__Warning,7,0,0,false,EVENT_TYPE__Dispenser8LowLevel,NULL,"Dispenser8LowLevel"},*/
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"Mixer Over Temperature"},
+//{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternal Over Temperature"},
+//{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"GeneralInternal Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead1 Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL,"DyeingHead2 Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL,"DyeingHead3 Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL,"DyeingHead4 Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead5OverTemperature,NULL,"DyeingHead5 Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL,"DyeingHead6 Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,300,true,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer Over Temperature"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP3,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__GeneralInternalOverTemperature,NULL,"Mixer PT100 Not Working"},
+//{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP1,250,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalPT100 Not Working,NULL,"GeneralInternalPT100 Not Working"},
+//{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_AN_ENCLOSURETEMP2,80,true,DEBUG_LOG_CATEGORY__Error,0xFF,0,0,false,EVENT_TYPE__GeneralInternalPT100 Not Working,NULL,"GeneralInternalPT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead1OverTemperature,NULL,"DyeingHead 1 PT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP2,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead2OverTemperature,NULL,"DyeingHead 2 PT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP3,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead3OverTemperature,NULL,"DyeingHead 3 PT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP4,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead4OverTemperature,NULL,"DyeingHead 4 PT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DYEINGH_TEMP5,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead5OverTemperature,NULL,"DyeingHead 5 PT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_MIXCHIP_TEMP,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DyeingHead6OverTemperature,NULL,"DyeingHead 6 PT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer PT100 Not Working"},
+{eOneSecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer PT100 Not Working"},
+{eHundredMillisecond,TemperatureAlarm,TEMP_SENSE_ANALOG_DRYER_TEMP1,9,false,DEBUG_LOG_CATEGORY__Error,0xFF,10,0,false,EVENT_TYPE__DryerOverTemperature,NULL,"Dryer PT100 Not Working"},
+{eHundredMillisecond,PressureAlarm,1,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser1Pressure,NULL,"Dispenser1Pressure"},
+{eHundredMillisecond,PressureAlarm,2,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser2Pressure,NULL,"Dispenser2Pressure"},
+{eHundredMillisecond,PressureAlarm,3,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser3Pressure,NULL,"Dispenser3Pressure"},
+{eHundredMillisecond,PressureAlarm,4,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser4Pressure,NULL,"Dispenser4Pressure"},
+{eHundredMillisecond,PressureAlarm,5,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser5Pressure,NULL,"Dispenser5Pressure"},
+{eHundredMillisecond,PressureAlarm,6,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser6Pressure,NULL,"Dispenser6Pressure"},
+{eHundredMillisecond,PressureAlarm,7,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser7Pressure,NULL,"Dispenser7Pressure"},
+{eHundredMillisecond,PressureAlarm,8,6,true,DEBUG_LOG_CATEGORY__Error,0xFF,5,0,false,EVENT_TYPE__Dispenser8Pressure,NULL,"Dispenser8Pressure"},
 {eOneMinute,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_DRYER_DRIVING,x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,0,false,EVENT_TYPE__MotorDryerOverCurrent,NULL,"MotorDryerOverCurrent"},
 {eOneMinute,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_RDRIVING,x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,0,false,EVENT_TYPE__MotorFeederOverCurrent,NULL,"MotorFeederOverCurrent"},
 {eOneMinute,MotorAlarm,HARDWARE_MOTOR_TYPE__MOTO_SCREW,x_STATUS_OCD,false,DEBUG_LOG_CATEGORY__Error,0xFF,2,0,false,EVENT_TYPE__MotorScrewOverCurrent,NULL,"MotorScrewOverCurrent"},
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
index fa168067f..4ff47b56c 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.c
@@ -33,6 +33,7 @@
 #include "drivers/Heater/TemperatureSensor.h"
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA.h"
+#include <drivers/FPGA/FPGA_Comm.h>
 #include "drivers/Valves/Valve.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
@@ -67,6 +68,21 @@ typedef struct MillisecMessage{
     uint32_t tick;
     uint8_t messageData[20];
 }MillisecMessageStruc;
+typedef enum
+{
+    ScrewMessage,
+    //ScrewCalculateTemperature,
+}ScrewMessages;
+
+typedef struct ScrewMessage{
+    uint16_t messageId;
+    uint16_t msglen;
+    uint32_t tick;
+  //  uint32_t SensorId;
+  //  uint32_t Data;
+}ScrewMessageStruc;
+Task_Handle Screw_Task_Handle;
+Mailbox_Handle          ScrewMsgQ = NULL;
 
 //uint32_t  ADC_Data[MAX_ADC_DEVICES] = {0};
 //uint32_t  TemperatureSensor_Data[MAX_TEMPERATURE_SENSOR_ID] = {0};
@@ -111,7 +127,9 @@ void MillisecInit(void)
 
     Error_init(&eb);
 
-    MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 2, NULL,&eb);
+    MillisecMsgQ = Mailbox_create(sizeof(MillisecMessageStruc), 5, NULL,&eb);
+    ScrewMsgQ = Mailbox_create(sizeof(ScrewMessageStruc), 5, NULL,&eb);
+
     for (i=0;i<NUM_OF_MOTORS;i++)
     {
         MotorsMsgQ[i] = Mailbox_create(sizeof(MillisecMotorDataStruc), 5, NULL,&eb);
@@ -152,6 +170,16 @@ void MillisecStart(void)
     ROM_TimerIntEnable(Millisec_timerBase, TIMER_TIMA_TIMEOUT);
     ADCAcquireStart(0,1);
 }
+void ScrewFreeInterrupt(void)
+{
+    MillisecMessageStruc Message;
+    Message.messageId = ScrewMessage;
+    if (ScrewMsgQ != NULL)
+        Mailbox_post(ScrewMsgQ , &Message, BIOS_NO_WAIT);
+
+    ROM_IntMasterEnable();
+    return ;
+}
 
 void OneMilliSecondMillisecInterrupt(UArg arg0)
 {
@@ -507,6 +535,27 @@ uint32_t MillisecLoop(uint32_t tick)
 
     return OK;
 }
+int SendNextScrewMessage()
+{
+    volatile uint32_t temp; // read the busy value
+
+    if (Mailbox_pend(MotorsMsgQ[HARDWARE_MOTOR_TYPE__MOTO_SCREW] , &MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW], BIOS_NO_WAIT)==true)
+    {
+        if (MotorSendFPGARequest((HardwareMotorType)HARDWARE_MOTOR_TYPE__MOTO_SCREW,MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Data,MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Length) != OK) //sent the data to the FPGA
+        {
+            LOG_ERROR(MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Data,"SCREW Send message failed");
+        }
+        else
+        {
+            LOG_ERROR(MotorData[HARDWARE_MOTOR_TYPE__MOTO_SCREW].Data,"SCREW Send message OK");
+            MotorActivity--;
+        }
+    }
+    ROM_SysCtlDelay(SYS_CLK_FREQ / 50000);
+
+    temp = F1_Moto_Driver_NBUSY2_L; // read the latch in order to clear the latch value (read it after moving to prevent interrupt before movement)
+
+}
 /******************************************************************************
  *  ======== messageTsk ========
  *  Task for this function is created statically. See the project's .cfg file.
@@ -567,3 +616,30 @@ uint32_t getDrawerFansStatus(void)
 {
     return DrawerFansStatus;
 }
+
+/******************************************************************************
+ *  ======== messageTsk ========
+ *  Task for this function is created statically. See the project's .cfg file.
+ *  this message task is created statically in system initialization,
+ ******************************************************************************/
+void ScrewTask(UArg arg0, UArg arg1)
+{
+    ScrewMessageStruc Message;
+    //char str[60];
+    //uint16_t length;
+    //Clock_setTimeout(HostKAClock, 1000);
+    //Clock_start(HostKAClock);
+    Screw_Task_Handle = Task_self();
+    while(1)
+    {
+        Mailbox_pend(ScrewMsgQ , &Message, BIOS_WAIT_FOREVER);
+        switch (Message.messageId)
+        {
+        case ScrewMessage:
+            SendNextScrewMessage();
+            break;
+            default:
+                break;
+        }
+    }
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
index 517716c08..6e11471cc 100644
--- a/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
+++ b/Software/Embedded_SW/Embedded/Modules/Control/MillisecTask.h
@@ -35,6 +35,7 @@ uint32_t getDrawerFansStatus(void);
 void MillisecInit(void);
 void MillisecStop(void);
 void MillisecStart(void);
+void ScrewFreeInterrupt(void);
 
 extern bool watchdogCriticalAlarm;
 
diff --git a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
index ff2294b6b..960581da7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
+++ b/Software/Embedded_SW/Embedded/Modules/Diagnostics/DiagnosticsHoming.c
@@ -35,10 +35,10 @@
 
 #include "StateMachines/Printing/PrintingSTM.h"
 
-FPGA_GPI_ENUM     Motor_Id_to_LS_Id[NUM_OF_MOTORS] = {
-      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,
-      MAX_GPI, //MOTO_DH_CLEANMECH = 1,
-      MAX_GPI, //MOTO_DH_LID = 2,
+FPGA_GPI_ENUM     Motor_Id_to_LS_IdDown[NUM_OF_MOTORS] = { // limit switch for normal homing into working mode
+      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,                    // closing the loading system
+      MAX_GPI, //MOTO_DH_CLEANMECH = 1,                    //dispensers down
+      GPI_LS_DH_LID_CLOSED, //MOTO_DH_LID = 2,
       MAX_GPI, //MOTO_DRYER_DRIVING = 3,
       MAX_GPI, //MOTO_DRYER_LID = 4,
       MAX_GPI, //MOTO_DRYER_LOADARM = 5,
@@ -55,12 +55,39 @@ FPGA_GPI_ENUM     Motor_Id_to_LS_Id[NUM_OF_MOTORS] = {
       GPI_LS_LDANCER1_DOWN, //MOTO_LDANCER1 = 16,
       GPI_LS_LDANCER2_DOWN, //MOTO_LDANCER2 = 17,
       MAX_GPI, //MOTO_LDRIVING = 18,
+      GPI_LS_LLOADMOTOR_DOWN, //MOTO_LLOADING = 19,
+      GPI_LS_LPIVOT_DOWN, //MOTO_LPIVOT1 = 20,
+      GPI_LS_RDANCER_DOWN, //MOTO_RDANCER = 21,
+      MAX_GPI, //MOTO_RDRIVING = 22,
+      GPI_LS_RDANCER_LONG, //MOTO_RLOADARM = 23,
+      GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
+};
+FPGA_GPI_ENUM     Motor_Id_to_LS_IdUp[NUM_OF_MOTORS] = { // limit switch for normal homing out of working mode
+      MAX_GPI, //MOTO_DH_CLEANHEAD = 0,                    // opening the loading system
+      MAX_GPI, //MOTO_DH_CLEANMECH = 1,                    //dispensers up - empting
+      GPI_LS_DH_LID_OPEN, //MOTO_DH_LID = 2,
+      MAX_GPI, //MOTO_DRYER_DRIVING = 3,
+      MAX_GPI, //MOTO_DRYER_LID = 4,
+      MAX_GPI, //MOTO_DRYER_LOADARM = 5,
+      GPI_LS_DISPENSER_UP_1, //MOTO_DISPENSER_1 = 6,
+      GPI_LS_DISPENSER_UP_2, //MOTO_DISPENSER_2 = 7,
+      GPI_LS_DISPENSER_UP_3, //MOTO_DISPENSER_3 = 8,
+      GPI_LS_DISPENSER_UP_4, //MOTO_DISPENSER_4 = 9,
+      GPI_LS_DISPENSER_UP_5, //MOTO_DISPENSER_5 = 10,
+      GPI_LS_DISPENSER_UP_6, //MOTO_DISPENSER_6 = 11,
+      GPI_LS_DISPENSER_UP_7, //MOTO_DISPENSER_7 = 12,
+      GPI_LS_DISPENSER_UP_8, //MOTO_DISPENSER_8 = 13,
+      GPI_LS_SCREW_RIGHT, //MOTO_SCREW = 14,
+      MAX_GPI, //MOTO_WINDER = 15,
+      GPI_LS_LDANCER1_UP, //MOTO_LDANCER1 = 16,
+      GPI_LS_LDANCER2_UP, //MOTO_LDANCER2 = 17,
+      MAX_GPI, //MOTO_LDRIVING = 18,
       GPI_LS_LLOADMOTOR_UP, //MOTO_LLOADING = 19,
       GPI_LS_LPIVOT_UP, //MOTO_LPIVOT1 = 20,
-      GPI_LS_RDANCER_DOWN, //MOTO_RDANCER = 21,
+      GPI_LS_RDANCER_UP, //MOTO_RDANCER = 21,
       MAX_GPI, //MOTO_RDRIVING = 22,
       GPI_LS_RLOADRAM_UP, //MOTO_RLOADARM = 23,
-      GPI_LS_RLOADMOTOR_DOWN, //MOTO_RLOADING = 24,
+      GPI_LS_RLOADMOTOR_UP, //MOTO_RLOADING = 24,
 };
 typedef enum {
     MotorHomingDirectionUp,
@@ -132,11 +159,23 @@ uint32_t MotorHomingRequestFunc(MessageContainer* requestContainer)
     {
         if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
-            if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
+            if (request->direction == MOTOR_DIRECTION__Forward) //opening the loading system
+            {
+                if ( Motor_Id_to_LS_IdUp[MotorId] != MAX_GPI)
+                {
+                    MotorMovetoLimitSwitch (MotorId,MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdUp[MotorId], MotorHomingRequestCallback);
+                    ustrncpy (HomingToken[MotorId], requestContainer->token,36);
+                    return OK;
+                }
+            }
+            else // closing the system into normal work
             {
-                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_Id[MotorId], MotorHomingRequestCallback);
-                ustrncpy (HomingToken[MotorId], requestContainer->token,36);
-                return OK;
+                if ( Motor_Id_to_LS_IdDown[MotorId] != MAX_GPI)
+                {
+                    MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_IdDown[MotorId], MotorHomingRequestCallback);
+                    ustrncpy (HomingToken[MotorId], requestContainer->token,36);
+                    return OK;
+                }
             }
         }
     }
@@ -225,20 +264,10 @@ uint32_t DispenserHomingRequestFunc(MessageContainer* requestContainer)
     {
         if ((JobIsActive() == false)&&(isMotorConfigured(MotorId) == true))
         {
-            IDS_HomeDispenser(request->index,speed,DispenserHomingRequestCallback);
-            /*if ( Motor_Id_to_LS_Id[MotorId] != MAX_GPI)
-            {
-                //open dispenser valve dispenser to midtank direction
-                Control3WayValvesWithCallback ((Valves_t) request->index, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
-                //Valve_Set((Valves_t) request->index, MidTank_Dispenser);
-                //open dry air valve in the dispenser
-                Valve_Set((Valves_t) (request->index+VALVE_2W_MID_AIR_8), Atm_MidTank_ON);
-
-                MotorSetMicroStep(MotorId, 1);
-
-                MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Motor_Id_to_LS_Id[MotorId], DispenserHomingRequestCallback);
-                return OK;
-            }*/
+            if (request->direction == MOTOR_DIRECTION__Backward) //dispenser homing
+                IDS_HomeDispenser(request->index,speed,DispenserHomingRequestCallback);
+            else //empty dispenser - support TBD
+                IDS_EmptyDispenser(request->index,speed,DispenserHomingRequestCallback);//return ERROR;
         }
     }
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index 06e45d1b8..2b8779207 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -41,6 +41,7 @@ uint32_t IDS_DispenserPidRequestMessage(HardwarePidControl* request);
 
 uint32_t IDS_HomeDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback);
 uint32_t IDS_StopHomeDispenser (uint32_t deviceID);
+uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback);
 
 uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id);
 
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
index 2fbc90c69..b90ed3a1f 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_maint.c
@@ -28,6 +28,16 @@ FPGA_GPI_ENUM     Dispenser_Id_to_LS_Id[MAX_SYSTEM_DISPENSERS] = {
       GPI_LS_DISPENSER_DOWN_7, //MOTO_DISPENSER_7 = 12,
       GPI_LS_DISPENSER_DOWN_8, //MOTO_DISPENSER_8 = 13,
 };
+FPGA_GPI_ENUM     Dispenser_Id_to_LS_Empty_Id[MAX_SYSTEM_DISPENSERS] = {
+      GPI_LS_DISPENSER_UP_1, //MOTO_DISPENSER_1 = 6,
+      GPI_LS_DISPENSER_UP_2, //MOTO_DISPENSER_2 = 7,
+      GPI_LS_DISPENSER_UP_3, //MOTO_DISPENSER_3 = 8,
+      GPI_LS_DISPENSER_UP_4, //MOTO_DISPENSER_4 = 9,
+      GPI_LS_DISPENSER_UP_5, //MOTO_DISPENSER_5 = 10,
+      GPI_LS_DISPENSER_UP_6, //MOTO_DISPENSER_6 = 11,
+      GPI_LS_DISPENSER_UP_7, //MOTO_DISPENSER_7 = 12,
+      GPI_LS_DISPENSER_UP_8, //MOTO_DISPENSER_8 = 13,
+};
 FPGA_GPI_ENUM     Dispenser_Id_to_Alarm_LS_Id[MAX_SYSTEM_DISPENSERS*2] = {
       GPI_LS_DISPENSER_UP_1, //MOTO_DISPENSER_1 = 6,
       GPI_LS_DISPENSER_UP_2, //MOTO_DISPENSER_2 = 7,
@@ -128,3 +138,31 @@ uint32_t IDS_CheckDispenserLimitSwitch (LimitSwitchAlarms LS_Id)
     else
         return FPGA_Read_limit_Switches(Dispenser_Id_to_Alarm_LS_Id[LS_Id]);
 }
+
+uint32_t IDS_EmptyDispenser (uint32_t deviceID, uint32_t speed , callback_fptr callback)
+{
+    assert(deviceID < MAX_SYSTEM_DISPENSERS);
+
+    if (HomingActive[deviceID] == true)
+        return ERROR;
+    else
+        HomingActive[deviceID] = true;
+
+    HomingRequestCallback[deviceID] = callback;
+
+    TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DISPENSER_1 + deviceID;
+    if ( Dispenser_Id_to_LS_Empty_Id[deviceID] != MAX_GPI)
+    {
+        //open dispenser valve dispenser to midtank direction
+        Control3WayValvesWithCallback ((Valves_t)deviceID, MidTank_Dispenser, NULL); //direction: MidTank_Dispenser or Dispenser_Mixer
+        //Valve_Set((Valves_t) request->index, MidTank_Dispenser);
+        MotorSetMicroStep(deviceID, 1);
+        //open dry air valve in the dispenser
+        Valve_Set(IDS_Id_to_AirValve[deviceID], Atm_MidTank_ON);
+
+
+        MotorMovetoLimitSwitch (MotorId,1-MotorsCfg[MotorId].directionthreadwize, speed,  Dispenser_Id_to_LS_Empty_Id[deviceID], IDS_HomeDispenserCallback);
+        return OK;
+    }
+    return ERROR;
+}
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index acd8a8983..3a86bab44 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -151,7 +151,28 @@ void DispenserPrepareReady(void)
     DispenserPrepareReady();
     return OK;
 }
+bool IDS_isDispenserUsedNextSegment(void *JobDetails,int DispenserId, int SegmentId)
+{
+    JobTicket* JobTicket = JobDetails;
+    int NextSegment = SegmentId+1;
+    int Dispenser_i,n_dispensers;
+    if (JobTicket->n_segments == 0)
+        return false;
+    if (JobTicket->n_segments <= NextSegment)
+        return false;
+    if (JobTicket->segments[NextSegment]->brushstops[0]->n_dispensers)
+    {
+        n_dispensers = JobTicket->segments[NextSegment]->brushstops[0]->n_dispensers;
+        for (Dispenser_i = 0;Dispenser_i < n_dispensers;Dispenser_i++)
+        {
+            if (DispenserId == JobTicket->segments[NextSegment]->brushstops[0]->dispensers[Dispenser_i]->index) //dispenser is in use next segment
+                return true;
+        }
+    }
+
+    return false;
 
+}
  //********************************************************************************************************************
  uint32_t IDS_Valve_PresegmentReady(uint32_t deviceID, uint32_t ReadValue)
  {
@@ -209,14 +230,16 @@ uint32_t IDSPreSegmentState(void *JobDetails, int SegmentId)
             if (MotorsCfg[HW_Motor_Id].hardwaremotortype != DispenserIdToMotorId[DispenserId])//unconfigured dispenser
                 continue;
             DispenserPreSegmentReady[DispenserId] = false;
-            Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer
-
+            if (IDS_isDispenserUsedNextSegment(JobDetails,DispenserId,SegmentId) == false)
+            {
+                Control3WayValvesWithCallback ((Valves_t)DispenserId, MidTank_Dispenser, IDS_Valve_PresegmentReady); //direction: MidTank_Dispenser or Dispenser_Mixer
+            }
             MotorStop(HW_Motor_Id,Hard_Hiz);
 
             /*if (JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->has_dispenserstepdivision)
                 MotorSetMicroStep(HW_Motor_Id,JobTicket->segments[SegmentId]->brushstops[JobBrushStopId]->dispensers[Dispenser_i]->dispenserstepdivision);
             else*/
-                MotorSetMicroStep(HW_Motor_Id,MotorsCfg[HW_Motor_Id].microstep);
+            MotorSetMicroStep(HW_Motor_Id,MotorsCfg[HW_Motor_Id].microstep);
 
         }
     }
diff --git a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
index c7dd4f7ae..effa8b2c7 100644
--- a/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
+++ b/Software/Embedded_SW/Embedded/Modules/Thread/Thread_Winder.c
@@ -8,6 +8,8 @@
 #include "thread.h"
 
 #include "drivers/Motors/Motor.h"
+#include <drivers/FPGA/FPGA_INTERRUPTS/fpga_interrupts.h>
+
 #include "StateMachines/Printing/PrintingSTM.h"
 #include "Modules/Control/Control.h"
 #include "Modules/Control/MillisecTask.h"
@@ -21,6 +23,8 @@
 #include "drivers/FPGA/FPGA_SPI_Comm.h"
 #include "drivers/FPGA/FPGA_GPIO/FPGA_GPIO.h"
 
+
+
 bool Winder_ScrewHoming = false;
 //bool Winder_Active = false;
 
@@ -128,7 +132,7 @@ uint32_t Winder_ScrewAtOffsetCallback(uint32_t deviceID, uint32_t BusyFlag)
     ScrewNumberOfSteps = 0;
     DirectionChangeCounter = 0;
     REPORT_MSG(BusyFlag, "Winder_ScrewAtOffsetCallback");
-
+    //Screw_Interrupt(true,ScrewFreeInterrupt);
     PrepareReady(Module_Winder, ModuleDone);
     return OK;
 }
@@ -338,6 +342,7 @@ uint32_t Winder_End(void)
         RemoveControlCallback(ScrewControlId,ScrewDirectionChange);
     CurrentControlledSpeed[SCREW_MOTOR] = 0;
     pend = MillisecFlushMsgQ(HARDWARE_MOTOR_TYPE__MOTO_SCREW);
+    //Screw_Interrupt(false,NULL);
     return MotorStop (HARDWARE_MOTOR_TYPE__MOTO_SCREW,Hard_Hiz);
 }
 void Winder_ScrewHomeLimitSwitchInterrupt(void)